+ python -m lidar_slam --no-model /working/e36e6bab-e09d-499a-ac98-32247f293872 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/e36e6bab-e09d-499a-ac98-32247f293872 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 end_distance from 9.223372036854776e+18 to 371.350302058 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.0 meters Centerline goodness : 0.281730 Centerline is valid? [0, False] SLAMing on 0.03 meters Centerline goodness : 0.222931 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:0.01 [[ 0.99943891 0.0334306 0.00206547 0.17573019] [-0.03339908 0.99934724 -0.01376931 0.07914569] [-0.00252444 0.0136926 0.99990307 0.006121 ] [ 0. 0. 0. 1. ]] SLAMing on 0.06 meters Centerline goodness : 0.226900 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:0.01 [[ 0.99944861 0.03315542 0.00178648 0.17624792] [-0.03312883 0.9993628 -0.0132845 0.07717522] [-0.0022258 0.01321799 0.99991016 0.006008 ] [ 0. 0. 0. 1. ]] SLAMing on 0.09 meters Centerline goodness : 0.226762 Centerline is valid? [False, False] Translation: X:0.22, Y:0.10, Z:0.03 [[ 0.99953504 0.00187357 0.03043347 0.21974819] [-0.00173623 0.99998819 -0.00453844 0.10080411] [-0.03044162 0.00448349 0.99952649 0.02624304] [ 0. 0. 0. 1. ]] SLAMing on 0.12 meters Centerline goodness : 0.226162 Centerline is valid? [False, False] Translation: X:0.22, Y:0.10, Z:0.03 [[ 0.99954024 0.00125351 0.03029419 0.2189893 ] [-0.00109644 0.99998587 -0.00520079 0.10140566] [-0.03030028 0.00516518 0.9995275 0.0281469 ] [ 0. 0. 0. 1. ]] SLAMing on 0.15 meters Centerline goodness : 0.230034 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:0.03 [[ 0.99947617 -0.00228154 0.03228287 0.2134004 ] [ 0.00256521 0.99995844 -0.00874818 0.10162418] [-0.03226157 0.00882641 0.99944049 0.03390898] [ 0. 0. 0. 1. ]] SLAMing on 0.18 meters Centerline goodness : 0.226935 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:0.04 [[ 0.99942048 -0.00858294 0.03293982 0.20942702] [ 0.00908419 0.99984476 -0.01509756 0.10084475] [-0.03280512 0.01538804 0.9993433 0.03823003] [ 0. 0. 0. 1. ]] SLAMing on 0.21 meters Centerline goodness : 0.223039 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:0.04 [[ 0.99931823 -0.01549121 0.03351258 0.20581691] [ 0.01621766 0.99963699 -0.02151478 0.0990002 ] [-0.03316712 0.0220436 0.9992067 0.04181908] [ 0. 0. 0. 1. ]] SLAMing on 0.24 meters Centerline goodness : 0.221070 Centerline is valid? [False, False] Translation: X:0.20, Y:0.10, Z:0.04 [[ 0.99917562 -0.02177055 0.03426553 0.20234895] [ 0.02270475 0.99937444 -0.02711484 0.09610778] [-0.03365379 0.02787048 0.99904487 0.04471733] [ 0. 0. 0. 1. ]] SLAMing on 0.27 meters Centerline goodness : 0.221300 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.05 [[ 0.99902457 -0.02644206 0.03536571 0.19762597] [ 0.02753945 0.99914266 -0.03091146 0.09245027] [-0.03451803 0.03185526 0.99889626 0.04835445] [ 0. 0. 0. 1. ]] SLAMing on 0.3 meters Centerline goodness : 0.215132 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.05 [[ 0.99890139 -0.02987404 0.0361047 0.19638313] [ 0.03108113 0.99896042 -0.03334744 0.08798912] [-0.03507095 0.03443298 0.99879147 0.04750324] [ 0. 0. 0. 1. ]] SLAMing on 0.32999999999999996 meters Centerline goodness : 0.215132 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.05 [[ 0.99890139 -0.02987404 0.0361047 0.19638313] [ 0.03108113 0.99896042 -0.03334744 0.08798912] [-0.03507095 0.03443298 0.99879147 0.04750324] [ 0. 0. 0. 1. ]] SLAMing on 0.36 meters Centerline goodness : 0.210884 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:0.03 [[ 0.99921703 -0.0371741 0.01354316 0.17556214] [ 0.03752869 0.99893227 -0.02694299 0.07330097] [-0.01252711 0.02743015 0.99954523 0.03365705] [ 0. 0. 0. 1. ]] SLAMing on 0.39 meters Centerline goodness : 0.215164 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:0.03 [[ 0.99934936 -0.03546484 0.00656482 0.16634944] [ 0.03561726 0.99905838 -0.02477445 0.06693111] [-0.00568001 0.02499215 0.99967151 0.02703303] [ 0. 0. 0. 1. ]] SLAMing on 0.42 meters Centerline goodness : 0.213370 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.03 [[ 0.99953646 -0.02957597 0.00721951 0.16555561] [ 0.02970045 0.99940049 -0.01779149 0.06037048] [-0.00668898 0.01799766 0.99981565 0.02542481] [ 0. 0. 0. 1. ]] SLAMing on 0.44999999999999996 meters Centerline goodness : 0.215797 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:0.02 [[ 0.99969833 -0.02330283 0.00776095 0.16443172] [ 0.023387 0.99966665 -0.01093745 0.05466843] [-0.00750349 0.01111566 0.99991007 0.02452355] [ 0. 0. 0. 1. ]] SLAMing on 0.48 meters Centerline goodness : 0.222961 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.02 [[ 0.99983593 -0.01699916 0.006256 0.16731132] [ 0.01702513 0.99984657 -0.00412075 0.04523726] [-0.00618499 0.00422658 0.99997194 0.02118438] [ 0. 0. 0. 1. ]] SLAMing on 0.51 meters Centerline goodness : 0.229684 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.01 [[ 9.99926789e-01 -9.91620248e-03 -6.93442824e-03 1.71109875e-01] [ 9.90946545e-03 9.99950395e-01 -1.00521983e-03 3.57831762e-02] [ 6.94405222e-03 9.36429756e-04 9.99975451e-01 1.10159784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54 meters Centerline goodness : 0.529494 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.00 [[ 0.99961395 -0.00172858 -0.02773014 0.17214637] [ 0.0016683 0.9999962 -0.0021968 0.03238341] [ 0.02773383 0.00214969 0.99961303 0.00109358] [ 0. 0. 0. 1. ]] SLAMing on 0.57 meters Centerline goodness : 0.481376 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.01 [[ 0.99919764 0.00825755 -0.03919034 0.18252628] [-0.00812758 0.99996093 0.00347461 0.02550729] [ 0.03921751 -0.0031533 0.99922572 -0.01123343] [ 0. 0. 0. 1. ]] SLAMing on 0.6 meters Centerline goodness : 0.483909 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 0.99914496 0.00905258 -0.04034101 0.18509465] [-0.00889775 0.99995235 0.00401594 0.02493294] [ 0.04037544 -0.00365356 0.9991779 -0.01141855] [ 0. 0. 0. 1. ]] SLAMing on 0.63 meters Centerline goodness : 0.427891 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 0.99943207 0.01182053 -0.0315564 0.19306446] [-0.01176755 0.99992902 0.00186405 0.02238071] [ 0.0315762 -0.00149165 0.99950023 -0.01100126] [ 0. 0. 0. 1. ]] SLAMing on 0.6599999999999999 meters Centerline goodness : 0.202518 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 0.99938375 0.01338655 -0.03244864 0.1934445 ] [-0.01329933 0.99990735 0.00290227 0.02305287] [ 0.03248449 -0.00246893 0.99946919 -0.0085792 ] [ 0. 0. 0. 1. ]] SLAMing on 0.69 meters Centerline goodness : 0.212088 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.01 [[ 9.99325345e-01 2.23870718e-02 -2.91148292e-02 2.04953226e-01] [-2.23974355e-02 9.99749146e-01 -2.98500816e-05 2.84584363e-02] [ 2.91068573e-02 6.81927452e-04 9.99576073e-01 -9.41488117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72 meters Centerline goodness : 0.534175 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.01 [[ 0.9990004 0.03483098 -0.02801805 0.21853857] [-0.03491724 0.99938684 -0.00259523 0.03475943] [ 0.02791048 0.00357094 0.99960405 -0.00782729] [ 0. 0. 0. 1. ]] SLAMing on 0.75 meters Centerline goodness : 0.225238 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.01 [[ 0.99770711 0.0607979 -0.02973461 0.2559284 ] [-0.06123009 0.99802763 -0.01384626 0.0473959 ] [ 0.02883414 0.01563516 0.99946192 -0.00668355] [ 0. 0. 0. 1. ]] SLAMing on 0.78 meters Centerline goodness : 0.225238 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.01 [[ 0.99770711 0.0607979 -0.02973461 0.2559284 ] [-0.06123009 0.99802763 -0.01384626 0.0473959 ] [ 0.02883414 0.01563516 0.99946192 -0.00668355] [ 0. 0. 0. 1. ]] SLAMing on 0.8099999999999999 meters Centerline goodness : 0.180479 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.01 [[ 0.99714261 0.06899098 -0.0307711 0.2610308 ] [-0.06927311 0.99756405 -0.00819778 0.05319956] [ 0.03013057 0.01030596 0.99949284 -0.00854749] [ 0. 0. 0. 1. ]] SLAMing on 0.84 meters Centerline goodness : 0.403165 Centerline is valid? [False, False] Translation: X:0.30, Y:0.08, Z:-0.01 [[ 0.99523974 0.09345833 -0.0276297 0.29741416] [-0.09392624 0.99544817 -0.01614939 0.07600105] [ 0.02599464 0.01866767 0.99948777 -0.00743446] [ 0. 0. 0. 1. ]] SLAMing on 0.87 meters Centerline goodness : 0.244673 Centerline is valid? [False, False] Translation: X:0.31, Y:0.08, Z:-0.01 [[ 0.994447 0.10083231 -0.03013307 0.30631894] [-0.10106602 0.99485957 -0.00633214 0.08455361] [ 0.02933969 0.00934241 0.99952584 -0.0050834 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8999999999999999 meters Centerline goodness : 0.477171 Centerline is valid? [False, False] Translation: X:0.31, Y:0.09, Z:-0.01 [[ 0.99374396 0.10736402 -0.03075559 0.31012756] [-0.10747373 0.99420605 -0.00193155 0.0937831 ] [ 0.03037001 0.00522488 0.99952507 -0.00559723] [ 0. 0. 0. 1. ]] SLAMing on 0.9299999999999999 meters Centerline goodness : 0.131681 Centerline is valid? [False, False] Translation: X:0.32, Y:0.10, Z:-0.01 [[ 0.99342653 0.10986942 -0.03213173 0.31541936] [-0.10997154 0.99393372 -0.00142291 0.10341176] [ 0.03178047 0.00494713 0.99948263 -0.00712981] [ 0. 0. 0. 1. ]] SLAMing on 0.96 meters Centerline goodness : 0.159450 Centerline is valid? [False, False] Translation: X:0.33, Y:0.11, Z:-0.01 [[ 9.93531686e-01 1.07645752e-01 -3.61549552e-02 3.26750332e-01] [-1.07694120e-01 9.94183887e-01 6.12666358e-04 1.10698185e-01] [ 3.60106248e-02 3.28497265e-03 9.99346008e-01 -5.97071817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99 meters Centerline goodness : 0.143228 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:-0.00 [[ 0.99386362 0.10315769 -0.03991984 0.33765212] [-0.10314106 0.99466364 0.00248139 0.11467455] [ 0.03996279 0.00165121 0.9991998 -0.00395144] [ 0. 0. 0. 1. ]] SLAMing on 1.02 meters Centerline goodness : 0.173483 Centerline is valid? [False, False] Translation: X:0.35, Y:0.12, Z:-0.00 [[ 9.94342971e-01 9.67748181e-02 -4.37800153e-02 3.47839439e-01] [-9.67305979e-02 9.95305671e-01 3.13236870e-03 1.16919551e-01] [ 4.38776319e-02 1.12021825e-03 9.99036285e-01 -8.48125840e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05 meters Centerline goodness : 0.167343 Centerline is valid? [False, False] Translation: X:0.36, Y:0.12, Z:0.00 [[ 0.9950713 0.08947962 -0.04273762 0.35502432] [-0.08928906 0.99598551 0.00635102 0.11728182] [ 0.04313434 -0.00250372 0.99906614 0.0020822 ] [ 0. 0. 0. 1. ]] SLAMing on 1.08 meters Centerline goodness : 0.842019 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:-0.00 [[ 0.99591356 0.08181673 -0.03823885 0.36883918] [-0.08158145 0.99663712 0.00767605 0.12352814] [ 0.03873829 -0.00452511 0.99923914 -0.00103094] [ 0. 0. 0. 1. ]] SLAMing on 1.1099999999999999 meters Centerline goodness : 0.161389 Centerline is valid? [False, False] Translation: X:0.38, Y:0.13, Z:-0.00 [[ 9.96295097e-01 7.68880768e-02 -3.85266694e-02 3.80371500e-01] [-7.64726269e-02 9.96997703e-01 1.21456849e-02 1.27846439e-01] [ 3.93448593e-02 -9.15445071e-03 9.99183756e-01 -9.48355657e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.14 meters Centerline goodness : 0.161006 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:-0.00 [[ 0.99672482 0.07045386 -0.03969736 0.39300076] [-0.06991038 0.99744172 0.01491808 0.13161582] [ 0.04064684 -0.01209397 0.99910038 -0.00115496] [ 0. 0. 0. 1. ]] SLAMing on 1.17 meters Centerline goodness : 0.155529 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.00 [[ 0.99735446 0.06293599 -0.03637503 0.404801 ] [-0.06232194 0.99789778 0.01777634 0.13159523] [ 0.03741734 -0.01546235 0.99918009 -0.00337677] [ 0. 0. 0. 1. ]] SLAMing on 1.2 meters Centerline goodness : 0.871061 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:-0.01 [[ 0.9978381 0.05517045 -0.0357119 0.42274577] [-0.05459288 0.99836479 0.01695179 0.12949054] [ 0.03658874 -0.01496553 0.99921834 -0.00788692] [ 0. 0. 0. 1. ]] SLAMing on 1.23 meters Centerline goodness : 0.155234 Centerline is valid? [False, False] Translation: X:0.45, Y:0.13, Z:-0.01 [[ 0.99787284 0.0493347 -0.04261321 0.4523945 ] [-0.04895493 0.99875182 0.00991061 0.12794611] [ 0.04304896 -0.0078034 0.99904249 -0.00938788] [ 0. 0. 0. 1. ]] SLAMing on 1.26 meters Centerline goodness : 0.883815 Centerline is valid? [False, False] Translation: X:0.46, Y:0.12, Z:-0.01 [[ 0.99847146 0.03602755 -0.0419137 0.46416817] [-0.03566729 0.99932034 0.00931173 0.12366046] [ 0.0422207 -0.00780255 0.99907784 -0.00889534] [ 0. 0. 0. 1. ]] SLAMing on 1.29 meters Centerline goodness : 0.172757 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:-0.01 [[ 9.98643166e-01 2.51763515e-02 -4.55848376e-02 4.88192000e-01] [-2.51963404e-02 9.99682513e-01 1.36122376e-04 1.22460548e-01] [ 4.55737921e-02 1.01263341e-03 9.98960462e-01 -7.53617752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3199999999999998 meters Centerline goodness : 0.162089 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:-0.01 [[ 0.99854732 0.00899398 -0.05312578 0.52912521] [-0.00918462 0.99995222 -0.00334549 0.12177049] [ 0.05309315 0.00382857 0.99858222 -0.00774616] [ 0. 0. 0. 1. ]] SLAMing on 1.3499999999999999 meters Centerline goodness : 0.157650 Centerline is valid? [False, False] Translation: X:0.54, Y:0.12, Z:-0.01 [[ 0.99846501 0.00823817 -0.05476996 0.53635495] [-0.0084602 0.9999569 -0.00382331 0.12396903] [ 0.0547361 0.0042808 0.99849168 -0.01163351] [ 0. 0. 0. 1. ]] SLAMing on 1.38 meters Centerline goodness : 0.156617 Centerline is valid? [False, False] Translation: X:0.54, Y:0.13, Z:-0.01 [[ 0.99837579 0.00977227 -0.05612735 0.54180918] [-0.00990918 0.99994857 -0.00216146 0.12549968] [ 0.05610334 0.00271413 0.99842128 -0.01432008] [ 0. 0. 0. 1. ]] SLAMing on 1.41 meters Centerline goodness : 0.151030 Centerline is valid? [False, False] Translation: X:0.55, Y:0.13, Z:-0.02 [[ 0.99823413 0.01565162 -0.05730312 0.54793014] [-0.01550081 0.99987513 0.00307535 0.12758699] [ 0.0573441 -0.00218167 0.99835209 -0.01716561] [ 0. 0. 0. 1. ]] SLAMing on 1.44 meters Centerline goodness : 0.146214 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:-0.02 [[ 0.99838841 0.02127734 -0.05261037 0.56035248] [-0.02138314 0.9997703 -0.00144888 0.13170068] [ 0.05256746 0.00257152 0.99861406 -0.02035418] [ 0. 0. 0. 1. ]] SLAMing on 1.47 meters Centerline goodness : 0.148763 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:-0.02 [[ 0.99842526 0.02550594 -0.04996454 0.57039638] [-0.02488706 0.99960613 0.01296969 0.13051471] [ 0.05027567 -0.01170579 0.99866678 -0.02119525] [ 0. 0. 0. 1. ]] SLAMing on 1.5 meters Centerline goodness : 0.150132 Centerline is valid? [False, False] Translation: X:0.58, Y:0.14, Z:-0.02 [[ 0.99842771 0.03144992 -0.04640048 0.58400709] [-0.03110967 0.99948366 0.00803706 0.13664496] [ 0.04662928 -0.00658092 0.99889059 -0.02430525] [ 0. 0. 0. 1. ]] SLAMing on 1.53 meters Centerline goodness : 0.936338 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:-0.03 [[ 0.99824726 0.03537472 -0.04744518 0.58779823] [-0.03490805 0.999334 0.01062906 0.140687 ] [ 0.04778958 -0.00895421 0.99881729 -0.02591291] [ 0. 0. 0. 1. ]] SLAMing on 1.56 meters Centerline goodness : 0.140314 Centerline is valid? [False, False] Translation: X:0.60, Y:0.15, Z:-0.03 [[ 0.99816087 0.04023245 -0.04534565 0.60270853] [-0.04006391 0.99918644 0.00461993 0.14643954] [ 0.04549463 -0.00279471 0.99896067 -0.02920169] [ 0. 0. 0. 1. ]] SLAMing on 1.5899999999999999 meters Centerline goodness : 0.138556 Centerline is valid? [False, False] Translation: X:0.61, Y:0.15, Z:-0.03 [[ 0.99798376 0.04324478 -0.04645765 0.6070286 ] [-0.0429698 0.99905253 0.00690192 0.14852336] [ 0.0467121 -0.00489173 0.99889642 -0.03107796] [ 0. 0. 0. 1. ]] SLAMing on 1.6199999999999999 meters Centerline goodness : 0.138457 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.03 [[ 9.97991428e-01 4.66585349e-02 -4.28496389e-02 6.19794741e-01] [-4.66965240e-02 9.98909116e-01 1.14473035e-04 1.52048226e-01] [ 4.28082360e-02 1.88668608e-03 9.99081526e-01 -3.31603912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65 meters Centerline goodness : 0.137433 Centerline is valid? [False, False] Translation: X:0.63, Y:0.15, Z:-0.03 [[ 0.99813081 0.04746994 -0.03849021 0.62920137] [-0.04705904 0.99882576 0.01151254 0.14965435] [ 0.03899151 -0.00967971 0.99919266 -0.03378239] [ 0. 0. 0. 1. ]] SLAMing on 1.68 meters Centerline goodness : 0.956255 Centerline is valid? [False, True] Translation: X:0.64, Y:0.15, Z:-0.03 [[ 0.99826851 0.04949881 -0.03177808 0.63770474] [-0.04940216 0.99877166 0.00382 0.15479718] [ 0.03192813 -0.00224348 0.99948765 -0.0345714 ] [ 0. 0. 0. 1. ]] SLAMing on 1.71 meters Centerline goodness : 0.963643 Centerline is valid? [True, True] Translation: X:0.67, Y:0.16, Z:-0.03 [[ 9.98174263e-01 5.13277399e-02 -3.18371456e-02 6.66040534e-01] [-5.13353606e-02 9.98681304e-01 5.78519944e-04 1.56981443e-01] [ 3.18248562e-02 1.05690763e-03 9.99492902e-01 -3.01634277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74 meters Centerline goodness : 0.151218 Centerline is valid? [True, False] Translation: X:0.68, Y:0.16, Z:-0.03 [[ 9.98437973e-01 4.96908536e-02 -2.55427884e-02 6.77980171e-01] [-4.97064532e-02 9.98763870e-01 2.42304022e-05 1.57270261e-01] [ 2.55124182e-02 1.24544886e-03 9.99673729e-01 -2.52496342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.77 meters Centerline goodness : 0.151218 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.03 [[ 9.98437973e-01 4.96908536e-02 -2.55427884e-02 6.77980171e-01] [-4.97064532e-02 9.98763870e-01 2.42304022e-05 1.57270261e-01] [ 2.55124182e-02 1.24544886e-03 9.99673729e-01 -2.52496342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7999999999999998 meters Centerline goodness : 0.143482 Centerline is valid? [False, False] Translation: X:0.71, Y:0.15, Z:-0.02 [[ 0.99892823 0.04072948 -0.0219886 0.70531972] [-0.04058457 0.99915161 0.00699674 0.14577635] [ 0.02225492 -0.00609684 0.99973374 -0.02426251] [ 0. 0. 0. 1. ]] SLAMing on 1.8299999999999998 meters Centerline goodness : 0.973851 Centerline is valid? [False, True] Translation: X:0.72, Y:0.14, Z:-0.03 [[ 0.99928054 0.03340601 -0.01795652 0.72022137] [-0.03325458 0.99940934 0.00866676 0.13690514] [ 0.01823543 -0.00806338 0.99980121 -0.02726584] [ 0. 0. 0. 1. ]] SLAMing on 1.8599999999999999 meters Centerline goodness : 0.973851 Centerline is valid? [True, True] Translation: X:0.75, Y:0.14, Z:-0.03 [[ 9.99287241e-01 3.31238104e-02 -1.81058773e-02 7.48756084e-01] [-3.31233983e-02 9.99451218e-01 3.22735094e-04 1.39858023e-01] [ 1.81066313e-02 2.77223122e-04 9.99836023e-01 -2.63850460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89 meters Centerline goodness : 0.138358 Centerline is valid? [True, False] Translation: X:0.80, Y:0.12, Z:-0.02 [[ 0.99950968 0.01689792 -0.02636015 0.80204935] [-0.01642885 0.9997046 0.01791109 0.1201295 ] [ 0.02665502 -0.01746924 0.99949204 -0.02337004] [ 0. 0. 0. 1. ]] SLAMing on 1.92 meters Centerline goodness : 0.138358 Centerline is valid? [False, False] Translation: X:0.80, Y:0.12, Z:-0.02 [[ 0.99950968 0.01689792 -0.02636015 0.80204935] [-0.01642885 0.9997046 0.01791109 0.1201295 ] [ 0.02665502 -0.01746924 0.99949204 -0.02337004] [ 0. 0. 0. 1. ]] SLAMing on 1.95 meters Centerline goodness : 0.139291 Centerline is valid? [False, False] Translation: X:0.86, Y:0.11, Z:-0.02 [[ 9.99047591e-01 1.86089605e-03 -4.35941193e-02 8.59982417e-01] [-4.49482704e-04 9.99476058e-01 3.23636870e-02 1.13218768e-01] [ 4.36315039e-02 -3.23132687e-02 9.98524984e-01 -1.86719366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98 meters Centerline goodness : 0.142460 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.02 [[ 0.99877045 -0.00430344 -0.04938695 0.87610239] [ 0.00504019 0.99987773 0.01480301 0.11725024] [ 0.04931721 -0.01503373 0.99867002 -0.01672402] [ 0. 0. 0. 1. ]] SLAMing on 2.01 meters Centerline goodness : 0.151401 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.02 [[ 0.99865121 -0.0116589 -0.05059481 0.87861803] [ 0.01206022 0.99989813 0.00763405 0.11596888] [ 0.05050065 -0.00823393 0.99869009 -0.01668231] [ 0. 0. 0. 1. ]] SLAMing on 2.04 meters Centerline goodness : 0.151940 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.02 [[ 0.99898056 -0.01545105 -0.04241588 0.88754217] [ 0.01535101 0.99987857 -0.00268334 0.11347543] [ 0.04245219 0.00202948 0.99909644 -0.01890843] [ 0. 0. 0. 1. ]] SLAMing on 2.07 meters Centerline goodness : 0.148134 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:-0.02 [[ 0.99921028 -0.01989473 -0.03439494 0.8945547 ] [ 0.01997459 0.99979853 0.00197959 0.10462846] [ 0.03434862 -0.00266505 0.99940636 -0.01900475] [ 0. 0. 0. 1. ]] SLAMing on 2.1 meters Centerline goodness : 0.250475 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.02 [[ 0.99939145 -0.02373069 -0.02556526 0.90261747] [ 0.02382609 0.99971022 0.00343364 0.09789575] [ 0.02547636 -0.00404067 0.99966726 -0.01844284] [ 0. 0. 0. 1. ]] SLAMing on 2.13 meters Centerline goodness : 0.656513 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:-0.01 [[ 0.99933148 -0.02635639 -0.02533649 0.9278242 ] [ 0.02615223 0.99962305 -0.00835579 0.09579655] [ 0.02554716 0.0076876 0.99964406 -0.01371587] [ 0. 0. 0. 1. ]] SLAMing on 2.16 meters Centerline goodness : 0.952268 Centerline is valid? [False, True] Translation: X:0.94, Y:0.10, Z:-0.02 [[ 0.99933249 -0.0236475 -0.02784541 0.94166029] [ 0.02327793 0.99963758 -0.01352243 0.09550466] [ 0.02815509 0.01286522 0.99952077 -0.01544986] [ 0. 0. 0. 1. ]] SLAMing on 2.19 meters Centerline goodness : 0.714752 Centerline is valid? [True, False] Translation: X:0.95, Y:0.09, Z:-0.02 [[ 0.99940307 -0.01879006 -0.0289902 0.94525086] [ 0.01858437 0.99980029 -0.00734827 0.09214235] [ 0.02912249 0.00680512 0.99955269 -0.01834867] [ 0. 0. 0. 1. ]] SLAMing on 2.2199999999999998 meters Centerline goodness : 0.714752 Centerline is valid? [False, False] Translation: X:0.95, Y:0.09, Z:-0.02 [[ 0.99940307 -0.01879006 -0.0289902 0.94525086] [ 0.01858437 0.99980029 -0.00734827 0.09214235] [ 0.02912249 0.00680512 0.99955269 -0.01834867] [ 0. 0. 0. 1. ]] SLAMing on 2.25 meters Centerline goodness : 0.139696 Centerline is valid? [False, False] Translation: X:0.95, Y:0.09, Z:-0.02 [[ 0.99942417 -0.0154189 -0.03022555 0.94981992] [ 0.01533082 0.99987753 -0.00314367 0.08945945] [ 0.03027032 0.00267848 0.99953816 -0.02171236] [ 0. 0. 0. 1. ]] SLAMing on 2.28 meters Centerline goodness : 0.139696 Centerline is valid? [False, False] Translation: X:0.95, Y:0.09, Z:-0.02 [[ 0.99942417 -0.0154189 -0.03022555 0.94981992] [ 0.01533082 0.99987753 -0.00314367 0.08945945] [ 0.03027032 0.00267848 0.99953816 -0.02171236] [ 0. 0. 0. 1. ]] SLAMing on 2.31 meters Centerline goodness : 0.608020 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:-0.02 [[ 9.99419686e-01 -1.39117538e-02 -3.10926614e-02 9.51323946e-01] [ 1.38759963e-02 9.99902791e-01 -1.36551644e-03 8.49179137e-02] [ 3.11086356e-02 9.33282361e-04 9.99515574e-01 -2.11294612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34 meters Centerline goodness : 0.138348 Centerline is valid? [False, False] Translation: X:0.96, Y:0.08, Z:-0.02 [[ 0.99966191 -0.0094599 -0.0242193 0.96236074] [ 0.00962018 0.99993253 0.00651013 0.0792897 ] [ 0.02415608 -0.00674092 0.99968547 -0.01966561] [ 0. 0. 0. 1. ]] SLAMing on 2.37 meters Centerline goodness : 0.999215 Centerline is valid? [False, True] Translation: X:0.65, Y:-0.41, Z:0.54 [[ 0.99793353 0.00407341 0.06412541 0.65341139] [-0.05949433 0.43554959 0.89819651 -0.41089563] [-0.02427107 -0.90015552 0.43489189 0.54053065] [ 0. 0. 0. 1. ]] SLAMing on 2.4 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.38, Z:-0.02 [[ 9.97327099e-01 7.30275891e-02 2.37249670e-03 6.85212984e-01] [-7.30273993e-02 9.97329921e-01 -1.66642086e-04 -3.76974005e-01] [-2.37833142e-03 -7.06059576e-06 9.99997172e-01 -1.61831544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4299999999999997 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.39, Z:-0.02 [[ 9.98974603e-01 4.52118668e-02 2.37249089e-03 7.15831551e-01] [-4.52115982e-02 9.98977419e-01 -1.66724750e-04 -3.89893748e-01] [-2.37760276e-03 5.92896865e-05 9.99997172e-01 -1.72511702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.39, Z:-0.01 [[ 9.99003727e-01 4.45637122e-02 2.37246860e-03 7.48922171e-01] [-4.45634410e-02 9.99006542e-01 -1.67041310e-04 -3.91718697e-01] [-2.37755564e-03 6.11495263e-05 9.99997172e-01 -1.41784475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4899999999999998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.39, Z:-0.02 [[ 9.98254874e-01 5.90048966e-02 2.37242325e-03 7.82488119e-01] [-5.90046647e-02 9.98257693e-01 -1.67683008e-04 -3.88941182e-01] [-2.37818388e-03 2.74063422e-05 9.99997172e-01 -1.52301332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.39, Z:-0.02 [[ 9.98050691e-01 6.23633735e-02 2.37237778e-03 8.15867964e-01] [-6.23631496e-02 9.98053510e-01 -1.68323867e-04 -3.86770027e-01] [-2.37825721e-03 2.00468014e-05 9.99997172e-01 -1.96740884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.39, Z:-0.02 [[ 9.98118856e-01 6.12627186e-02 2.37233210e-03 8.48751896e-01] [-6.12624900e-02 9.98121675e-01 -1.68965237e-04 -3.90047265e-01] [-2.37822736e-03 2.33124180e-05 9.99997172e-01 -1.91122853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.39, Z:-0.02 [[ 9.98010832e-01 6.29980348e-02 2.37228640e-03 8.81617742e-01] [-6.29978096e-02 9.98013651e-01 -1.69604422e-04 -3.92217342e-01] [-2.37825896e-03 1.98182035e-05 9.99997172e-01 -2.01034445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.39, Z:-0.02 [[ 9.97586866e-01 6.93888898e-02 2.37224055e-03 9.13545865e-01] [-6.93886811e-02 9.97589686e-01 -1.70243294e-04 -3.93741865e-01] [-2.37833570e-03 5.22583061e-06 9.99997172e-01 -2.01869401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6399999999999997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.40, Z:-0.02 [[ 9.97116582e-01 7.58478428e-02 2.37219773e-03 9.46754661e-01] [-7.58476510e-02 9.97119403e-01 -1.70837870e-04 -3.95633569e-01] [-2.37832207e-03 -9.58035289e-06 9.99997172e-01 -1.76543282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.40, Z:-0.02 [[ 9.96758362e-01 8.04185335e-02 2.37215179e-03 9.79135438e-01] [-8.04183531e-02 9.96761185e-01 -1.71473448e-04 -3.98623808e-01] [-2.37825847e-03 -1.98469468e-05 9.99997172e-01 -1.80072032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6999999999999997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.40, Z:-0.02 [[ 9.96286456e-01 8.60678216e-02 2.37210583e-03 1.01059693e+00] [-8.60676558e-02 9.96289280e-01 -1.72106880e-04 -4.03078125e-01] [-2.37811647e-03 -3.26938345e-05 9.99997172e-01 -1.68033601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.41, Z:-0.02 [[ 9.96305497e-01 8.58471347e-02 2.37206287e-03 1.04315495e+00] [-8.58469668e-02 9.96308320e-01 -1.72696903e-04 -4.06060612e-01] [-2.37813151e-03 -3.15755291e-05 9.99997172e-01 -1.78259247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.41, Z:-0.02 [[ 9.96446653e-01 8.41928810e-02 2.37201438e-03 1.07533307e+00] [-8.41927068e-02 9.96449476e-01 -1.73360459e-04 -4.10204972e-01] [-2.37818820e-03 -2.69618618e-05 9.99997172e-01 -2.07748256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.42, Z:-0.02 [[ 9.96903644e-01 7.85970665e-02 2.37196556e-03 1.10709540e+00] [-7.85968749e-02 9.96906466e-01 -1.74025779e-04 -4.15978310e-01] [-2.37830572e-03 -1.29421475e-05 9.99997172e-01 -2.34281547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.42, Z:-0.02 [[ 9.97662000e-01 6.83001241e-02 2.37191993e-03 1.13943090e+00] [-6.82999019e-02 9.97664820e-01 -1.74645606e-04 -4.22723123e-01] [-2.37830938e-03 1.22353864e-05 9.99997172e-01 -2.36069790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.43, Z:-0.02 [[ 9.97987478e-01 6.33669384e-02 2.37187210e-03 1.17143688e+00] [-6.33667007e-02 9.97990296e-01 -1.75292700e-04 -4.25547093e-01] [-2.37821310e-03 2.46422094e-05 9.99997172e-01 -2.12705122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.43, Z:-0.02 [[ 9.98254555e-01 5.90103246e-02 2.37182748e-03 1.20384752e+00] [-5.90100732e-02 9.98257372e-01 -1.75894364e-04 -4.27898933e-01] [-2.37807385e-03 3.56256368e-05 9.99997172e-01 -1.81551449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9099999999999997 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.43, Z:-0.02 [[ 9.98558237e-01 5.36266984e-02 2.37177937e-03 1.23550058e+00] [-5.36264303e-02 9.98561052e-01 -1.76540745e-04 -4.29788789e-01] [-2.37783380e-03 4.90961537e-05 9.99997172e-01 -1.70608824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.43, Z:-0.02 [[ 9.98686498e-01 5.11825592e-02 2.37173544e-03 1.26692980e+00] [-5.11822828e-02 9.98689312e-01 -1.77129035e-04 -4.31540295e-01] [-2.37769275e-03 5.55055421e-05 9.99997172e-01 -1.83250225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9699999999999998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.43, Z:-0.02 [[ 9.98694128e-01 5.10334488e-02 2.37168850e-03 1.29937852e+00] [-5.10331704e-02 9.98696943e-01 -1.77755325e-04 -4.32055129e-01] [-2.37766952e-03 5.64884159e-05 9.99997172e-01 -2.04914814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.41, Z:-0.03 [[ 9.99223093e-01 3.93393786e-02 2.37163804e-03 1.31528682e+00] [-3.93390657e-02 9.99225903e-01 -1.78425942e-04 -4.13782488e-01] [-2.37682133e-03 8.49892965e-05 9.99997172e-01 -2.88586829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.41, Z:-0.03 [[ 9.99082242e-01 4.27669661e-02 2.37917980e-03 1.34802677e+00] [-4.27669032e-02 9.99085074e-01 -7.73395966e-05 -4.14406327e-01] [-2.38031060e-03 -2.44815344e-05 9.99997167e-01 -2.79275282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.43, Z:-0.02 [[ 9.98200991e-01 5.99092676e-02 2.37915322e-03 1.39233615e+00] [-5.99092524e-02 9.98203825e-01 -7.76955228e-05 -4.27621634e-01] [-2.37953452e-03 -6.49775427e-05 9.99997167e-01 -2.21013084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.43, Z:-0.02 [[ 9.97927367e-01 6.43066668e-02 2.37129101e-03 1.42492464e+00] [-6.43064187e-02 9.97930184e-01 -1.80808199e-04 -4.25288014e-01] [-2.37801004e-03 2.79442178e-05 9.99997172e-01 -2.17354343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.42, Z:-0.02 [[ 9.97573503e-01 6.95807701e-02 2.37124315e-03 1.45791317e+00] [-6.95805354e-02 9.97576321e-01 -1.81433677e-04 -4.23344824e-01] [-2.37812031e-03 1.60010607e-05 9.99997172e-01 -2.27607059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.42, Z:-0.02 [[ 9.97042407e-01 7.68167640e-02 2.37119156e-03 1.48984363e+00] [-7.68165481e-02 9.97045227e-01 -1.82105407e-04 -4.20372395e-01] [-2.37817397e-03 -5.79937349e-07 9.99997172e-01 -2.42503869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1799999999999997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.42, Z:-0.02 [[ 9.96580784e-01 8.25900575e-02 2.37115935e-03 1.52336037e+00] [-8.25898569e-02 9.96583605e-01 -1.82523854e-04 -4.18672791e-01] [-2.37813319e-03 -1.39339458e-05 9.99997172e-01 -2.33888796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.21 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.42, Z:-0.02 [[ 9.96386235e-01 8.49049382e-02 2.37110810e-03 1.55584707e+00] [-8.49047427e-02 9.96389056e-01 -1.83187157e-04 -4.18714377e-01] [-2.37809966e-03 -1.87931621e-05 9.99997172e-01 -2.42526320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2399999999999998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.42, Z:-0.03 [[ 9.96276230e-01 8.61861411e-02 2.37107630e-03 1.58885597e+00] [-8.61859482e-02 9.96279052e-01 -1.83597838e-04 -4.19506890e-01] [-2.37807724e-03 -2.14392981e-05 9.99997172e-01 -2.50008537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.42, Z:-0.03 [[ 9.96160838e-01 8.75097869e-02 2.37102532e-03 1.62111454e+00] [-8.75095962e-02 9.96163660e-01 -1.84253945e-04 -4.21264973e-01] [-2.37805328e-03 -2.39409036e-05 9.99997172e-01 -2.56104157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.42, Z:-0.03 [[ 9.96108521e-01 8.81033032e-02 2.37097765e-03 1.65388179e+00] [-8.81031128e-02 9.96111343e-01 -1.84865248e-04 -4.23297156e-01] [-2.37804497e-03 -2.47446632e-05 9.99997172e-01 -2.51002497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.43, Z:-0.03 [[ 9.96223131e-01 8.67977631e-02 2.37092522e-03 1.68574378e+00] [-8.67975673e-02 9.96225952e-01 -1.85535332e-04 -4.25752770e-01] [-2.37808128e-03 -2.09559521e-05 9.99997172e-01 -2.71799221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.43, Z:-0.03 [[ 9.96867902e-01 7.90491346e-02 2.37087629e-03 1.71837087e+00] [-7.90489154e-02 9.96870721e-01 -1.86158494e-04 -4.33665438e-01] [-2.37817282e-03 -1.83977221e-06 9.99997172e-01 -2.62472422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3899999999999997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.44, Z:-0.02 [[ 9.97484130e-01 7.08504796e-02 2.37082353e-03 1.75114098e+00] [-7.08502356e-02 9.97486947e-01 -1.86827976e-04 -4.41281715e-01] [-2.37810238e-03 1.83845358e-05 9.99997172e-01 -2.41738678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.45, Z:-0.02 [[ 9.98057782e-01 6.22498474e-02 2.37077034e-03 1.78228001e+00] [-6.22495776e-02 9.98060597e-01 -1.87500497e-04 -4.47928235e-01] [-2.37784434e-03 3.95568778e-05 9.99997172e-01 -2.29964530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4499999999999997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.46, Z:-0.02 [[ 9.98645472e-01 5.19769212e-02 2.37072073e-03 1.81493344e+00] [-5.19766209e-02 9.98648284e-01 -1.88125690e-04 -4.58132710e-01] [-2.37729438e-03 6.46488158e-05 9.99997172e-01 -2.32691770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.46, Z:-0.02 [[ 9.98773622e-01 4.94533328e-02 2.37066641e-03 1.84610418e+00] [-4.94530238e-02 9.98776433e-01 -1.88807665e-04 -4.64327496e-01] [-2.37710291e-03 7.13394930e-05 9.99997172e-01 -2.19447881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.47, Z:-0.02 [[ 9.98732136e-01 5.02841977e-02 2.37061585e-03 1.87870302e+00] [-5.02838895e-02 9.98734947e-01 -1.89440480e-04 -4.68700670e-01] [-2.37714275e-03 6.99965102e-05 9.99997172e-01 -2.37403231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.47, Z:-0.02 [[ 9.98436354e-01 5.58500502e-02 2.37056225e-03 1.91138603e+00] [-5.58497562e-02 9.98439166e-01 -1.90108823e-04 -4.71517404e-01] [-2.37747978e-03 5.74162366e-05 9.99997172e-01 -2.20977207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.47, Z:-0.02 [[ 9.98054765e-01 6.22982088e-02 2.37050881e-03 1.94216973e+00] [-6.22979313e-02 9.98057579e-01 -1.90772845e-04 -4.73864317e-01] [-2.37778909e-03 4.27239520e-05 9.99997172e-01 -1.89274239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5999999999999996 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.48, Z:-0.02 [[ 9.97633049e-01 6.87217607e-02 2.37048251e-03 1.97442623e+00] [-6.87215006e-02 9.97635865e-01 -1.91099043e-04 -4.75095633e-01] [-2.37801103e-03 2.77436057e-05 9.99997172e-01 -1.89126326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.47, Z:-0.02 [[ 9.96925736e-01 7.83163922e-02 2.37043635e-03 2.00785253e+00] [-7.83161578e-02 9.96928554e-01 -1.91669884e-04 -4.74469782e-01] [-2.37816658e-03 5.43717276e-06 9.99997172e-01 -1.54694825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6599999999999997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.47, Z:-0.02 [[ 9.96447659e-01 8.41810467e-02 2.36963435e-03 2.03826377e+00] [-8.41808054e-02 9.96450476e-01 -2.01563929e-04 -4.74562537e-01] [-2.37819113e-03 1.37017712e-06 9.99997172e-01 -2.17352294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.69 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.48, Z:-0.03 [[ 9.96131158e-01 8.78470130e-02 2.37040425e-03 2.07161183e+00] [-8.78468046e-02 9.96133978e-01 -1.92061805e-04 -4.75752836e-01] [-2.37811228e-03 -1.69136908e-05 9.99997172e-01 -2.55275592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7199999999999998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.48, Z:-0.03 [[ 9.96010919e-01 8.91999504e-02 2.37035050e-03 2.10453089e+00] [-8.91997444e-02 9.96013739e-01 -1.92722947e-04 -4.78036086e-01] [-2.37809254e-03 -1.94804991e-05 9.99997172e-01 -2.89544021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.48, Z:-0.03 [[ 9.96261782e-01 8.63530141e-02 2.37029571e-03 2.13603183e+00] [-8.63527984e-02 9.96264602e-01 -1.93394423e-04 -4.84133287e-01] [-2.37814191e-03 -1.20101951e-05 9.99997172e-01 -3.17073594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.48, Z:-0.03 [[ 9.96960158e-01 7.78769825e-02 2.37024454e-03 2.16264606e+00] [-7.78767413e-02 9.96962976e-01 -1.94019638e-04 -4.84777308e-01] [-2.37815571e-03 8.84292811e-06 9.99997172e-01 -3.27519939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.81 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.49, Z:-0.03 [[ 9.96717577e-01 8.09224447e-02 2.37275880e-03 2.19695306e+00] [-8.09222853e-02 9.96720401e-01 -1.63242996e-04 -4.94885579e-01] [-2.37818713e-03 -2.93019017e-05 9.99997172e-01 -2.97083030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.50, Z:-0.03 [[ 9.96957518e-01 7.79107815e-02 2.37016032e-03 2.22873262e+00] [-7.79105385e-02 9.96960335e-01 -1.94850896e-04 -5.04020446e-01] [-2.37813681e-03 9.59759922e-06 9.99997172e-01 -2.89144384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8699999999999997 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.51, Z:-0.03 [[ 9.96930135e-01 7.82603830e-02 2.37010496e-03 2.26022848e+00] [-7.82601394e-02 9.96932953e-01 -1.95521986e-04 -5.08613131e-01] [-2.37813736e-03 9.43701573e-06 9.99997172e-01 -2.92825001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.51, Z:-0.03 [[ 9.97036380e-01 7.68949946e-02 2.37005294e-03 2.28799942e+00] [-7.68947455e-02 9.97039197e-01 -1.96150527e-04 -5.08116409e-01] [-2.37811867e-03 1.33245941e-05 9.99997172e-01 -2.92357524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9299999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.51, Z:-0.03 [[ 9.96875032e-01 7.89591216e-02 2.37216801e-03 2.32014794e+00] [-7.89589391e-02 9.96877855e-01 -1.70602235e-04 -5.06796818e-01] [-2.37823236e-03 -1.72347610e-05 9.99997172e-01 -2.71785693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.50, Z:-0.03 [[ 9.96911934e-01 7.84918301e-02 2.37235981e-03 2.35140616e+00] [-7.84916519e-02 9.96914757e-01 -1.68297739e-04 -5.04162938e-01] [-2.37825051e-03 -1.84324158e-05 9.99997172e-01 -3.41574609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9899999999999998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.50, Z:-0.04 [[ 9.96996958e-01 7.74043634e-02 2.37283893e-03 2.38337504e+00] [-7.74041957e-02 9.96999781e-01 -1.62556916e-04 -5.04954949e-01] [-2.37830251e-03 -2.15989380e-05 9.99997172e-01 -3.67055178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.51, Z:-0.03 [[ 9.97017903e-01 7.71341073e-02 2.37274778e-03 2.41483037e+00] [-7.71339363e-02 9.97020727e-01 -1.63648646e-04 -5.09004086e-01] [-2.37830161e-03 -1.98587461e-05 9.99997172e-01 -3.20349274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.51, Z:-0.03 [[ 9.97023616e-01 7.70602504e-02 2.37217303e-03 2.44567123e+00] [-7.70600629e-02 9.97026438e-01 -1.70461369e-04 -5.11859407e-01] [-2.37825502e-03 -1.28457924e-05 9.99997172e-01 -3.33054748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.51, Z:-0.03 [[ 9.96981591e-01 7.76020403e-02 2.37288732e-03 2.47849147e+00] [-7.76018743e-02 9.96984415e-01 -1.62061287e-04 -5.13230564e-01] [-2.37830797e-03 -2.25683840e-05 9.99997172e-01 -3.41933648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.52, Z:-0.03 [[ 9.96673535e-01 8.14630979e-02 2.37248702e-03 2.51407777e+00] [-8.14629317e-02 9.96676358e-01 -1.66743664e-04 -5.21901135e-01] [-2.37818518e-03 -2.70807512e-05 9.99997172e-01 -3.44312599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.52, Z:-0.03 [[ 9.96650534e-01 8.17441096e-02 2.36928326e-03 2.54733763e+00] [-8.17438557e-02 9.96653350e-01 -2.03959953e-04 -5.24821700e-01] [-2.37802662e-03 9.60244745e-06 9.99997172e-01 -3.45279288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.52, Z:-0.04 [[ 9.97283562e-01 7.36198661e-02 2.36922558e-03 2.57363905e+00] [-7.36195877e-02 9.97286375e-01 -2.04627754e-04 -5.22033371e-01] [-2.37786106e-03 2.96504852e-05 9.99997172e-01 -4.00149389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.53, Z:-0.04 [[ 9.97653351e-01 6.84263369e-02 2.37231005e-03 2.60479974e+00] [-6.84261283e-02 9.97656171e-01 -1.69114844e-04 -5.28479556e-01] [-2.37832167e-03 6.38999921e-06 9.99997172e-01 -3.53329991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2299999999999995 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.53, Z:-0.03 [[ 9.97952252e-01 6.39192805e-02 2.37254541e-03 2.63492368e+00] [-6.39190655e-02 9.97955072e-01 -1.66416342e-04 -5.31439981e-01] [-2.37833094e-03 1.44246781e-05 9.99997172e-01 -3.14213956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.54, Z:-0.03 [[ 9.97841346e-01 6.56278761e-02 2.37287086e-03 2.67122107e+00] [-6.56276748e-02 9.97844167e-01 -1.62684343e-04 -5.42593683e-01] [-2.37843198e-03 6.60716621e-06 9.99997172e-01 -2.89614034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.54, Z:-0.03 [[ 9.98388464e-01 5.66997673e-02 2.36885797e-03 2.69615211e+00] [-5.66994324e-02 9.98391271e-01 -2.08316673e-04 -5.37983654e-01] [-2.37685863e-03 7.36680604e-05 9.99997173e-01 -2.84236254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.54, Z:-0.03 [[ 9.98445920e-01 5.56786708e-02 2.37268956e-03 2.72572459e+00] [-5.56784367e-02 9.98448739e-01 -1.64653794e-04 -5.39441394e-01] [-2.37817661e-03 3.22902629e-05 9.99997172e-01 -2.56512574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.35 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.55, Z:-0.02 [[ 9.97905673e-01 6.46423502e-02 2.37363716e-03 2.76480788e+00] [-6.46421676e-02 9.97908496e-01 -1.53649738e-04 -5.48269323e-01] [-2.37860497e-03 -1.09105980e-07 9.99997171e-01 -2.08472535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.55, Z:-0.03 [[ 9.97554141e-01 6.98578963e-02 2.36842831e-03 2.79709271e+00] [-6.98575866e-02 9.97556952e-01 -2.13336109e-04 -5.48047909e-01] [-2.37754534e-03 4.73616329e-05 9.99997173e-01 -2.52925487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.55, Z:-0.02 [[ 9.97046037e-01 7.67697089e-02 2.36897761e-03 2.82970508e+00] [-7.67694336e-02 9.97048851e-01 -2.07051288e-04 -5.47317877e-01] [-2.37788167e-03 2.45745966e-05 9.99997173e-01 -2.35234934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4399999999999995 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.55, Z:-0.03 [[ 9.96580215e-01 8.25969963e-02 2.36891887e-03 2.86242522e+00] [-8.25967359e-02 9.96583030e-01 -2.07721136e-04 -5.47252153e-01] [-2.37798149e-03 1.13458079e-05 9.99997173e-01 -2.57898449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.47 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.54, Z:-0.03 [[ 9.96464777e-01 8.39781911e-02 2.36885971e-03 2.88814962e+00] [-8.39779330e-02 9.96467593e-01 -2.08393692e-04 -5.40459170e-01] [-2.37799246e-03 8.72503184e-06 9.99997173e-01 -2.60351766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.54, Z:-0.03 [[ 9.95856177e-01 9.09111956e-02 2.37248112e-03 2.92045090e+00] [-9.09110554e-02 9.95859002e-01 -1.67119365e-04 -5.39427681e-01] [-2.37784971e-03 -4.92579108e-05 9.99997172e-01 -2.78364267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.55, Z:-0.03 [[ 9.94730635e-01 1.02495540e-01 2.37230627e-03 2.95817859e+00] [-1.02495427e-01 9.94733461e-01 -1.69117335e-04 -5.45718084e-01] [-2.37714620e-03 -7.49243511e-05 9.99997172e-01 -2.82885705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.55, Z:-0.03 [[ 9.94332308e-01 1.06290405e-01 2.36876107e-03 2.99081979e+00] [-1.06290208e-01 9.94335129e-01 -2.09249996e-04 -5.46040434e-01] [-2.37758361e-03 -4.37120757e-05 9.99997173e-01 -2.98370344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.55, Z:-0.03 [[ 9.94281386e-01 1.06765697e-01 2.36870104e-03 3.02334366e+00] [-1.06765499e-01 9.94284207e-01 -2.09927266e-04 -5.48594191e-01] [-2.37757507e-03 -4.41687763e-05 9.99997173e-01 -3.17876250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.55, Z:-0.03 [[ 9.94539084e-01 1.04337908e-01 2.36868245e-03 3.05578580e+00] [-1.04337704e-01 9.94541904e-01 -2.10136865e-04 -5.52417359e-01] [-2.37767919e-03 -3.81535624e-05 9.99997173e-01 -3.21849257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6499999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.55, Z:-0.04 [[ 9.95507863e-01 9.46492743e-02 2.36862269e-03 3.08053426e+00] [-9.46490406e-02 9.95510680e-01 -2.10808276e-04 -5.48195911e-01] [-2.37794204e-03 -1.43265689e-05 9.99997173e-01 -3.76446900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.56, Z:-0.03 [[ 9.95346919e-01 9.63269499e-02 2.37281705e-03 3.11774599e+00] [-9.63268335e-02 9.95349745e-01 -1.63551889e-04 -5.61598289e-01] [-2.37753730e-03 -6.57750842e-05 9.99997171e-01 -3.47564380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.57, Z:-0.03 [[ 9.95697849e-01 9.26292869e-02 2.36843469e-03 3.15057436e+00] [-9.26290437e-02 9.95700665e-01 -2.12415325e-04 -5.67743654e-01] [-2.37792787e-03 -7.88435742e-06 9.99997173e-01 -3.25712703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.57, Z:-0.03 [[ 9.95944391e-01 8.99397662e-02 2.36837499e-03 3.18317081e+00] [-8.99395138e-02 9.95947207e-01 -2.13078912e-04 -5.74181616e-01] [-2.37794072e-03 -7.95747117e-07 9.99997173e-01 -3.03988905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.77 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.58, Z:-0.03 [[ 9.96200661e-01 8.70553551e-02 2.36831390e-03 3.21472628e+00] [-8.70550930e-02 9.96203476e-01 -2.13755733e-04 -5.80337654e-01] [-2.37793112e-03 6.76981560e-06 9.99997173e-01 -3.24890090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.58, Z:-0.04 [[ 9.96783418e-01 8.01074870e-02 2.36825686e-03 3.23999842e+00] [-8.01072037e-02 9.96786231e-01 -2.14385798e-04 -5.77040233e-01] [-2.37781974e-03 2.39817732e-05 9.99997173e-01 -3.62967748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.59, Z:-0.03 [[ 9.96251780e-01 8.64682736e-02 2.37260614e-03 3.27758978e+00] [-8.64681231e-02 9.96254604e-01 -1.66144205e-04 -5.89722171e-01] [-2.37808599e-03 -3.96333396e-05 9.99997172e-01 -3.38525342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.59, Z:-0.03 [[ 9.96140731e-01 8.77384512e-02 2.36812797e-03 3.30973147e+00] [-8.77381871e-02 9.96143546e-01 -2.15381793e-04 -5.94557478e-01] [-2.37789266e-03 6.77532229e-06 9.99997173e-01 -3.00738532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.59, Z:-0.04 [[ 9.96759031e-01 8.04103665e-02 2.36809079e-03 3.33263595e+00] [-8.04100808e-02 9.96761843e-01 -2.15789798e-04 -5.89637985e-01] [-2.37777428e-03 2.46720578e-05 9.99997173e-01 -3.52357107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.60, Z:-0.03 [[ 9.96182336e-01 8.72646601e-02 2.37316728e-03 3.37178536e+00] [-8.72645269e-02 9.96185162e-01 -1.59816285e-04 -6.02425043e-01] [-2.37806034e-03 -4.78871599e-05 9.99997171e-01 -2.93330605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.61, Z:-0.03 [[ 9.96415189e-01 8.45645566e-02 2.36790475e-03 3.40331480e+00] [-8.45642792e-02 9.96418002e-01 -2.17190683e-04 -6.05269553e-01] [-2.37778955e-03 1.61719374e-05 9.99997173e-01 -2.76226988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9799999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.61, Z:-0.03 [[ 9.96543694e-01 8.30364891e-02 2.36784684e-03 3.43564223e+00] [-8.30362059e-02 9.96546507e-01 -2.17820191e-04 -6.08558956e-01] [-2.37775652e-03 2.04503206e-05 9.99997173e-01 -2.78561715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.01 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.61, Z:-0.03 [[ 9.96936617e-01 7.81778483e-02 2.36778481e-03 3.46856731e+00] [-7.81775498e-02 9.96939428e-01 -2.18492442e-04 -6.11886722e-01] [-2.37761930e-03 3.27155013e-05 9.99997173e-01 -2.76285983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.60, Z:-0.03 [[ 9.97976785e-01 6.35352699e-02 2.36772310e-03 3.48783190e+00] [-6.35349286e-02 9.97979591e-01 -2.19159087e-04 -6.01517562e-01] [-2.37686366e-03 6.82825627e-05 9.99997173e-01 -2.96085703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069999999999999 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.62, Z:-0.03 [[ 9.97538000e-01 7.00877868e-02 2.37519613e-03 3.52979937e+00] [-7.00876573e-02 9.97540827e-01 -1.37820589e-04 -6.18281638e-01] [-2.37901465e-03 -2.89906571e-05 9.99997170e-01 -2.73497632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.60, Z:-0.03 [[ 9.98358561e-01 5.72239388e-02 2.36744093e-03 3.54793516e+00] [-5.72235756e-02 9.98361364e-01 -2.20925503e-04 -6.04280542e-01] [-2.37620378e-03 8.50894326e-05 9.99997173e-01 -3.31706798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.60, Z:-0.04 [[ 9.98255284e-01 5.89978478e-02 2.37526637e-03 3.57987497e+00] [-5.89976890e-02 9.98258110e-01 -1.36956611e-04 -6.04298733e-01] [-2.37920906e-03 -3.41756652e-06 9.99997170e-01 -3.57790945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.60, Z:-0.03 [[ 9.97973966e-01 6.35792594e-02 2.37499579e-03 3.60885167e+00] [-6.35791068e-02 9.97976792e-01 -1.39796628e-04 -6.03802248e-01] [-2.37907885e-03 -1.14867159e-05 9.99997170e-01 -3.43161880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1899999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.62, Z:-0.03 [[ 9.96760544e-01 8.03913731e-02 2.37588497e-03 3.65292999e+00] [-8.03912903e-02 9.96763374e-01 -1.30483012e-04 -6.19238785e-01] [-2.37868483e-03 -6.09401403e-05 9.99997169e-01 -2.95739597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.60, Z:-0.04 [[ 9.97033082e-01 7.69378555e-02 2.36623359e-03 3.67260373e+00] [-7.69375266e-02 9.97035889e-01 -2.29843745e-04 -6.04392409e-01] [-2.37690350e-03 4.71096580e-05 9.99997174e-01 -3.86410681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.61, Z:-0.04 [[ 9.96132642e-01 8.78301192e-02 2.37263498e-03 3.70467542e+00] [-8.78299749e-02 9.96135467e-01 -1.65139146e-04 -6.05655982e-01] [-2.37797004e-03 -4.38879770e-05 9.99997172e-01 -3.94502680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.62, Z:-0.03 [[ 9.94580177e-01 1.03945398e-01 2.37173911e-03 3.74354093e+00] [-1.03945278e-01 9.94583003e-01 -1.74163222e-04 -6.15017322e-01] [-2.37699487e-03 -7.33117919e-05 9.99997172e-01 -3.14503056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.62, Z:-0.03 [[ 9.94047358e-01 1.08923161e-01 2.36539683e-03 3.77509820e+00] [-1.08922905e-01 9.94050172e-01 -2.37365426e-04 -6.15998455e-01] [-2.37717772e-03 -2.16934195e-05 9.99997174e-01 -3.12374263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.62, Z:-0.03 [[ 9.93684904e-01 1.12181627e-01 2.36535560e-03 3.80783971e+00] [-1.12181379e-01 9.93687718e-01 -2.37775659e-04 -6.17241319e-01] [-2.37709887e-03 -2.90747697e-05 9.99997174e-01 -3.32582584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.62, Z:-0.03 [[ 9.93545003e-01 1.13413990e-01 2.36529079e-03 3.84037882e+00] [-1.13413744e-01 9.93547818e-01 -2.38418598e-04 -6.19173863e-01] [-2.37706951e-03 -3.13768781e-05 9.99997174e-01 -3.47340762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3999999999999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.62, Z:-0.03 [[ 9.93503400e-01 1.13777856e-01 2.36522485e-03 3.87285273e+00] [-1.13777609e-01 9.93506215e-01 -2.39070988e-04 -6.22004954e-01] [-2.37706657e-03 -3.15917881e-05 9.99997174e-01 -3.38420728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.61, Z:-0.04 [[ 9.94451297e-01 1.05171399e-01 2.36515777e-03 3.89481951e+00] [-1.05171127e-01 9.94454110e-01 -2.39732788e-04 -6.14979079e-01] [-2.37725389e-03 -1.03437251e-05 9.99997174e-01 -3.92904049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.63, Z:-0.04 [[ 9.93719043e-01 1.11878685e-01 2.37152598e-03 3.93446743e+00] [-1.11878582e-01 9.93721868e-01 -1.76508628e-04 -6.29619401e-01] [-2.37638479e-03 -8.99229795e-05 9.99997172e-01 -3.62974575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.62, Z:-0.04 [[ 9.94573392e-01 1.04010455e-01 2.36498739e-03 3.95735150e+00] [-1.04010176e-01 9.94576204e-01 -2.40742095e-04 -6.24411919e-01] [-2.37719988e-03 -6.54707338e-06 9.99997174e-01 -4.18339550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.63, Z:-0.04 [[ 9.94535900e-01 1.04368229e-01 2.36986047e-03 3.98640032e+00] [-1.04368064e-01 9.94538722e-01 -1.93731837e-04 -6.29680290e-01] [-2.37713745e-03 -5.46644812e-05 9.99997173e-01 -4.23329883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.64, Z:-0.04 [[ 9.93745970e-01 1.11639273e-01 2.37073555e-03 4.02542517e+00] [-1.11639149e-01 9.93748794e-01 -1.85313141e-04 -6.44656460e-01] [-2.37660382e-03 -8.05127123e-05 9.99997173e-01 -3.58366550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.65, Z:-0.04 [[ 9.93898042e-01 1.10277348e-01 2.36411243e-03 4.05951415e+00] [-1.10277069e-01 9.93900853e-01 -2.48358419e-04 -6.48682459e-01] [-2.37708167e-03 -1.38644430e-05 9.99997175e-01 -4.11416700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.65, Z:-0.04 [[ 9.93687750e-01 1.12156469e-01 2.36278055e-03 4.09033576e+00] [-1.12156165e-01 9.93690559e-01 -2.61017589e-04 -6.53537749e-01] [-2.37714753e-03 -5.63042461e-06 9.99997175e-01 -3.71984274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.65, Z:-0.04 [[ 9.94240405e-01 1.07146759e-01 2.36405467e-03 4.11474680e+00] [-1.07146470e-01 9.94243216e-01 -2.48916799e-04 -6.49585340e-01] [-2.37711594e-03 -5.81697394e-06 9.99997175e-01 -4.09818275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.66, Z:-0.04 [[ 9.93434332e-01 1.14379257e-01 2.36939340e-03 4.15329576e+00] [-1.14379110e-01 9.93437155e-01 -1.98108734e-04 -6.62143655e-01] [-2.37650297e-03 -7.42010897e-05 9.99997173e-01 -3.50034977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.67, Z:-0.04 [[ 9.93434582e-01 1.14377195e-01 2.36384061e-03 4.18640323e+00] [-1.14376923e-01 9.93437394e-01 -2.50506289e-04 -6.66133106e-01] [-2.37697986e-03 -2.15072054e-05 9.99997175e-01 -3.59163295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7299999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.66, Z:-0.04 [[ 9.94064173e-01 1.08769629e-01 2.36376938e-03 4.21163516e+00] [-1.08769339e-01 9.94066984e-01 -2.51176657e-04 -6.62364795e-01] [-2.37706549e-03 -7.41991746e-06 9.99997175e-01 -3.62792632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.67, Z:-0.03 [[ 9.93634478e-01 1.12627325e-01 2.36838027e-03 4.24840985e+00] [-1.12627150e-01 9.93637299e-01 -2.07663546e-04 -6.73850657e-01] [-2.37669956e-03 -6.04022597e-05 9.99997174e-01 -3.33299299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.67, Z:-0.03 [[ 9.94257008e-01 1.06992598e-01 2.36359322e-03 4.27341114e+00] [-1.06992301e-01 9.94259817e-01 -2.52477955e-04 -6.69932362e-01] [-2.37703903e-03 -1.85829941e-06 9.99997175e-01 -3.45199974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.68, Z:-0.03 [[ 9.94049033e-01 1.08907817e-01 2.36808904e-03 4.31030318e+00] [-1.08907625e-01 9.94051852e-01 -2.10282256e-04 -6.82039095e-01] [-2.37690468e-03 -4.88720813e-05 9.99997174e-01 -3.34948844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.85 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.68, Z:-0.04 [[ 9.95066226e-01 9.91847765e-02 2.36342601e-03 4.33525921e+00] [-9.91844536e-02 9.95069033e-01 -2.53719030e-04 -6.77890308e-01] [-2.37693710e-03 1.80521205e-05 9.99997175e-01 -3.86281568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.69, Z:-0.04 [[ 9.94978005e-01 1.00065790e-01 2.36801221e-03 4.37215651e+00] [-1.00065572e-01 9.94980822e-01 -2.10911479e-04 -6.89763730e-01] [-2.37723176e-03 -2.71042130e-05 9.99997174e-01 -3.65407073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.69, Z:-0.04 [[ 9.95342501e-01 9.63728170e-02 2.36325412e-03 4.40491843e+00] [-9.63724831e-02 9.95345307e-01 -2.55006675e-04 -6.94151145e-01] [-2.37682961e-03 2.60663139e-05 9.99997175e-01 -3.59374274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9399999999999995 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.69, Z:-0.04 [[ 9.96224110e-01 8.67867371e-02 2.36318504e-03 4.42926591e+00] [-8.67863748e-02 9.96226912e-01 -2.55645270e-04 -6.90244115e-01] [-2.37645515e-03 4.95877196e-05 9.99997175e-01 -4.05969738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.97 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.70, Z:-0.04 [[ 9.95834266e-01 9.11509949e-02 2.36871786e-03 4.46760242e+00] [-9.11507668e-02 9.95837083e-01 -2.04304828e-04 -7.01885465e-01] [-2.37747967e-03 -1.24567006e-05 9.99997174e-01 -3.85605166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.71, Z:-0.04 [[ 9.95889465e-01 9.05460614e-02 2.36299349e-03 4.50005169e+00] [-9.05457065e-02 9.95892268e-01 -2.56948309e-04 -7.05041667e-01] [-2.37655260e-03 4.19331992e-05 9.99997175e-01 -3.83495742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.71, Z:-0.04 [[ 9.95865537e-01 9.08088563e-02 2.36292550e-03 4.53324505e+00] [-9.08085007e-02 9.95868340e-01 -2.57571987e-04 -7.08753994e-01] [-2.37655252e-03 4.19333426e-05 9.99997175e-01 -3.84292438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.70, Z:-0.04 [[ 9.96486404e-01 8.37213402e-02 2.36285737e-03 4.55746964e+00] [-8.37209632e-02 9.96489204e-01 -2.58195502e-04 -7.03379661e-01] [-2.37617833e-03 5.94676126e-05 9.99997175e-01 -4.33304896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.72, Z:-0.04 [[ 9.95870115e-01 9.07585059e-02 2.36821096e-03 4.59572988e+00] [-9.07582654e-02 9.95872930e-01 -2.09027132e-04 -7.15851753e-01] [-2.37740818e-03 -6.77084490e-06 9.99997174e-01 -3.75541949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.72, Z:-0.04 [[ 9.95775109e-01 9.17951539e-02 2.36267740e-03 4.62880137e+00] [-9.17947967e-02 9.95777911e-01 -2.59423579e-04 -7.18789185e-01] [-2.37651579e-03 4.14460514e-05 9.99997175e-01 -3.73314075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1499999999999995 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.72, Z:-0.04 [[ 9.95583419e-01 9.38513379e-02 2.36260458e-03 4.66034168e+00] [-9.38509849e-02 9.95586222e-01 -2.60085063e-04 -7.20181943e-01] [-2.37658590e-03 3.72036094e-05 9.99997175e-01 -3.75934028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.72, Z:-0.04 [[ 9.95419503e-01 9.55742233e-02 2.36253661e-03 4.69289258e+00] [-9.55738736e-02 9.95422306e-01 -2.60701085e-04 -7.22694617e-01] [-2.37663794e-03 3.37101694e-05 9.99997175e-01 -3.69315666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.72, Z:-0.04 [[ 9.95228909e-01 9.75389022e-02 2.36246385e-03 4.72550936e+00] [-9.75385565e-02 9.95231713e-01 -2.61358777e-04 -7.24443586e-01] [-2.37669159e-03 2.96804974e-05 9.99997175e-01 -3.92984441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.73, Z:-0.04 [[ 9.94870641e-01 1.01127775e-01 2.36239027e-03 4.75864515e+00] [-1.01127438e-01 9.94873446e-01 -2.62022137e-04 -7.26861607e-01] [-2.37677706e-03 2.17756563e-05 9.99997175e-01 -3.65565417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.27 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.72, Z:-0.04 [[ 9.95362579e-01 9.61652499e-02 2.36231680e-03 4.78281111e+00] [-9.61648972e-02 9.95365382e-01 -2.62682819e-04 -7.20330977e-01] [-2.37662933e-03 3.42926953e-05 9.99997175e-01 -4.24772637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.73, Z:-0.04 [[ 9.94310115e-01 1.06497826e-01 2.36799934e-03 4.82020273e+00] [-1.06497625e-01 9.94312934e-01 -2.11327515e-04 -7.31801956e-01] [-2.37703829e-03 -4.20612192e-05 9.99997174e-01 -3.90741001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.72, Z:-0.05 [[ 9.94927783e-01 1.00564038e-01 2.36216223e-03 4.84171932e+00] [-1.00563696e-01 9.94930587e-01 -2.63629037e-04 -7.23521676e-01] [-2.37669905e-03 2.47440895e-05 9.99997175e-01 -4.66962064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.74, Z:-0.04 [[ 9.93918405e-01 1.10093554e-01 2.36947170e-03 4.88153843e+00] [-1.10093395e-01 9.93921227e-01 -1.97853971e-04 -7.37812574e-01] [-2.37685066e-03 -6.42124798e-05 9.99997173e-01 -4.15025841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.39 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.74, Z:-0.04 [[ 9.93823965e-01 1.10942997e-01 2.36193919e-03 4.91352069e+00] [-1.10942681e-01 9.93826771e-01 -2.64992885e-04 -7.41158784e-01] [-2.37675751e-03 1.31641385e-06 9.99997176e-01 -4.35594185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.74, Z:-0.05 [[ 9.94622958e-01 1.03535464e-01 2.36187134e-03 4.93693378e+00] [-1.03535125e-01 9.94625762e-01 -2.65596293e-04 -7.36330159e-01] [-2.37667671e-03 1.96315268e-05 9.99997176e-01 -4.83885110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.75, Z:-0.04 [[ 9.93788380e-01 1.11261165e-01 2.36813533e-03 4.97484881e+00] [-1.11260981e-01 9.93791200e-01 -2.09692424e-04 -7.51508769e-01] [-2.37676268e-03 -5.50911658e-05 9.99997174e-01 -3.98305805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4799999999999995 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.76, Z:-0.04 [[ 9.93909816e-01 1.10171233e-01 2.36165251e-03 5.00703722e+00] [-1.10170910e-01 9.93912622e-01 -2.67027917e-04 -7.56681746e-01] [-2.37669504e-03 5.21626225e-06 9.99997176e-01 -4.11578896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.51 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.76, Z:-0.04 [[ 9.93873690e-01 1.10496657e-01 2.36157936e-03 5.03818671e+00] [-1.10496333e-01 9.93876496e-01 -2.67673351e-04 -7.61196418e-01] [-2.37669523e-03 5.08764144e-06 9.99997176e-01 -4.14762311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.77, Z:-0.04 [[ 9.93733366e-01 1.11751605e-01 2.36151113e-03 5.07073941e+00] [-1.11751283e-01 9.93736172e-01 -2.68273951e-04 -7.65176402e-01] [-2.37669907e-03 2.69087720e-06 9.99997176e-01 -4.02010534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.77, Z:-0.04 [[ 9.93666003e-01 1.12348998e-01 2.36143883e-03 5.10354230e+00] [-1.12348676e-01 9.93668809e-01 -2.68908798e-04 -7.69596676e-01] [-2.37669975e-03 1.90100429e-06 9.99997176e-01 -4.19705663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.78, Z:-0.04 [[ 9.93532021e-01 1.13527737e-01 2.36136640e-03 5.13575912e+00] [-1.13527417e-01 9.93534827e-01 -2.69543408e-04 -7.75113338e-01] [-2.37670041e-03 -2.79820246e-07 9.99997176e-01 -3.93632713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.78, Z:-0.04 [[ 9.93500248e-01 1.13805459e-01 2.36129079e-03 5.16788026e+00] [-1.13805138e-01 9.93503054e-01 -2.70204126e-04 -7.80113396e-01] [-2.37670031e-03 -2.79158099e-07 9.99997176e-01 -3.91341178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.79, Z:-0.04 [[ 9.93614127e-01 1.12806874e-01 2.36121485e-03 5.19896066e+00] [-1.12806549e-01 9.93616933e-01 -2.70866105e-04 -7.85032830e-01] [-2.37669862e-03 2.77589107e-06 9.99997176e-01 -4.16986737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6899999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.79, Z:-0.04 [[ 9.93413026e-01 1.14564330e-01 2.36114351e-03 5.23150202e+00] [-1.14564008e-01 9.93415832e-01 -2.71486564e-04 -7.89990955e-01] [-2.37670002e-03 -8.03774800e-07 9.99997176e-01 -3.89983485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.79, Z:-0.04 [[ 9.93479767e-01 1.13984109e-01 2.36106866e-03 5.26287357e+00] [-1.13983784e-01 9.93482573e-01 -2.72135940e-04 -7.94421326e-01] [-2.37669974e-03 1.23801124e-06 9.99997176e-01 -4.17276837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.79, Z:-0.05 [[ 9.94517269e-01 1.04545811e-01 2.36099877e-03 5.28350359e+00] [-1.04545458e-01 9.94520072e-01 -2.72740975e-04 -7.87173781e-01] [-2.37657459e-03 2.44139111e-05 9.99997176e-01 -4.97446585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.81, Z:-0.04 [[ 9.93295135e-01 1.15581831e-01 2.36956139e-03 5.32364248e+00] [-1.15581687e-01 9.93297959e-01 -1.98129911e-04 -8.06087541e-01] [-2.37658071e-03 -7.70764271e-05 9.99997173e-01 -4.03612121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.81 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.81, Z:-0.04 [[ 9.93224141e-01 1.16190500e-01 2.36079391e-03 5.35607140e+00] [-1.16190177e-01 9.93226947e-01 -2.73742079e-04 -8.11807549e-01] [-2.37661036e-03 -2.41382187e-06 9.99997176e-01 -4.10244427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.81, Z:-0.05 [[ 9.93936813e-01 1.09927426e-01 2.36071878e-03 5.37708386e+00] [-1.09927085e-01 9.93939616e-01 -2.74388501e-04 -8.05554876e-01] [-2.37657474e-03 1.32178998e-05 9.99997176e-01 -4.58585526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.81, Z:-0.05 [[ 9.93593232e-01 1.12990639e-01 2.36743881e-03 5.40669803e+00] [-1.12990443e-01 9.93596051e-01 -2.16846031e-04 -8.10613028e-01] [-2.37677942e-03 -5.20412108e-05 9.99997174e-01 -4.74323054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8999999999999995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.82, Z:-0.05 [[ 9.93416681e-01 1.14532480e-01 2.36821547e-03 5.43896724e+00] [-1.14532304e-01 9.93419502e-01 -2.10216715e-04 -8.15273271e-01] [-2.37670807e-03 -6.24043831e-05 9.99997174e-01 -4.87203088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.82, Z:-0.05 [[ 9.92809350e-01 1.19682870e-01 2.36752046e-03 5.47095822e+00] [-1.19682695e-01 9.92812171e-01 -2.16124927e-04 -8.20034282e-01] [-2.37636958e-03 -6.87803796e-05 9.99997174e-01 -4.65512547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.84, Z:-0.04 [[ 9.91562087e-01 1.29611048e-01 2.36728421e-03 5.50949622e+00] [-1.29610896e-01 9.91564909e-01 -2.18127339e-04 -8.36978981e-01] [-2.37558767e-03 -9.05390291e-05 9.99997174e-01 -4.13364944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.83, Z:-0.05 [[ 9.92717994e-01 1.20438432e-01 2.35984719e-03 5.52944316e+00] [-1.20438105e-01 9.92720799e-01 -2.80659490e-04 -8.30347801e-01] [-2.37647158e-03 -5.59979769e-06 9.99997176e-01 -4.95962215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.84, Z:-0.05 [[ 9.92031089e-01 1.25971061e-01 2.36851845e-03 5.56988123e+00] [-1.25970933e-01 9.92033912e-01 -2.03714308e-04 -8.42571968e-01] [-2.37531273e-03 -9.62735527e-05 9.99997174e-01 -4.57750202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.84, Z:-0.05 [[ 9.92447585e-01 1.22646714e-01 2.36100823e-03 5.59226827e+00] [-1.22646419e-01 9.92450393e-01 -2.69743696e-04 -8.40723133e-01] [-2.37626673e-03 -2.18627252e-05 9.99997176e-01 -4.88618069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.84, Z:-0.05 [[ 9.92541164e-01 1.21886974e-01 2.36728690e-03 5.62265030e+00] [-1.21886804e-01 9.92543984e-01 -2.16535428e-04 -8.43787580e-01] [-2.37602921e-03 -7.36207094e-05 9.99997175e-01 -5.37638805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.85, Z:-0.05 [[ 9.92201943e-01 1.24618202e-01 2.36809438e-03 5.65656979e+00] [-1.24618055e-01 9.92204765e-01 -2.09726757e-04 -8.49068805e-01] [-2.37577030e-03 -8.70160218e-05 9.99997174e-01 -5.13138415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.86, Z:-0.04 [[ 9.91091551e-01 1.33161317e-01 2.36681282e-03 5.69576609e+00] [-1.33161169e-01 9.91094372e-01 -2.20488549e-04 -8.63179621e-01] [-2.37509541e-03 -9.66432245e-05 9.99997175e-01 -4.44614504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.87, Z:-0.04 [[ 9.90830998e-01 1.35086514e-01 2.35926475e-03 5.72842448e+00] [-1.35086223e-01 9.90833807e-01 -2.83338791e-04 -8.65681867e-01] [-2.37591452e-03 -3.79633054e-05 9.99997177e-01 -4.16437539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.86, Z:-0.05 [[ 9.92017581e-01 1.26077567e-01 2.35918523e-03 5.75017975e+00] [-1.26077248e-01 9.92020386e-01 -2.83999318e-04 -8.57051993e-01] [-2.37616579e-03 -1.57072658e-05 9.99997177e-01 -5.01161552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2299999999999995 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.86, Z:-0.05 [[ 9.92049598e-01 1.25825243e-01 2.36725879e-03 5.78170624e+00] [-1.25825084e-01 9.92052419e-01 -2.16625224e-04 -8.61707596e-01] [-2.37570173e-03 -8.29575685e-05 9.99997175e-01 -5.31970211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.88, Z:-0.05 [[ 9.90975868e-01 1.34019500e-01 2.36697305e-03 5.82129265e+00] [-1.34019358e-01 9.90978690e-01 -2.19009063e-04 -8.77176461e-01] [-2.37497133e-03 -1.00187512e-04 9.99997175e-01 -4.60102448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.87, Z:-0.06 [[ 9.92364500e-01 1.23317211e-01 2.35893938e-03 5.84329748e+00] [-1.23316881e-01 9.92367304e-01 -2.85408431e-04 -8.70648937e-01] [-2.37613009e-03 -7.66785306e-06 9.99997177e-01 -5.57779901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.88, Z:-0.06 [[ 9.92401143e-01 1.23021835e-01 2.36642410e-03 5.87460103e+00] [-1.23021651e-01 9.92403962e-01 -2.23626745e-04 -8.75141910e-01] [-2.37595963e-03 -6.91939624e-05 9.99997175e-01 -5.63169438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.35 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.89, Z:-0.05 [[ 9.91562688e-01 1.29606461e-01 2.36685433e-03 5.91396872e+00] [-1.29606304e-01 9.91565508e-01 -2.20086793e-04 -8.91704401e-01] [-2.37541579e-03 -8.85293906e-05 9.99997175e-01 -4.84469053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.88, Z:-0.06 [[ 9.92953629e-01 1.18480077e-01 2.35839119e-03 5.93595406e+00] [-1.18479725e-01 9.92956430e-01 -2.89121471e-04 -8.84539965e-01] [-2.37603483e-03 7.66267438e-06 9.99997177e-01 -5.79243708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.89, Z:-0.05 [[ 9.93147580e-01 1.16843004e-01 2.36558023e-03 5.96735372e+00] [-1.16842786e-01 9.93150397e-01 -2.30683471e-04 -8.89306319e-01] [-2.37633069e-03 -4.72982527e-05 9.99997175e-01 -5.41278240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4399999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.89, Z:-0.06 [[ 9.93700493e-01 1.12043446e-01 2.36581644e-03 5.99833480e+00] [-1.12043219e-01 9.93703308e-01 -2.28768231e-04 -8.94781478e-01] [-2.37655160e-03 -3.77465848e-05 9.99997175e-01 -5.59737859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.47 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.90, Z:-0.05 [[ 9.93934366e-01 1.09949439e-01 2.36594259e-03 6.02995996e+00] [-1.09949209e-01 9.93937181e-01 -2.27748067e-04 -8.99193027e-01] [-2.37663908e-03 -3.37668851e-05 9.99997175e-01 -5.49922354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.90, Z:-0.05 [[ 9.94562535e-01 1.04114191e-01 2.36623730e-03 6.06006298e+00] [-1.04113949e-01 9.94565350e-01 -2.25375797e-04 -9.03338440e-01] [-2.37684245e-03 -2.22079855e-05 9.99997175e-01 -5.43120295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.91, Z:-0.05 [[ 9.94613874e-01 1.03622603e-01 2.36590828e-03 6.09207703e+00] [-1.03622354e-01 9.94616688e-01 -2.27968475e-04 -9.10625833e-01] [-2.37679454e-03 -1.84203782e-05 9.99997175e-01 -4.88989463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.91, Z:-0.05 [[ 9.95266042e-01 9.71592245e-02 2.36457318e-03 6.12306613e+00] [-9.71589323e-02 9.95268851e-01 -2.38428891e-04 -9.13802513e-01] [-2.37655159e-03 7.56077379e-06 9.99997176e-01 -5.15090463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.92, Z:-0.05 [[ 9.95714308e-01 9.24522661e-02 2.36564575e-03 6.15505582e+00] [-9.24519804e-02 9.95717118e-01 -2.30055624e-04 -9.18781215e-01] [-2.37678313e-03 1.03610419e-05 9.99997175e-01 -4.76388349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.94, Z:-0.04 [[ 9.95219656e-01 9.76332059e-02 2.36498195e-03 6.19436198e+00] [-9.76329225e-02 9.95222466e-01 -2.35248369e-04 -9.35383845e-01] [-2.37665122e-03 3.22370074e-06 9.99997176e-01 -4.15297572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6499999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.93, Z:-0.05 [[ 9.96650682e-01 8.17426875e-02 2.35613536e-03 6.21490589e+00] [-8.17421971e-02 9.96653461e-01 -3.03847772e-04 -9.26025648e-01] [-2.37308780e-03 1.10234407e-04 9.99997178e-01 -4.53278304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.94, Z:-0.04 [[ 9.96521889e-01 8.32978503e-02 2.36489915e-03 6.25404885e+00] [-8.32975259e-02 9.96524694e-01 -2.35537730e-04 -9.41662982e-01] [-2.37630019e-03 3.77282561e-05 9.99997176e-01 -3.97478057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.94, Z:-0.04 [[ 9.96938858e-01 7.81496180e-02 2.35591487e-03 6.28722641e+00] [-7.81491150e-02 9.96941635e-01 -3.04947147e-04 -9.44328990e-01] [-2.37254112e-03 1.19900998e-04 9.99997178e-01 -3.76937722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.93, Z:-0.05 [[ 9.98009950e-01 6.30126092e-02 2.35583024e-03 6.30851938e+00] [-6.30120626e-02 9.98012719e-01 -3.05599524e-04 -9.32991509e-01] [-2.37040517e-03 1.56545643e-04 9.99997178e-01 -4.67141631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.77 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.95, Z:-0.04 [[ 9.97568465e-01 6.96531622e-02 2.36517208e-03 6.34858262e+00] [-6.96528049e-02 9.97571267e-01 -2.33215840e-04 -9.46533418e-01] [-2.37567192e-03 6.79078987e-05 9.99997176e-01 -4.03156968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.95, Z:-0.04 [[ 9.97656302e-01 6.83838812e-02 2.35557831e-03 6.38063701e+00] [-6.83833466e-02 9.97659072e-01 -3.06861116e-04 -9.48680719e-01] [-2.37104843e-03 1.45059598e-04 9.99997179e-01 -4.14715282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.95, Z:-0.04 [[ 9.97770030e-01 6.67039659e-02 2.35552653e-03 6.41408687e+00] [-6.67034256e-02 9.97772799e-01 -3.07258073e-04 -9.48439211e-01] [-2.37077564e-03 1.49451208e-04 9.99997179e-01 -4.35299933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.95, Z:-0.04 [[ 9.97572741e-01 6.95922304e-02 2.35544349e-03 6.44782531e+00] [-6.95916966e-02 9.97575511e-01 -3.07893387e-04 -9.47735148e-01] [-2.37115973e-03 1.43226742e-04 9.99997179e-01 -4.40024373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.89 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.95, Z:-0.04 [[ 9.97122135e-01 7.57753330e-02 2.35535687e-03 6.48000244e+00] [-7.57748149e-02 9.97124908e-01 -3.08554610e-04 -9.45452308e-01] [-2.37196583e-03 1.29189900e-04 9.99997179e-01 -4.35873990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.94, Z:-0.04 [[ 9.96453773e-01 8.41090366e-02 2.35530293e-03 6.51334870e+00] [-8.41085408e-02 9.96456551e-01 -3.08965824e-04 -9.40881360e-01] [-2.37294385e-03 1.09769069e-04 9.99997179e-01 -4.21884296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949999999999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.95, Z:-0.04 [[ 9.96430362e-01 8.43859365e-02 2.35521696e-03 6.54645323e+00] [-8.43854398e-02 9.96433140e-01 -3.09619760e-04 -9.45303136e-01] [-2.37294378e-03 1.09768510e-04 9.99997179e-01 -4.22680509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9799999999999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.94, Z:-0.04 [[ 9.95705863e-01 9.25434423e-02 2.35513074e-03 6.58005115e+00] [-9.25429669e-02 9.95708644e-01 -3.10274222e-04 -9.40418711e-01] [-2.37373788e-03 9.09910757e-05 9.99997179e-01 -4.10489880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.93, Z:-0.05 [[ 9.95573560e-01 9.39560507e-02 2.35504364e-03 6.60586440e+00] [-9.39555777e-02 9.95576342e-01 -3.10933912e-04 -9.27574405e-01] [-2.37383985e-03 8.82880958e-05 9.99997179e-01 -4.64354938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.93, Z:-0.04 [[ 9.94310022e-01 1.06498855e-01 2.36075031e-03 6.64405359e+00] [-1.06498519e-01 9.94312825e-01 -2.67627201e-04 -9.30828056e-01] [-2.37582630e-03 1.46879960e-05 9.99997178e-01 -4.12083780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.92, Z:-0.04 [[ 9.94468182e-01 1.05011855e-01 2.35485404e-03 6.66854288e+00] [-1.05011410e-01 9.94470968e-01 -3.12113733e-04 -9.15557026e-01] [-2.37460962e-03 6.31006323e-05 9.99997179e-01 -4.35668965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.92, Z:-0.04 [[ 9.93421706e-01 1.14489014e-01 2.36224971e-03 6.70650434e+00] [-1.14488729e-01 9.93424514e-01 -2.56079959e-04 -9.24359403e-01] [-2.37603511e-03 -1.60555764e-05 9.99997177e-01 -3.95639905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129999999999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.92, Z:-0.04 [[ 9.93132012e-01 1.16975477e-01 2.35467096e-03 6.74052758e+00] [-1.16975063e-01 9.93134803e-01 -3.13079699e-04 -9.20238316e-01] [-2.37512833e-03 3.54916859e-05 9.99997179e-01 -4.24346022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.92, Z:-0.04 [[ 9.92656773e-01 1.20942083e-01 2.35458306e-03 6.77371757e+00] [-1.20941679e-01 9.92659565e-01 -3.13739421e-04 -9.18592811e-01] [-2.37524369e-03 2.66683323e-05 9.99997179e-01 -4.08385775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.92, Z:-0.04 [[ 9.92197028e-01 1.24657588e-01 2.35449497e-03 6.80685961e+00] [-1.24657193e-01 9.92199821e-01 -3.14399119e-04 -9.16273296e-01] [-2.37532172e-03 1.84411378e-05 9.99997179e-01 -4.27547166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219999999999999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.91, Z:-0.04 [[ 9.91701665e-01 1.28538960e-01 2.35440732e-03 6.84011018e+00] [-1.28538574e-01 9.91704460e-01 -3.15054090e-04 -9.14556881e-01] [-2.37537297e-03 9.80750498e-06 9.99997179e-01 -4.46230264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.92, Z:-0.04 [[ 9.91394255e-01 1.30888836e-01 2.35431914e-03 6.87338995e+00] [-1.30888456e-01 9.91397051e-01 -3.15711656e-04 -9.16568327e-01] [-2.37538819e-03 4.84152558e-06 9.99997179e-01 -4.48057144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.92, Z:-0.05 [[ 9.90883778e-01 1.34698912e-01 2.35423099e-03 6.90680409e+00] [-1.34698540e-01 9.90886574e-01 -3.16367609e-04 -9.17768247e-01] [-2.37539026e-03 -3.62794701e-06 9.99997179e-01 -4.62352702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.92, Z:-0.05 [[ 9.90273510e-01 1.39114464e-01 2.35414320e-03 6.93932442e+00] [-1.39114104e-01 9.90276308e-01 -3.17019519e-04 -9.20293742e-01] [-2.37535424e-03 -1.35584902e-05 9.99997179e-01 -4.59902131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.92, Z:-0.05 [[ 9.90085375e-01 1.40447174e-01 2.35405488e-03 6.97191407e+00] [-1.40446816e-01 9.90088173e-01 -3.17674000e-04 -9.23900481e-01] [-2.37533832e-03 -1.60951322e-05 9.99997179e-01 -4.53578326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.93, Z:-0.04 [[ 9.89952643e-01 1.41379711e-01 2.35396409e-03 7.00301342e+00] [-1.41379353e-01 9.89955442e-01 -3.18345391e-04 -9.28743210e-01] [-2.37532714e-03 -1.76550597e-05 9.99997179e-01 -4.36843145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.4 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.94, Z:-0.04 [[ 9.90073085e-01 1.40533788e-01 2.35391321e-03 7.03506848e+00] [-1.40533428e-01 9.90075883e-01 -3.18721140e-04 -9.35136485e-01] [-2.37534379e-03 -1.52462694e-05 9.99997179e-01 -4.23733760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.94, Z:-0.04 [[ 9.90310443e-01 1.38851306e-01 2.35382189e-03 7.06689758e+00] [-1.38850940e-01 9.90313241e-01 -3.19394155e-04 -9.41299953e-01] [-2.37536928e-03 -1.05310130e-05 9.99997179e-01 -4.22783818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459999999999999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.95, Z:-0.04 [[ 9.90462894e-01 1.37759631e-01 2.35373677e-03 7.09914508e+00] [-1.37759260e-01 9.90465690e-01 -3.20020209e-04 -9.47020505e-01] [-2.37538138e-03 -7.28089311e-06 9.99997179e-01 -4.29841573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.95, Z:-0.04 [[ 9.90741993e-01 1.35737851e-01 2.35364613e-03 7.13096270e+00] [-1.35737473e-01 9.90744788e-01 -3.20685409e-04 -9.53733207e-01] [-2.37539179e-03 -1.76147633e-06 9.99997179e-01 -4.34287122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.96, Z:-0.04 [[ 9.91019884e-01 1.33693865e-01 2.35358977e-03 7.16326503e+00] [-1.33693480e-01 9.91022679e-01 -3.21098528e-04 -9.60976067e-01] [-2.37538974e-03 3.55541933e-06 9.99997179e-01 -4.40712481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549999999999999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.97, Z:-0.04 [[ 9.91250051e-01 1.31976505e-01 2.35350029e-03 7.19516099e+00] [-1.31976113e-01 9.91252845e-01 -3.21753087e-04 -9.69377061e-01] [-2.37537770e-03 8.33194353e-06 9.99997179e-01 -4.34805921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.98, Z:-0.04 [[ 9.91245053e-01 1.32014038e-01 2.35340926e-03 7.22746326e+00] [-1.32013645e-01 9.91247847e-01 -3.22417489e-04 -9.76157626e-01] [-2.37537550e-03 8.91260598e-06 9.99997179e-01 -4.18889517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.98, Z:-0.04 [[ 9.91498045e-01 1.30100301e-01 2.35331860e-03 7.25892488e+00] [-1.30099901e-01 9.91500838e-01 -3.23077902e-04 -9.83879752e-01] [-2.37534989e-03 1.41645916e-05 9.99997179e-01 -4.30108905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.99, Z:-0.04 [[ 9.91652583e-01 1.28917096e-01 2.35323408e-03 7.29115828e+00] [-1.28916691e-01 9.91655375e-01 -3.23692315e-04 -9.92604617e-01] [-2.37532670e-03 1.76191681e-05 9.99997179e-01 -4.24648478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:7.32, Y:-1.00, Z:-0.04 [[ 9.91863493e-01 1.27284229e-01 2.35314274e-03 7.32192350e+00] [-1.27283818e-01 9.91866284e-01 -3.24355017e-04 -1.00100508e+00] [-2.37528822e-03 2.21989094e-05 9.99997179e-01 -4.26165840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.7 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.35, Y:-1.01, Z:-0.04 [[ 9.92207923e-01 1.24570866e-01 2.35305757e-03 7.35390851e+00] [-1.24570445e-01 9.92210713e-01 -3.24971701e-04 -1.00949857e+00] [-2.37521093e-03 2.93180667e-05 9.99997179e-01 -4.22844915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.38, Y:-1.01, Z:-0.05 [[ 9.93154871e-01 1.16781272e-01 2.35296643e-03 7.38063086e+00] [-1.16780828e-01 9.93157657e-01 -3.25630250e-04 -1.00938245e+00] [-2.37489414e-03 4.86199021e-05 9.99997179e-01 -4.82442279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:7.41, Y:-1.02, Z:-0.05 [[ 9.93664693e-01 1.12360659e-01 2.35800407e-03 7.41286715e+00] [-1.12360289e-01 9.93667491e-01 -2.89157204e-04 -1.02048826e+00] [-2.37556188e-03 2.23792866e-05 9.99997178e-01 -4.58918387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:-1.03, Z:-0.04 [[ 9.94421363e-01 1.05454267e-01 2.35602646e-03 7.44359809e+00] [-1.05453844e-01 9.94424152e-01 -3.03431126e-04 -1.02964155e+00] [-2.37488772e-03 5.32863467e-05 9.99997179e-01 -4.23730241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:7.48, Y:-1.04, Z:-0.04 [[ 9.95033406e-01 9.95136623e-02 2.35642498e-03 7.47557067e+00] [-9.95132293e-02 9.95036194e-01 -3.00561763e-04 -1.03979215e+00] [-2.37463815e-03 6.45735350e-05 9.99997178e-01 -4.34195118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:7.51, Y:-1.05, Z:-0.04 [[ 9.95310031e-01 9.67077864e-02 2.35518151e-03 7.50704384e+00] [-9.67073245e-02 9.95312814e-01 -3.09486330e-04 -1.04678188e+00] [-2.37407207e-03 8.02715467e-05 9.99997179e-01 -4.22763028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879999999999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:7.54, Y:-1.05, Z:-0.04 [[ 9.95257934e-01 9.72424627e-02 2.35542899e-03 7.53722756e+00] [-9.72420065e-02 9.95260718e-01 -3.07713287e-04 -1.05086061e+00] [-2.37418875e-03 7.72074491e-05 9.99997179e-01 -4.36599599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:7.57, Y:-1.06, Z:-0.04 [[ 9.94404900e-01 1.05609387e-01 2.35645283e-03 7.57112175e+00] [-1.05608971e-01 9.94407690e-01 -3.00381063e-04 -1.06081665e+00] [-2.37499788e-03 4.98378408e-05 9.99997178e-01 -4.23745279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:7.60, Y:-1.07, Z:-0.04 [[ 9.94049578e-01 1.08903179e-01 2.35233807e-03 7.60417311e+00] [-1.08902703e-01 9.94052359e-01 -3.29735807e-04 -1.06534437e+00] [-2.37425649e-03 7.15977647e-05 9.99997179e-01 -4.36590988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969999999999999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:7.63, Y:-1.06, Z:-0.05 [[ 9.93694966e-01 1.12092737e-01 2.35224648e-03 7.63238338e+00] [-1.12092268e-01 9.93697748e-01 -3.30387895e-04 -1.06492279e+00] [-2.37445612e-03 6.46361438e-05 9.99997179e-01 -4.82127287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.0 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.67, Y:-1.07, Z:-0.04 [[ 9.92272148e-01 1.24058189e-01 2.35568361e-03 7.66708208e+00] [-1.24057812e-01 9.92274945e-01 -3.05886135e-04 -1.07295678e+00] [-2.37543350e-03 1.12813378e-05 9.99997179e-01 -4.42968115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:7.70, Y:-1.07, Z:-0.05 [[ 9.91660418e-01 1.28856828e-01 2.35209822e-03 7.69747948e+00] [-1.28856405e-01 9.91663208e-01 -3.31338050e-04 -1.07371107e+00] [-2.37518444e-03 2.54919091e-05 9.99997179e-01 -5.17216662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:7.73, Y:-1.08, Z:-0.05 [[ 9.90369455e-01 1.38429760e-01 2.35443562e-03 7.73115695e+00] [-1.38429403e-01 9.90372254e-01 -3.14736029e-04 -1.08152967e+00] [-2.37533655e-03 -1.42181673e-05 9.99997179e-01 -4.75224429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.76, Y:-1.09, Z:-0.05 [[ 9.89682389e-01 1.43259337e-01 2.35196448e-03 7.76379792e+00] [-1.43258952e-01 9.89685183e-01 -3.32230052e-04 -1.08739865e+00] [-2.37529946e-03 -8.13773518e-06 9.99997179e-01 -4.67011607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:7.80, Y:-1.09, Z:-0.05 [[ 9.89255682e-01 1.46176822e-01 2.35187212e-03 7.79609385e+00] [-1.46176444e-01 9.89258478e-01 -3.32882584e-04 -1.09405790e+00] [-2.37526916e-03 -1.44823159e-05 9.99997179e-01 -4.62396306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:7.82, Y:-1.10, Z:-0.05 [[ 9.89537116e-01 1.44259368e-01 2.35177890e-03 7.82479205e+00] [-1.44258983e-01 9.89539911e-01 -3.33539923e-04 -1.09629778e+00] [-2.37529534e-03 -9.21509831e-06 9.99997179e-01 -5.10464747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:7.86, Y:-1.11, Z:-0.04 [[ 9.89037771e-01 1.47643976e-01 2.35438962e-03 7.85792685e+00] [-1.47643644e-01 9.89040573e-01 -3.15126310e-04 -1.10711143e+00] [-2.37511336e-03 -3.59388394e-05 9.99997179e-01 -4.40880191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209999999999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:7.89, Y:-1.11, Z:-0.04 [[ 9.88957506e-01 1.48180704e-01 2.35165718e-03 7.88976462e+00] [-1.48180328e-01 9.88960302e-01 -3.34345237e-04 -1.11499750e+00] [-2.37523911e-03 -1.78161006e-05 9.99997179e-01 -4.32672090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.92, Y:-1.12, Z:-0.04 [[ 9.89005283e-01 1.47861489e-01 2.35156263e-03 7.92206537e+00] [-1.47861110e-01 9.89008079e-01 -3.35008953e-04 -1.12385461e+00] [-2.37524936e-03 -1.63790366e-05 9.99997179e-01 -4.29611169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:7.95, Y:-1.13, Z:-0.04 [[ 9.89026090e-01 1.47722252e-01 2.35146786e-03 7.95439126e+00] [-1.47721871e-01 9.89028885e-01 -3.35672806e-04 -1.13233840e+00] [-2.37525598e-03 -1.53740692e-05 9.99997179e-01 -4.43350080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299999999999999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:7.99, Y:-1.14, Z:-0.05 [[ 9.88921362e-01 1.48421732e-01 2.35137352e-03 7.98601033e+00] [-1.48421351e-01 9.88924158e-01 -3.36332350e-04 -1.14113107e+00] [-2.37524911e-03 -1.63877899e-05 9.99997179e-01 -4.53972395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.02, Y:-1.15, Z:-0.04 [[ 9.88720214e-01 1.49755833e-01 2.35127810e-03 8.01847443e+00] [-1.49755455e-01 9.88723010e-01 -3.36998109e-04 -1.14854768e+00] [-2.37523019e-03 -1.89198788e-05 9.99997179e-01 -4.34147696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.05, Y:-1.16, Z:-0.04 [[ 9.88557477e-01 1.50826349e-01 2.35118301e-03 8.04823812e+00] [-1.50825972e-01 9.88560272e-01 -3.37660260e-04 -1.15694118e+00] [-2.37521418e-03 -2.08228882e-05 9.99997179e-01 -4.47386122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389999999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.08, Y:-1.17, Z:-0.05 [[ 9.88751628e-01 1.49548290e-01 2.35110632e-03 8.07897852e+00] [-1.49547908e-01 9.88754423e-01 -3.38193392e-04 -1.16543105e+00] [-2.37524302e-03 -1.72137654e-05 9.99997179e-01 -4.79649929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:8.11, Y:-1.18, Z:-0.05 [[ 9.89304618e-01 1.45845282e-01 2.35102338e-03 8.10917180e+00] [-1.45844889e-01 9.89307411e-01 -3.38769012e-04 -1.17506588e+00] [-2.37529271e-03 -7.73899445e-06 9.99997179e-01 -5.14770775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:8.14, Y:-1.18, Z:-0.05 [[ 9.89680485e-01 1.43272502e-01 2.35094678e-03 8.14121052e+00] [-1.43272100e-01 9.89683278e-01 -3.39299767e-04 -1.18277925e+00] [-2.37530504e-03 -1.02672269e-06 9.99997179e-01 -5.15889869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:-1.20, Z:-0.04 [[ 9.91330347e-01 1.31372057e-01 2.35085176e-03 8.16993050e+00] [-1.31371620e-01 9.91333134e-01 -3.39956847e-04 -1.19801770e+00] [-2.37513807e-03 2.81743354e-05 9.99997179e-01 -4.29878980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:8.20, Y:-1.21, Z:-0.04 [[ 9.92076904e-01 1.25610075e-01 2.35081057e-03 8.20159980e+00] [-1.25609622e-01 9.92079688e-01 -3.40241426e-04 -1.20605707e+00] [-2.37492917e-03 4.22612341e-05 9.99997179e-01 -4.38902112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:8.23, Y:-1.22, Z:-0.04 [[ 9.93339426e-01 1.15200949e-01 2.35071415e-03 8.23267662e+00] [-1.15200464e-01 9.93342205e-01 -3.40906291e-04 -1.21647345e+00] [-2.37433630e-03 6.78322977e-05 9.99997179e-01 -4.06675434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:8.26, Y:-1.23, Z:-0.04 [[ 9.94215645e-01 1.07376563e-01 2.35062430e-03 8.26473239e+00] [-1.07376055e-01 9.94218420e-01 -3.41524668e-04 -1.22585330e+00] [-2.37370572e-03 8.71484023e-05 9.99997179e-01 -3.89003002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.6 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:8.30, Y:-1.23, Z:-0.04 [[ 9.94488089e-01 1.04823263e-01 2.35052873e-03 8.29580458e+00] [-1.04822747e-01 9.94490862e-01 -3.42181176e-04 -1.23204331e+00] [-2.37344789e-03 9.39062251e-05 9.99997179e-01 -3.73076194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:8.33, Y:-1.23, Z:-0.04 [[ 9.94063434e-01 1.08776676e-01 2.35046923e-03 8.32882046e+00] [-1.08776169e-01 9.94066209e-01 -3.42589368e-04 -1.23486032e+00] [-2.37378777e-03 8.48805240e-05 9.99997179e-01 -3.90625895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:8.36, Y:-1.24, Z:-0.04 [[ 9.93211143e-01 1.16301764e-01 2.35037326e-03 8.36057363e+00] [-1.16301277e-01 9.93213922e-01 -3.43246548e-04 -1.23833063e+00] [-2.37434362e-03 6.75648857e-05 9.99997179e-01 -4.04712516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.39, Y:-1.24, Z:-0.04 [[ 9.92168488e-01 1.24884614e-01 2.35028376e-03 8.39315510e+00] [-1.24884150e-01 9.92171271e-01 -3.43858279e-04 -1.24080696e+00] [-2.37482664e-03 4.76521598e-05 9.99997179e-01 -4.14780679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:8.42, Y:-1.23, Z:-0.05 [[ 9.92032149e-01 1.25963056e-01 2.35018726e-03 8.41793776e+00] [-1.25962594e-01 9.92034932e-01 -3.44516608e-04 -1.23230668e+00] [-2.37486422e-03 4.57358694e-05 9.99997179e-01 -5.08228974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:8.45, Y:-1.24, Z:-0.04 [[ 9.90526769e-01 1.37299525e-01 2.35815017e-03 8.45423432e+00] [-1.37299223e-01 9.90529575e-01 -2.89886146e-04 -1.24416154e+00] [-2.37561872e-03 -3.66321997e-05 9.99997178e-01 -4.31275980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:8.48, Y:-1.23, Z:-0.05 [[ 9.90348350e-01 1.38580744e-01 2.35012134e-03 8.47913851e+00] [-1.38580317e-01 9.90351138e-01 -3.44635922e-04 -1.23458415e+00] [-2.37520524e-03 1.56290574e-05 9.99997179e-01 -5.19938025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.52, Y:-1.25, Z:-0.04 [[ 9.88219760e-01 1.53023358e-01 2.35749922e-03 8.51617881e+00] [-1.53023092e-01 9.88222569e-01 -2.94115534e-04 -1.24744709e+00] [-2.37474048e-03 -7.01010369e-05 9.99997178e-01 -4.47698001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.55, Y:-1.25, Z:-0.04 [[ 9.88177478e-01 1.53296278e-01 2.34997825e-03 8.54920808e+00] [-1.53295890e-01 9.88180272e-01 -3.45300284e-04 -1.25236524e+00] [-2.37513540e-03 -1.90240449e-05 9.99997179e-01 -4.48724843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:8.58, Y:-1.26, Z:-0.04 [[ 9.87176427e-01 1.59615727e-01 2.34988275e-03 8.58166615e+00] [-1.59615355e-01 9.87179223e-01 -3.45948983e-04 -1.25604866e+00] [-2.37497433e-03 -3.35646895e-05 9.99997179e-01 -4.48143563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.9 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:8.61, Y:-1.26, Z:-0.04 [[ 9.86324668e-01 1.64797234e-01 2.34978743e-03 8.61476622e+00] [-1.64796876e-01 9.86327466e-01 -3.46595257e-04 -1.26028536e+00] [-2.37477782e-03 -4.53821755e-05 9.99997179e-01 -4.17420959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:8.65, Y:-1.27, Z:-0.04 [[ 9.85847887e-01 1.67625843e-01 2.34969265e-03 8.64723131e+00] [-1.67625492e-01 9.85850685e-01 -3.47236606e-04 -1.26507360e+00] [-2.37465194e-03 -5.15459114e-05 9.99997179e-01 -4.10994456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:8.68, Y:-1.27, Z:-0.04 [[ 9.85660427e-01 1.68724633e-01 2.34959644e-03 8.67815724e+00] [-1.68724283e-01 9.85663226e-01 -3.47886397e-04 -1.27083053e+00] [-2.37460781e-03 -5.35361192e-05 9.99997179e-01 -4.40055731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.71, Y:-1.28, Z:-0.05 [[ 9.85556175e-01 1.69332529e-01 2.34950690e-03 8.71042398e+00] [-1.69332179e-01 9.85558974e-01 -3.48490063e-04 -1.27615848e+00] [-2.37458831e-03 -5.43905905e-05 9.99997179e-01 -4.50031442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:8.74, Y:-1.28, Z:-0.05 [[ 9.85565586e-01 1.69277747e-01 2.34940967e-03 8.74249578e+00] [-1.69277396e-01 9.85568385e-01 -3.49144353e-04 -1.28237444e+00] [-2.37460626e-03 -5.35972908e-05 9.99997179e-01 -4.70191630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:8.77, Y:-1.29, Z:-0.05 [[ 9.85646814e-01 1.68804141e-01 2.34937913e-03 8.77387543e+00] [-1.68803788e-01 9.85649613e-01 -3.49349745e-04 -1.28853593e+00] [-2.37463631e-03 -5.22486320e-05 9.99997179e-01 -4.91102647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:8.81, Y:-1.30, Z:-0.05 [[ 9.85780425e-01 1.68022126e-01 2.34928753e-03 8.80635846e+00] [-1.68021769e-01 9.85783223e-01 -3.49964619e-04 -1.29532158e+00] [-2.37469003e-03 -4.97431752e-05 9.99997179e-01 -4.93507448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:8.84, Y:-1.30, Z:-0.05 [[ 9.86150648e-01 1.65835401e-01 2.34918741e-03 8.83776236e+00] [-1.65835036e-01 9.86153445e-01 -3.50635393e-04 -1.30197339e+00] [-2.37480702e-03 -4.37982590e-05 9.99997179e-01 -4.87703543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:-1.31, Z:-0.05 [[ 9.86556356e-01 1.63404522e-01 2.34912495e-03 8.87019934e+00] [-1.63404149e-01 9.86559152e-01 -3.51053333e-04 -1.31038952e+00] [-2.37491443e-03 -3.75228682e-05 9.99997179e-01 -4.55467292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:-1.31, Z:-0.05 [[ 9.88202353e-01 1.53135860e-01 2.34902675e-03 8.89410303e+00] [-1.53135457e-01 9.88205145e-01 -3.51709261e-04 -1.30818812e+00] [-2.37517962e-03 -1.21593646e-05 9.99997179e-01 -5.25211955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.2 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:8.93, Y:-1.32, Z:-0.05 [[ 9.87469287e-01 1.57793708e-01 2.35642548e-03 8.93049686e+00] [-1.57793436e-01 9.87472096e-01 -3.02165259e-04 -1.32317086e+00] [-2.37458419e-03 -7.34495596e-05 9.99997178e-01 -4.81417000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:8.96, Y:-1.33, Z:-0.05 [[ 9.88040899e-01 1.54174137e-01 2.34879784e-03 8.96304652e+00] [-1.54173734e-01 9.88043691e-01 -3.52928485e-04 -1.32934199e+00] [-2.37512734e-03 -1.34151564e-05 9.99997179e-01 -4.80577412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:8.99, Y:-1.34, Z:-0.05 [[ 9.88776800e-01 1.49381803e-01 2.34869804e-03 8.99446771e+00] [-1.49381384e-01 9.88779590e-01 -3.53591393e-04 -1.33517680e+00] [-2.37516481e-03 -1.22879993e-06 9.99997179e-01 -4.79255155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-1.33, Z:-0.05 [[ 9.90492246e-01 1.37548520e-01 2.34860489e-03 9.01936965e+00] [-1.37548067e-01 9.90495030e-01 -3.54209094e-04 -1.33134921e+00] [-2.37500240e-03 2.77952986e-05 9.99997179e-01 -5.32604654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:-1.35, Z:-0.05 [[ 9.89910519e-01 1.41674329e-01 2.35575841e-03 9.05592133e+00] [-1.41674001e-01 9.89913321e-01 -3.06648402e-04 -1.34540491e+00] [-2.37544083e-03 -3.01952384e-05 9.99997178e-01 -4.52690407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:-1.34, Z:-0.05 [[ 9.91790182e-01 1.27854291e-01 2.34840035e-03 9.08011860e+00] [-1.27853808e-01 9.91792961e-01 -3.55284530e-04 -1.33975290e+00] [-2.37455159e-03 5.21157810e-05 9.99997179e-01 -5.25770113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:-1.35, Z:-0.04 [[ 9.91469308e-01 1.30319065e-01 2.35645078e-03 9.11757169e+00] [-1.30318715e-01 9.91472108e-01 -3.01916501e-04 -1.35393997e+00] [-2.37570069e-03 -7.74869324e-06 9.99997178e-01 -4.38392168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.15, Y:-1.36, Z:-0.05 [[ 9.91977819e-01 1.26390243e-01 2.34816384e-03 9.15052729e+00] [-1.26389753e-01 9.91980596e-01 -3.56500200e-04 -1.35749424e+00] [-2.37439111e-03 5.68564429e-05 9.99997180e-01 -4.53917971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.17, Y:-1.35, Z:-0.05 [[ 9.93007255e-01 1.18029984e-01 2.34806295e-03 9.17457161e+00] [-1.18029469e-01 9.93010029e-01 -3.57163420e-04 -1.35107924e+00] [-2.37380605e-03 7.75252429e-05 9.99997180e-01 -5.15982025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.21, Y:-1.36, Z:-0.04 [[ 9.91973475e-01 1.26424180e-01 2.35620227e-03 9.21257723e+00] [-1.26423816e-01 9.91976273e-01 -3.03481430e-04 -1.36334229e+00] [-2.37566414e-03 3.16544690e-06 9.99997178e-01 -4.37990995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.5 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:9.24, Y:-1.36, Z:-0.05 [[ 9.92304153e-01 1.23802082e-01 2.34786161e-03 9.23739665e+00] [-1.23801581e-01 9.92306929e-01 -3.58157703e-04 -1.35596999e+00] [-2.37414001e-03 6.47323980e-05 9.99997180e-01 -4.85976625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:9.27, Y:-1.37, Z:-0.04 [[ 9.91070864e-01 1.33315409e-01 2.35467523e-03 9.27485445e+00] [-1.33315040e-01 9.91073661e-01 -3.13426306e-04 -1.36856063e+00] [-2.37544116e-03 -3.28594334e-06 9.99997179e-01 -4.26706925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-1.36, Z:-0.04 [[ 9.91076555e-01 1.33273218e-01 2.34760200e-03 9.30050793e+00] [-1.33272740e-01 9.91079335e-01 -3.59602658e-04 -1.35992909e+00] [-2.37458523e-03 4.35224123e-05 9.99997180e-01 -4.43487111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:9.34, Y:-1.37, Z:-0.05 [[ 9.89145380e-01 1.46921314e-01 2.35477183e-03 9.33680569e+00] [-1.46920986e-01 9.89148182e-01 -3.12667216e-04 -1.36780075e+00] [-2.37515575e-03 -3.66920662e-05 9.99997179e-01 -4.53895001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:-1.37, Z:-0.04 [[ 9.88452645e-01 1.51511909e-01 2.34744573e-03 9.36990973e+00] [-1.51511480e-01 9.88455432e-01 -3.60387096e-04 -1.37055586e+00] [-2.37494842e-03 5.60599834e-07 9.99997180e-01 -4.45702147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:9.40, Y:-1.37, Z:-0.05 [[ 9.87561333e-01 1.57216743e-01 2.34734339e-03 9.40110660e+00] [-1.57216329e-01 9.87564122e-01 -3.61052475e-04 -1.37083032e+00] [-2.37491561e-03 -1.24792461e-05 9.99997180e-01 -5.06014523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.43, Y:-1.37, Z:-0.05 [[ 9.86820590e-01 1.61801152e-01 2.34726077e-03 9.43356001e+00] [-1.61800749e-01 9.86823382e-01 -3.61588802e-04 -1.37288956e+00] [-2.37483729e-03 -2.29652754e-05 9.99997180e-01 -5.23464621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:9.47, Y:-1.38, Z:-0.05 [[ 9.86214110e-01 1.65457607e-01 2.34717270e-03 9.46550696e+00] [-1.65457213e-01 9.86216903e-01 -3.62159540e-04 -1.37528610e+00] [-2.37474345e-03 -3.11898063e-05 9.99997180e-01 -5.28907103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:9.50, Y:-1.38, Z:-0.05 [[ 9.85986955e-01 1.66805921e-01 2.34708337e-03 9.49720312e+00] [-1.66805530e-01 9.85989748e-01 -3.62737545e-04 -1.37919621e+00] [-2.37470692e-03 -3.38519991e-05 9.99997180e-01 -5.28436016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:9.53, Y:-1.38, Z:-0.05 [[ 9.85846111e-01 1.67636323e-01 2.34701980e-03 9.53020734e+00] [-1.67635934e-01 9.85848904e-01 -3.63148408e-04 -1.38182252e+00] [-2.37468376e-03 -3.54364094e-05 9.99997180e-01 -5.39808277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799999999999999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:9.56, Y:-1.39, Z:-0.05 [[ 9.85949585e-01 1.67026670e-01 2.34691611e-03 9.56158548e+00] [-1.67026277e-01 9.85952377e-01 -3.63817288e-04 -1.38633113e+00] [-2.37471471e-03 -3.32911573e-05 9.99997180e-01 -5.40871089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:9.59, Y:-1.39, Z:-0.05 [[ 9.86175978e-01 1.65684738e-01 2.34685175e-03 9.59348011e+00] [-1.65684340e-01 9.86178770e-01 -3.64232005e-04 -1.39172954e+00] [-2.37476306e-03 -2.96397291e-05 9.99997180e-01 -5.21981182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:9.62, Y:-1.40, Z:-0.05 [[ 9.86354447e-01 1.64618942e-01 2.34728050e-03 9.62490117e+00] [-1.64618547e-01 9.86357239e-01 -3.61473234e-04 -1.39685669e+00] [-2.37476245e-03 -2.98651748e-05 9.99997180e-01 -5.28485092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889999999999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.66, Y:-1.40, Z:-0.05 [[ 9.86439782e-01 1.64106823e-01 2.34672525e-03 9.65717181e+00] [-1.64106419e-01 9.86442573e-01 -3.65042739e-04 -1.40302339e+00] [-2.37481570e-03 -2.50199964e-05 9.99997180e-01 -5.22078539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:9.69, Y:-1.41, Z:-0.05 [[ 9.86253639e-01 1.65221832e-01 2.34662059e-03 9.68816540e+00] [-1.65221430e-01 9.86256430e-01 -3.65714276e-04 -1.40908558e+00] [-2.37479363e-03 -2.70249733e-05 9.99997180e-01 -5.41879165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:9.72, Y:-1.41, Z:-0.05 [[ 9.85831590e-01 1.67721702e-01 2.34652982e-03 9.71973577e+00] [-1.67721305e-01 9.85834382e-01 -3.66295788e-04 -1.41448067e+00] [-2.37472552e-03 -3.24570839e-05 9.99997180e-01 -5.42333846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:9.75, Y:-1.42, Z:-0.06 [[ 9.85602199e-01 1.69064483e-01 2.34643906e-03 9.75243886e+00] [-1.69064088e-01 9.85604992e-01 -3.66876233e-04 -1.41976359e+00] [-2.37468779e-03 -3.51045587e-05 9.99997180e-01 -5.59568876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:9.78, Y:-1.43, Z:-0.06 [[ 9.85269219e-01 1.70994330e-01 2.34633494e-03 9.78433175e+00] [-1.70993940e-01 9.85272012e-01 -3.67540922e-04 -1.42526798e+00] [-2.37462556e-03 -3.90822985e-05 9.99997180e-01 -5.51431358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:9.82, Y:-1.43, Z:-0.05 [[ 9.85134878e-01 1.71766607e-01 2.34623768e-03 9.81617714e+00] [-1.71766217e-01 9.85137671e-01 -3.68160782e-04 -1.43157293e+00] [-2.37460485e-03 -4.03163437e-05 9.99997180e-01 -5.45391714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:9.85, Y:-1.44, Z:-0.05 [[ 9.85046563e-01 1.72272356e-01 2.34613528e-03 9.84798636e+00] [-1.72271966e-01 9.85049356e-01 -3.68812176e-04 -1.43858845e+00] [-2.37459519e-03 -4.08761709e-05 9.99997180e-01 -5.25382479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.1 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:9.88, Y:-1.45, Z:-0.05 [[ 9.85125237e-01 1.71821895e-01 2.34604520e-03 9.88051468e+00] [-1.71821502e-01 9.85128030e-01 -3.69384284e-04 -1.44583715e+00] [-2.37462319e-03 -3.92112299e-05 9.99997180e-01 -4.89321030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:9.91, Y:-1.45, Z:-0.05 [[ 9.84918481e-01 1.73003148e-01 2.34442830e-03 9.91040641e+00] [-1.73002734e-01 9.84921271e-01 -3.79630414e-04 -1.45121459e+00] [-2.37475456e-03 -3.16874962e-05 9.99997180e-01 -4.85102895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:9.94, Y:-1.46, Z:-0.05 [[ 9.84908902e-01 1.73057651e-01 2.34591349e-03 9.94285232e+00] [-1.73057260e-01 9.84911695e-01 -3.70219449e-04 -1.45643394e+00] [-2.37458694e-03 -4.13449300e-05 9.99997180e-01 -5.03243404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:9.97, Y:-1.46, Z:-0.05 [[ 9.84905326e-01 1.73078006e-01 2.34581308e-03 9.97434853e+00] [-1.73077614e-01 9.84908119e-01 -3.70854620e-04 -1.46229044e+00] [-2.37459712e-03 -4.07510393e-05 9.99997180e-01 -5.11017297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:10.01, Y:-1.47, Z:-0.05 [[ 9.84924608e-01 1.72968247e-01 2.34571945e-03 1.00066828e+01] [-1.72967853e-01 9.84927400e-01 -3.71445842e-04 -1.46921657e+00] [-2.37461170e-03 -3.98879065e-05 9.99997180e-01 -5.04889474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:10.04, Y:-1.48, Z:-0.05 [[ 9.85022703e-01 1.72408736e-01 2.34561409e-03 1.00381729e+01] [-1.72408338e-01 9.85025495e-01 -3.72109997e-04 -1.47570806e+00] [-2.37464470e-03 -3.78666328e-05 9.99997180e-01 -5.16082477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:10.07, Y:-1.48, Z:-0.05 [[ 9.85079593e-01 1.72083394e-01 2.34551599e-03 1.00710291e+01] [-1.72082994e-01 9.85082384e-01 -3.72727320e-04 -1.48140664e+00] [-2.37466667e-03 -3.64573391e-05 9.99997180e-01 -5.23187787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:10.10, Y:-1.49, Z:-0.05 [[ 9.85497057e-01 1.69676311e-01 2.34541044e-03 1.01022950e+01] [-1.69675902e-01 9.85499847e-01 -3.73390357e-04 -1.48752951e+00] [-2.37475713e-03 -2.99845346e-05 9.99997180e-01 -5.32980074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:10.13, Y:-1.49, Z:-0.05 [[ 9.85719471e-01 1.68379407e-01 2.34531194e-03 1.01341877e+01] [-1.68378993e-01 9.85722260e-01 -3.74008020e-04 -1.49381856e+00] [-2.37480143e-03 -2.62342760e-05 9.99997180e-01 -5.31988035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:10.16, Y:-1.50, Z:-0.05 [[ 9.86544149e-01 1.63478260e-01 2.34520599e-03 1.01648424e+01] [-1.63477831e-01 9.86546937e-01 -3.74671163e-04 -1.50172332e+00] [-2.37490638e-03 -1.37595461e-05 9.99997180e-01 -5.49714106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.4 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:10.19, Y:-1.50, Z:-0.06 [[ 9.88932584e-01 1.48347039e-01 2.34510738e-03 1.01869321e+01] [-1.48346566e-01 9.88935365e-01 -3.75287407e-04 -1.49962929e+00] [-2.37483239e-03 2.32453190e-05 9.99997180e-01 -5.98351326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:-1.52, Z:-0.05 [[ 9.88070758e-01 1.53982559e-01 2.35555747e-03 1.02255302e+01] [-1.53982257e-01 9.88073564e-01 -3.09844249e-04 -1.51803662e+00] [-2.37517468e-03 -5.65660149e-05 9.99997178e-01 -5.03239961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:10.26, Y:-1.53, Z:-0.05 [[ 9.89332819e-01 1.45653959e-01 2.34474785e-03 1.02576116e+01] [-1.45653474e-01 9.89335597e-01 -3.77063352e-04 -1.52649060e+00] [-2.37466328e-03 3.15204779e-05 9.99997180e-01 -5.14540650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:10.29, Y:-1.53, Z:-0.05 [[ 9.89855882e-01 1.42055748e-01 2.34464142e-03 1.02887301e+01] [-1.42055251e-01 9.89858658e-01 -3.77723986e-04 -1.53318125e+00] [-2.37452147e-03 4.08236832e-05 9.99997180e-01 -5.22523233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:10.32, Y:-1.54, Z:-0.05 [[ 9.90637098e-01 1.36501440e-01 2.34454231e-03 1.03208467e+01] [-1.36500926e-01 9.90639871e-01 -3.78338150e-04 -1.54085190e+00] [-2.37424079e-03 5.47636100e-05 9.99997180e-01 -4.97855227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.34, Y:-1.54, Z:-0.05 [[ 9.91970424e-01 1.26448338e-01 2.34443461e-03 1.03426418e+01] [-1.26447795e-01 9.91973191e-01 -3.79004344e-04 -1.53564014e+00] [-2.37354075e-03 7.95125124e-05 9.99997180e-01 -5.22429586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.38, Y:-1.54, Z:-0.05 [[ 9.92054207e-01 1.25789124e-01 2.35499072e-03 1.03756029e+01] [-1.25788734e-01 9.92057002e-01 -3.13591750e-04 -1.54300022e+00] [-2.37573146e-03 1.48687143e-05 9.99997178e-01 -5.31231702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:10.41, Y:-1.55, Z:-0.05 [[ 9.91876709e-01 1.27181201e-01 2.35284106e-03 1.04064896e+01] [-1.27180784e-01 9.91879499e-01 -3.26862772e-04 -1.54788917e+00] [-2.37530562e-03 2.49714007e-05 9.99997179e-01 -5.26199086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:10.44, Y:-1.55, Z:-0.05 [[ 9.91317500e-01 1.31468920e-01 2.35293183e-03 1.04392188e+01] [-1.31468516e-01 9.91320293e-01 -3.26304355e-04 -1.55243930e+00] [-2.37540795e-03 1.41347604e-05 9.99997179e-01 -5.46676423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:10.48, Y:-1.57, Z:-0.06 [[ 9.89609291e-01 1.43763406e-01 2.35262472e-03 1.04766682e+01] [-1.43763032e-01 9.89612087e-01 -3.28188824e-04 -1.56535020e+00] [-2.37536740e-03 -1.34417539e-05 9.99997179e-01 -5.53250395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.7 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.50, Y:-1.56, Z:-0.06 [[ 9.90262962e-01 1.39189708e-01 2.34344437e-03 1.04999298e+01] [-1.39189189e-01 9.90265733e-01 -3.84186734e-04 -1.55864717e+00] [-2.37410750e-03 5.42637731e-05 9.99997180e-01 -6.08832357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.53, Y:-1.56, Z:-0.07 [[ 9.89773567e-01 1.42627994e-01 2.35410094e-03 1.05306906e+01] [-1.42627638e-01 9.89776366e-01 -3.19022605e-04 -1.55914869e+00] [-2.37553503e-03 -1.99997163e-05 9.99997178e-01 -6.56199041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.56, Y:-1.56, Z:-0.07 [[ 9.89658821e-01 1.43421973e-01 2.35688164e-03 1.05615526e+01] [-1.43421661e-01 9.89661627e-01 -3.01820320e-04 -1.56453864e+00] [-2.37580299e-03 -3.93287378e-05 9.99997177e-01 -6.56865587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:10.60, Y:-1.58, Z:-0.06 [[ 9.87756062e-01 1.55988483e-01 2.35689729e-03 1.06030729e+01] [-1.55988206e-01 9.87758872e-01 -3.01723755e-04 -1.58351597e+00] [-2.37511164e-03 -6.96187129e-05 9.99997177e-01 -5.76252344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:10.62, Y:-1.57, Z:-0.06 [[ 9.88620777e-01 1.50410991e-01 2.34361892e-03 1.06235430e+01] [-1.50410506e-01 9.88623555e-01 -3.82979861e-04 -1.57304921e+00] [-2.37456125e-03 2.61169396e-05 9.99997180e-01 -6.40385573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-1.58, Z:-0.06 [[ 9.87813021e-01 1.55627378e-01 2.35668805e-03 1.06576440e+01] [-1.55627098e-01 9.87815830e-01 -3.02637375e-04 -1.58120976e+00] [-2.37507242e-03 -6.78153819e-05 9.99997177e-01 -6.16700133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:10.70, Y:-1.60, Z:-0.06 [[ 9.86412218e-01 1.64272319e-01 2.35405211e-03 1.06963224e+01] [-1.64272025e-01 9.86415024e-01 -3.18847055e-04 -1.59813812e+00] [-2.37445012e-03 -7.21902770e-05 9.99997178e-01 -5.59029944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:10.73, Y:-1.60, Z:-0.06 [[ 9.86173698e-01 1.65698358e-01 2.34345141e-03 1.07276231e+01] [-1.65697915e-01 9.86176482e-01 -3.83606711e-04 -1.60313170e+00] [-2.37461967e-03 -1.00021633e-05 9.99997181e-01 -5.76967852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:10.76, Y:-1.61, Z:-0.06 [[ 9.85926381e-01 1.67163631e-01 2.34335022e-03 1.07597598e+01] [-1.67163190e-01 9.85929166e-01 -3.84223857e-04 -1.60859320e+00] [-2.37460559e-03 -1.29054622e-05 9.99997181e-01 -5.52509269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:10.79, Y:-1.61, Z:-0.06 [[ 9.85638704e-01 1.68851576e-01 2.34324663e-03 1.07916005e+01] [-1.68851138e-01 9.85641489e-01 -3.84854623e-04 -1.61386806e+00] [-2.37458440e-03 -1.63322488e-05 9.99997181e-01 -5.82297897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.0 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:10.82, Y:-1.62, Z:-0.06 [[ 9.85455656e-01 1.69916625e-01 2.34315004e-03 1.08242858e+01] [-1.69916189e-01 9.85458442e-01 -3.85441787e-04 -1.61989114e+00] [-2.37456995e-03 -1.83033356e-05 9.99997181e-01 -5.83166675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:10.86, Y:-1.63, Z:-0.06 [[ 9.85268302e-01 1.70999657e-01 2.34304121e-03 1.08562336e+01] [-1.70999223e-01 9.85271088e-01 -3.86102208e-04 -1.62684555e+00] [-2.37455411e-03 -2.02439589e-05 9.99997181e-01 -5.76912178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.63, Z:-0.06 [[ 9.85125704e-01 1.71819262e-01 2.34293202e-03 1.08872491e+01] [-1.71818828e-01 9.85128489e-01 -3.86763651e-04 -1.63246478e+00] [-2.37454253e-03 -2.15490198e-05 9.99997181e-01 -5.65959441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.92, Y:-1.64, Z:-0.06 [[ 9.84835207e-01 1.73476588e-01 2.34283055e-03 1.09198039e+01] [-1.73476157e-01 9.84837993e-01 -3.87377368e-04 -1.63779661e+00] [-2.37450944e-03 -2.49223704e-05 9.99997181e-01 -5.92929606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:10.95, Y:-1.64, Z:-0.06 [[ 9.84428918e-01 1.75767509e-01 2.34272132e-03 1.09520805e+01] [-1.75767083e-01 9.84431705e-01 -3.88036811e-04 -1.64335577e+00] [-2.37445341e-03 -2.97786350e-05 9.99997181e-01 -6.03926305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.98, Y:-1.65, Z:-0.06 [[ 9.84097182e-01 1.77615453e-01 2.34237734e-03 1.09838664e+01] [-1.77615027e-01 9.84099969e-01 -3.90110268e-04 -1.64847754e+00] [-2.37442308e-03 -3.21350001e-05 9.99997181e-01 -6.11694545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:11.02, Y:-1.65, Z:-0.06 [[ 9.84097478e-01 1.77613813e-01 2.34257267e-03 1.10154413e+01] [-1.77613390e-01 9.84100265e-01 -3.88933778e-04 -1.65409764e+00] [-2.37440640e-03 -3.33235248e-05 9.99997181e-01 -6.22525361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209999999999999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:11.04, Y:-1.65, Z:-0.07 [[ 9.85496034e-01 1.69682293e-01 2.34247557e-03 1.10388179e+01] [-1.69681846e-01 9.85498817e-01 -3.89517710e-04 -1.64938338e+00] [-2.37460116e-03 -1.36074216e-05 9.99997181e-01 -7.08766638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.08, Y:-1.67, Z:-0.06 [[ 9.84456822e-01 1.75611027e-01 2.35202469e-03 1.10766666e+01] [-1.75610734e-01 9.84459628e-01 -3.31949457e-04 -1.66602087e+00] [-2.37376734e-03 -8.62508744e-05 9.99997179e-01 -6.07349147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:11.11, Y:-1.67, Z:-0.06 [[ 9.84895421e-01 1.73134408e-01 2.34221426e-03 1.11083960e+01] [-1.73133968e-01 9.84898206e-01 -3.90754052e-04 -1.67239436e+00] [-2.37449560e-03 -2.06649733e-05 9.99997181e-01 -5.81429048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.14, Y:-1.68, Z:-0.06 [[ 9.85032067e-01 1.72355276e-01 2.34211715e-03 1.11402404e+01] [-1.72354833e-01 9.85034851e-01 -3.91335257e-04 -1.67858703e+00] [-2.37451571e-03 -1.81974326e-05 9.99997181e-01 -5.62662555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:11.17, Y:-1.68, Z:-0.06 [[ 9.85218408e-01 1.71286901e-01 2.34200540e-03 1.11720299e+01] [-1.71286453e-01 9.85221192e-01 -3.92002904e-04 -1.68441214e+00] [-2.37453831e-03 -1.49453219e-05 9.99997181e-01 -5.66436111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.20, Y:-1.69, Z:-0.06 [[ 9.85378703e-01 1.70362342e-01 2.34190151e-03 1.12041384e+01] [-1.70361890e-01 9.85381486e-01 -3.92622598e-04 -1.69001899e+00] [-2.37455449e-03 -1.20888196e-05 9.99997181e-01 -5.51343825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.24, Y:-1.69, Z:-0.06 [[ 9.85463086e-01 1.69873545e-01 2.34179210e-03 1.12361158e+01] [-1.69873090e-01 9.85465869e-01 -3.93274059e-04 -1.69492683e+00] [-2.37456305e-03 -1.02503921e-05 9.99997181e-01 -5.59838869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:11.26, Y:-1.69, Z:-0.07 [[ 9.87039933e-01 1.60457742e-01 2.34169010e-03 1.12579271e+01] [-1.60457259e-01 9.87042711e-01 -3.93880478e-04 -1.68733056e+00] [-2.37454932e-03 1.30345850e-05 9.99997181e-01 -6.64696502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:11.30, Y:-1.70, Z:-0.06 [[ 9.85422235e-01 1.70110207e-01 2.35286766e-03 1.12969601e+01] [-1.70109910e-01 9.85425041e-01 -3.27132989e-04 -1.70427578e+00] [-2.37422337e-03 -7.78819841e-05 9.99997178e-01 -5.58710918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.32, Y:-1.70, Z:-0.06 [[ 9.87010639e-01 1.60637843e-01 2.34142434e-03 1.13188552e+01] [-1.60637358e-01 9.87013416e-01 -3.94970202e-04 -1.69677844e+00] [-2.37446440e-03 1.37195707e-05 9.99997181e-01 -6.37856197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.36, Y:-1.71, Z:-0.06 [[ 9.85682468e-01 1.68595778e-01 2.35274755e-03 1.13575077e+01] [-1.68595476e-01 9.85685273e-01 -3.27518088e-04 -1.71368710e+00] [-2.37428678e-03 -7.38337559e-05 9.99997179e-01 -5.54671333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:11.39, Y:-1.72, Z:-0.06 [[ 9.86079716e-01 1.66256766e-01 2.34122895e-03 1.13878927e+01] [-1.66256295e-01 9.86082495e-01 -3.95674328e-04 -1.71825693e+00] [-2.37442842e-03 9.22377434e-07 9.99997181e-01 -5.52505092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.42, Y:-1.72, Z:-0.06 [[ 9.86249546e-01 1.65246339e-01 2.34117532e-03 1.14197319e+01] [-1.65245864e-01 9.86252324e-01 -3.95991403e-04 -1.72350362e+00] [-2.37442573e-03 3.67680186e-06 9.99997181e-01 -5.55511577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.6 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:11.45, Y:-1.73, Z:-0.05 [[ 9.86421378e-01 1.64217488e-01 2.34110783e-03 1.14524894e+01] [-1.64217010e-01 9.86424156e-01 -3.96390036e-04 -1.72929367e+00] [-2.37441949e-03 6.55787786e-06 9.99997181e-01 -5.34388916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:11.47, Y:-1.72, Z:-0.06 [[ 9.88270485e-01 1.52695674e-01 2.34099586e-03 1.14744274e+01] [-1.52695161e-01 9.88273257e-01 -3.97050206e-04 -1.72185218e+00] [-2.37417145e-03 3.49342588e-05 9.99997181e-01 -6.48446370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:11.51, Y:-1.73, Z:-0.06 [[ 9.88440556e-01 1.51590674e-01 2.35278434e-03 1.15052530e+01] [-1.51590324e-01 9.88443355e-01 -3.27435656e-04 -1.72874807e+00] [-2.37523024e-03 -3.30086589e-05 9.99997179e-01 -6.30531137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:11.54, Y:-1.75, Z:-0.06 [[ 9.87048914e-01 1.60402316e-01 2.35324152e-03 1.15436021e+01] [-1.60401998e-01 9.87051718e-01 -3.24738277e-04 -1.74759631e+00] [-2.37485985e-03 -5.69320764e-05 9.99997178e-01 -5.51721353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:11.57, Y:-1.75, Z:-0.06 [[ 9.87240290e-01 1.59220385e-01 2.34049612e-03 1.15746668e+01] [-1.59219886e-01 9.87243064e-01 -3.99422492e-04 -1.75389386e+00] [-2.37423477e-03 2.16724511e-05 9.99997181e-01 -5.50377885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:11.60, Y:-1.75, Z:-0.06 [[ 9.88702982e-01 1.49869730e-01 2.34042537e-03 1.15966900e+01] [-1.49869204e-01 9.88705751e-01 -3.99836632e-04 -1.74716993e+00] [-2.37391543e-03 4.45619839e-05 9.99997181e-01 -6.34318343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:11.63, Y:-1.75, Z:-0.06 [[ 9.88589227e-01 1.50618094e-01 2.35153054e-03 1.16274379e+01] [-1.50617724e-01 9.88592024e-01 -3.34685105e-04 -1.75099092e+00] [-2.37511397e-03 -2.33160874e-05 9.99997179e-01 -6.42434874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:11.67, Y:-1.77, Z:-0.06 [[ 9.86602744e-01 1.63124158e-01 2.35265461e-03 1.16659220e+01] [-1.63123840e-01 9.86605547e-01 -3.28097423e-04 -1.76780684e+00] [-2.37466271e-03 -6.00722357e-05 9.99997179e-01 -5.62515022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:11.70, Y:-1.77, Z:-0.06 [[ 9.86280003e-01 1.65064475e-01 2.33995350e-03 1.16979289e+01] [-1.65063986e-01 9.86282778e-01 -4.02023512e-04 -1.77284491e+00] [-2.37421564e-03 1.02657000e-05 9.99997181e-01 -5.66833058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.72, Y:-1.77, Z:-0.07 [[ 9.87232934e-01 1.59265999e-01 2.33983920e-03 1.17199775e+01] [-1.59265492e-01 9.87235707e-01 -4.02687664e-04 -1.76518301e+00] [-2.37410726e-03 2.48908824e-05 9.99997181e-01 -6.78301094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.9 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:11.75, Y:-1.77, Z:-0.07 [[ 9.86501295e-01 1.63736579e-01 2.35122348e-03 1.17509428e+01] [-1.63736242e-01 9.86504095e-01 -3.36307217e-04 -1.76913592e+00] [-2.37455738e-03 -5.32129921e-05 9.99997179e-01 -6.80712103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:11.79, Y:-1.79, Z:-0.06 [[ 9.84495405e-01 1.75394602e-01 2.35180716e-03 1.17897152e+01] [-1.75394307e-01 9.84498210e-01 -3.32888373e-04 -1.78615855e+00] [-2.37373677e-03 -8.47665135e-05 9.99997179e-01 -5.88920232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959999999999999 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:11.82, Y:-1.79, Z:-0.06 [[ 9.83823798e-01 1.79123587e-01 2.33988392e-03 1.18238001e+01] [-1.79123137e-01 9.83826580e-01 -4.02246384e-04 -1.78943466e+00] [-2.37409181e-03 -2.33877832e-05 9.99997182e-01 -6.24078250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:11.85, Y:-1.79, Z:-0.06 [[ 9.83333184e-01 1.81797636e-01 2.33843493e-03 1.18548102e+01] [-1.81797174e-01 9.83335964e-01 -4.10662130e-04 -1.79370364e+00] [-2.37412457e-03 -2.13031616e-05 9.99997182e-01 -5.98832846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.88, Y:-1.79, Z:-0.07 [[ 9.84148187e-01 1.77332658e-01 2.33972809e-03 1.18788641e+01] [-1.77332201e-01 9.84150968e-01 -4.03157255e-04 -1.78758748e+00] [-2.37413862e-03 -1.81426512e-05 9.99997182e-01 -6.79923933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.91, Y:-1.79, Z:-0.07 [[ 9.83823467e-01 1.79125284e-01 2.34912911e-03 1.19096246e+01] [-1.79124961e-01 9.83826269e-01 -3.48657496e-04 -1.79263295e+00] [-2.37358830e-03 -7.77702343e-05 9.99997180e-01 -6.70912346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:11.94, Y:-1.80, Z:-0.07 [[ 9.83347348e-01 1.81720862e-01 2.34971783e-03 1.19426634e+01] [-1.81720555e-01 9.83350152e-01 -3.45256868e-04 -1.79993395e+00] [-2.37333576e-03 -8.74846032e-05 9.99997180e-01 -6.92010620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.81, Z:-0.07 [[ 9.83279899e-01 1.82085501e-01 2.34742492e-03 1.19731388e+01] [-1.82085164e-01 9.83282698e-01 -3.58444267e-04 -1.80507546e+00] [-2.37344981e-03 -7.49802076e-05 9.99997181e-01 -6.92344594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.82, Z:-0.06 [[ 9.81876558e-01 1.89507018e-01 2.34848546e-03 1.20101448e+01] [-1.89506716e-01 9.81879361e-01 -3.52346688e-04 -1.82040380e+00] [-2.37270158e-03 -9.90928144e-05 9.99997180e-01 -6.27064661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:12.03, Y:-1.82, Z:-0.07 [[ 9.83303162e-01 1.81959950e-01 2.33859957e-03 1.20337483e+01] [-1.81959492e-01 9.83305942e-01 -4.08888169e-04 -1.81628484e+00] [-2.37396013e-03 -2.34693605e-05 9.99997182e-01 -7.01081521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.2 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.83, Z:-0.06 [[ 9.82377540e-01 1.86892635e-01 2.34796647e-03 1.20711329e+01] [-1.86892319e-01 9.82380341e-01 -3.55193569e-04 -1.83236645e+00] [-2.37297917e-03 -8.98827136e-05 9.99997180e-01 -6.40680145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:12.09, Y:-1.83, Z:-0.07 [[ 9.84222096e-01 1.76922011e-01 2.33832053e-03 1.20939406e+01] [-1.76921536e-01 9.84224874e-01 -4.10182102e-04 -1.82863141e+00] [-2.37400347e-03 -9.98897175e-06 9.99997182e-01 -7.10152347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.84, Z:-0.07 [[ 9.85035082e-01 1.72337958e-01 2.34837566e-03 1.21258932e+01] [-1.72337606e-01 9.85037880e-01 -3.52849017e-04 -1.83868582e+00] [-2.37404826e-03 -5.71447792e-05 9.99997180e-01 -6.67305532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.85, Z:-0.06 [[ 9.85488157e-01 1.69727961e-01 2.34752356e-03 1.21576015e+01] [-1.69727590e-01 9.85490952e-01 -3.57693918e-04 -1.84632048e+00] [-2.37417389e-03 -4.59363972e-05 9.99997181e-01 -6.25998890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.86, Z:-0.06 [[ 9.85404657e-01 1.70212079e-01 2.34722376e-03 1.21940033e+01] [-1.70211706e-01 9.85407452e-01 -3.59400945e-04 -1.86304334e+00] [-2.37414616e-03 -4.53695945e-05 9.99997181e-01 -5.69469918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.86, Z:-0.06 [[ 9.87029863e-01 1.60519734e-01 2.33777988e-03 1.22181654e+01] [-1.60519206e-01 9.87032631e-01 -4.12874158e-04 -1.85970082e+00] [-2.37373948e-03 3.22605523e-05 9.99997182e-01 -6.17123830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.87, Z:-0.06 [[ 9.87560518e-01 1.57221864e-01 2.34691767e-03 1.22486710e+01] [-1.57221450e-01 9.87563307e-01 -3.61029099e-04 -1.86595093e+00] [-2.37449144e-03 -1.24477158e-05 9.99997181e-01 -6.00598159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.29, Y:-1.88, Z:-0.06 [[ 9.86598993e-01 1.63146896e-01 2.34873704e-03 1.22862470e+01] [-1.63146524e-01 9.86601788e-01 -3.50641685e-04 -1.88276240e+00] [-2.37447427e-03 -3.72455503e-05 9.99997180e-01 -5.72280891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.88, Z:-0.06 [[ 9.87844078e-01 1.55430409e-01 2.33798794e-03 1.23105734e+01] [-1.55429870e-01 9.87846843e-01 -4.11686376e-04 -1.88061201e+00] [-2.37356259e-03 4.32887870e-05 9.99997182e-01 -6.25073729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.90, Z:-0.06 [[ 9.86671338e-01 1.62708841e-01 2.34608392e-03 1.23463847e+01] [-1.62708431e-01 9.86674127e-01 -3.65627676e-04 -1.89527674e+00] [-2.37431116e-03 -2.09732865e-05 9.99997181e-01 -5.73383280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.5 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.89, Z:-0.07 [[ 9.87598088e-01 1.56985830e-01 2.33777663e-03 1.23706415e+01] [-1.56985292e-01 9.87600854e-01 -4.12686608e-04 -1.89097270e+00] [-2.37357615e-03 4.05719565e-05 9.99997182e-01 -6.76996672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:12.41, Y:-1.91, Z:-0.06 [[ 9.85821509e-01 1.67780945e-01 2.34679074e-03 1.24074942e+01] [-1.67780559e-01 9.85824301e-01 -3.61516741e-04 -1.90672248e+00] [-2.37417896e-03 -3.73548831e-05 9.99997181e-01 -6.18808196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.90, Z:-0.07 [[ 9.86396545e-01 1.64366639e-01 2.33752677e-03 1.24329313e+01] [-1.64366120e-01 9.86399314e-01 -4.13842847e-04 -1.90433566e+00] [-2.37375676e-03 2.40029496e-05 9.99997182e-01 -6.73243981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.91, Z:-0.07 [[ 9.85383048e-01 1.70337167e-01 2.34463262e-03 1.24644903e+01] [-1.70336760e-01 9.85385837e-01 -3.73646508e-04 -1.91013636e+00] [-2.37401367e-03 -3.11921897e-05 9.99997182e-01 -6.77930093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.92, Z:-0.07 [[ 9.84259382e-01 1.76714392e-01 2.34350455e-03 1.24947053e+01] [-1.76713988e-01 9.84262171e-01 -3.79971750e-04 -1.91501290e+00] [-2.37376935e-03 -4.01392746e-05 9.99997182e-01 -6.71434251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-1.92, Z:-0.07 [[ 9.84162222e-01 1.77254690e-01 2.34439510e-03 1.25264264e+01] [-1.77254300e-01 9.84165013e-01 -3.74990549e-04 -1.92091818e+00] [-2.37374047e-03 -4.65025803e-05 9.99997182e-01 -6.72177184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.93, Z:-0.07 [[ 9.83813306e-01 1.79181144e-01 2.34432469e-03 1.25567400e+01] [-1.79180758e-01 9.83816098e-01 -3.75383532e-04 -1.92625555e+00] [-2.37364602e-03 -5.07505614e-05 9.99997182e-01 -6.78938369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-1.94, Z:-0.06 [[ 9.82232261e-01 1.87654702e-01 2.34488781e-03 1.25931408e+01] [-1.87654347e-01 9.82235057e-01 -3.72236170e-04 -1.94000643e+00] [-2.37308288e-03 -7.44060166e-05 9.99997181e-01 -5.87468767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.95, Z:-0.06 [[ 9.82398168e-01 1.86784315e-01 2.33632593e-03 1.26247691e+01] [-1.86783845e-01 9.82400946e-01 -4.19877097e-04 -1.94517385e+00] [-2.37363526e-03 -2.39014497e-05 9.99997183e-01 -6.12308956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:12.66, Y:-1.95, Z:-0.06 [[ 9.82674700e-01 1.85323976e-01 2.33621437e-03 1.26566767e+01] [-1.85323500e-01 9.82677477e-01 -4.20496957e-04 -1.94680528e+00] [-2.37367341e-03 -1.97437011e-05 9.99997183e-01 -6.31532090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.94, Z:-0.07 [[ 9.83967444e-01 1.78332866e-01 2.33610400e-03 1.26806922e+01] [-1.78332369e-01 9.83970218e-01 -4.21109197e-04 -1.93859339e+00] [-2.37375437e-03 -2.24521938e-06 9.99997183e-01 -7.14821720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:12.72, Y:-1.95, Z:-0.07 [[ 9.82333244e-01 1.87125345e-01 2.34578101e-03 1.27180246e+01] [-1.87125001e-01 9.82336042e-01 -3.67306894e-04 -1.94936261e+00] [-2.37307766e-03 -7.81364996e-05 9.99997181e-01 -6.54756402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.95, Z:-0.07 [[ 9.82245145e-01 1.87587362e-01 2.33586881e-03 1.27503630e+01] [-1.87586888e-01 9.82247922e-01 -4.22153307e-04 -1.95377786e+00] [-2.37359291e-03 -2.35203258e-05 9.99997183e-01 -6.73155880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.96, Z:-0.06 [[ 9.82040466e-01 1.88655948e-01 2.33575176e-03 1.27827605e+01] [-1.88655476e-01 9.82043244e-01 -4.22799966e-04 -1.95903067e+00] [-2.37357296e-03 -2.54456827e-05 9.99997183e-01 -6.24095005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.95, Z:-0.07 [[ 9.83387574e-01 1.81503235e-01 2.33563453e-03 1.28072799e+01] [-1.81502741e-01 9.83390348e-01 -4.23446594e-04 -1.95411348e+00] [-2.37369737e-03 -7.51195031e-06 9.99997183e-01 -6.84098457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.97, Z:-0.07 [[ 9.82292664e-01 1.87338265e-01 2.34454119e-03 1.28445547e+01] [-1.87337905e-01 9.82295459e-01 -3.74192539e-04 -1.96521160e+00] [-2.37313275e-03 -7.16548494e-05 9.99997182e-01 -6.61650076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.96, Z:-0.07 [[ 9.83749728e-01 1.79529995e-01 2.33545217e-03 1.28691430e+01] [-1.79529494e-01 9.83752500e-01 -4.24229129e-04 -1.95768848e+00] [-2.37366877e-03 -1.94725593e-06 9.99997183e-01 -7.42902560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:12.91, Y:-1.97, Z:-0.07 [[ 9.82162426e-01 1.88019858e-01 2.34562969e-03 1.29069004e+01] [-1.88019515e-01 9.82165224e-01 -3.68031956e-04 -1.97382397e+00] [-2.37299323e-03 -7.95569977e-05 9.99997181e-01 -6.82565452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:12.94, Y:-1.98, Z:-0.07 [[ 9.81869343e-01 1.89544560e-01 2.33511245e-03 1.29393791e+01] [-1.89544084e-01 9.81872119e-01 -4.25785592e-04 -1.98090169e+00] [-2.37348715e-03 -2.45409310e-05 9.99997183e-01 -6.64441282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.99, Z:-0.07 [[ 9.81682356e-01 1.90510630e-01 2.33473885e-03 1.29706764e+01] [-1.90510152e-01 9.81685132e-01 -4.27835910e-04 -1.98642615e+00] [-2.37348570e-03 -2.47924875e-05 9.99997183e-01 -6.74314350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.1 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.99, Z:-0.07 [[ 9.81530708e-01 1.91290398e-01 2.33509524e-03 1.30022447e+01] [-1.91289926e-01 9.81533485e-01 -4.25881809e-04 -1.99145378e+00] [-2.37344127e-03 -2.86641216e-05 9.99997183e-01 -6.85634480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.03, Y:-2.00, Z:-0.07 [[ 9.81220184e-01 1.92876900e-01 2.33498045e-03 1.30336025e+01] [-1.92876431e-01 9.81222962e-01 -4.26510238e-04 -1.99547118e+00] [-2.37340041e-03 -3.18622418e-05 9.99997183e-01 -6.86583001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:13.07, Y:-2.00, Z:-0.07 [[ 9.80993117e-01 1.94028484e-01 2.33490521e-03 1.30658671e+01] [-1.94028018e-01 9.80995895e-01 -4.26921732e-04 -2.00104595e+00] [-2.37336741e-03 -3.42297489e-05 9.99997183e-01 -6.72935046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.10, Y:-2.01, Z:-0.07 [[ 9.80500245e-01 1.96503990e-01 2.33478618e-03 1.30969857e+01] [-1.96503528e-01 9.80503024e-01 -4.27571719e-04 -2.00827215e+00] [-2.37328446e-03 -3.95595470e-05 9.99997183e-01 -6.56194341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219999999999999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:13.13, Y:-2.02, Z:-0.07 [[ 9.80017823e-01 1.98895995e-01 2.33467486e-03 1.31293341e+01] [-1.98895539e-01 9.80020603e-01 -4.28178723e-04 -2.01572141e+00] [-2.37319249e-03 -4.47336332e-05 9.99997183e-01 -6.55307586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:13.16, Y:-2.02, Z:-0.06 [[ 9.79646883e-01 2.00715056e-01 2.33455327e-03 1.31616478e+01] [-2.00714604e-01 9.79649664e-01 -4.28840641e-04 -2.02172851e+00] [-2.37311910e-03 -4.84665366e-05 9.99997183e-01 -6.42779003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.19, Y:-2.03, Z:-0.06 [[ 9.79341730e-01 2.02198731e-01 2.33443110e-03 1.31945625e+01] [-2.02198282e-01 9.79344511e-01 -4.29504652e-04 -2.02702579e+00] [-2.37305758e-03 -5.13861274e-05 9.99997183e-01 -6.49261826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309999999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:13.23, Y:-2.03, Z:-0.07 [[ 9.78897971e-01 2.04336277e-01 2.33430976e-03 1.32272119e+01] [-2.04335832e-01 9.78900752e-01 -4.30163099e-04 -2.03160872e+00] [-2.37295551e-03 -5.58973411e-05 9.99997183e-01 -6.62693702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.26, Y:-2.04, Z:-0.07 [[ 9.78735060e-01 2.05115175e-01 2.33418870e-03 1.32592686e+01] [-2.05114730e-01 9.78737841e-01 -4.30819023e-04 -2.03779363e+00] [-2.37292633e-03 -5.71188022e-05 9.99997183e-01 -6.59217787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.29, Y:-2.05, Z:-0.06 [[ 9.78830656e-01 2.04658494e-01 2.33406735e-03 1.32899902e+01] [-2.04658046e-01 9.78833437e-01 -4.31475471e-04 -2.04600215e+00] [-2.37296828e-03 -5.53442441e-05 9.99997183e-01 -6.48908798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.32, Y:-2.05, Z:-0.06 [[ 9.79342989e-01 2.02192638e-01 2.33395408e-03 1.33221843e+01] [-2.02192182e-01 9.79345769e-01 -4.32087291e-04 -2.05434188e+00] [-2.37311292e-03 -4.87456096e-05 9.99997183e-01 -6.31735928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:13.35, Y:-2.06, Z:-0.06 [[ 9.79683878e-01 2.00534415e-01 2.33383007e-03 1.33531901e+01] [-2.00533953e-01 9.79686657e-01 -4.32756081e-04 -2.06140511e+00] [-2.37320466e-03 -4.40480126e-05 9.99997183e-01 -6.42630348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:13.39, Y:-2.07, Z:-0.06 [[ 9.79993926e-01 1.99013717e-01 2.33371485e-03 1.33857998e+01] [-1.99013249e-01 9.79996704e-01 -4.33376515e-04 -2.06865469e+00] [-2.37328073e-03 -3.97338222e-05 9.99997183e-01 -6.33672251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.49 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:13.42, Y:-2.08, Z:-0.06 [[ 9.80704396e-01 1.95482586e-01 2.33359340e-03 1.34166005e+01] [-1.95482107e-01 9.80707172e-01 -4.34029483e-04 -2.07600215e+00] [-2.37341699e-03 -3.05211332e-05 9.99997183e-01 -6.24255197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:13.45, Y:-2.08, Z:-0.06 [[ 9.81304272e-01 1.92448642e-01 2.33348030e-03 1.34483786e+01] [-1.92448153e-01 9.81307047e-01 -4.34636699e-04 -2.08476694e+00] [-2.37350591e-03 -2.25631241e-05 9.99997183e-01 -6.12189860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:13.48, Y:-2.09, Z:-0.06 [[ 9.81586630e-01 1.91003253e-01 2.33335815e-03 1.34806333e+01] [-1.91002758e-01 9.81589403e-01 -4.35291512e-04 -2.09262919e+00] [-2.37354173e-03 -1.84015140e-05 9.99997183e-01 -6.08882144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:13.51, Y:-2.10, Z:-0.06 [[ 9.81820253e-01 1.89798700e-01 2.33323229e-03 1.35117727e+01] [-1.89798200e-01 9.81823025e-01 -4.35965077e-04 -2.10005303e+00] [-2.37356679e-03 -1.48039458e-05 9.99997183e-01 -6.12305463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:-2.11, Z:-0.06 [[ 9.81838534e-01 1.89704110e-01 2.33315412e-03 1.35435123e+01] [-1.89703608e-01 9.81841306e-01 -4.36383015e-04 -2.10737369e+00] [-2.37357074e-03 -1.41500952e-05 9.99997183e-01 -5.87863994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:-2.11, Z:-0.07 [[ 9.83189343e-01 1.82574018e-01 2.33302956e-03 1.35674556e+01] [-1.82573495e-01 9.83192111e-01 -4.37047938e-04 -2.10526991e+00] [-2.37360986e-03 3.75151396e-06 9.99997183e-01 -6.66749450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:13.60, Y:-2.11, Z:-0.07 [[ 9.82964403e-01 1.83781134e-01 2.34030524e-03 1.35963614e+01] [-1.83780706e-01 9.82967188e-01 -3.98580260e-04 -2.11110649e+00] [-2.37369479e-03 -3.83127399e-05 9.99997182e-01 -7.11952035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.7 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:13.63, Y:-2.13, Z:-0.07 [[ 9.81073982e-01 1.93619099e-01 2.34239202e-03 1.36336205e+01] [-1.93618725e-01 9.81076775e-01 -3.87555784e-04 -2.12715695e+00] [-2.37310461e-03 -7.33100609e-05 9.99997181e-01 -6.56983753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:13.67, Y:-2.13, Z:-0.06 [[ 9.80785549e-01 1.95075036e-01 2.33170710e-03 1.36656978e+01] [-1.95074532e-01 9.80788321e-01 -4.43705859e-04 -2.13342702e+00] [-2.37346703e-03 -1.96763772e-05 9.99997183e-01 -6.34057362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:13.69, Y:-2.13, Z:-0.07 [[ 9.81596731e-01 1.90951361e-01 2.33158276e-03 1.36909753e+01] [-1.90950844e-01 9.81599500e-01 -4.44358265e-04 -2.13102864e+00] [-2.37353129e-03 -9.03707763e-06 9.99997183e-01 -6.78625474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:13.73, Y:-2.15, Z:-0.07 [[ 9.80064334e-01 1.98666619e-01 2.34019316e-03 1.37269119e+01] [-1.98666232e-01 9.80067125e-01 -3.99085674e-04 -2.14558787e+00] [-2.37283138e-03 -7.37877217e-05 9.99997182e-01 -6.52816662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:13.75, Y:-2.14, Z:-0.07 [[ 9.81190008e-01 1.93030396e-01 2.33136018e-03 1.37506070e+01] [-1.93029883e-01 9.81192777e-01 -4.45327721e-04 -2.14131446e+00] [-2.37347555e-03 -1.30710719e-05 9.99997183e-01 -6.77898799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:13.79, Y:-2.16, Z:-0.07 [[ 9.80009399e-01 1.98937414e-01 2.34140238e-03 1.37875011e+01] [-1.98937043e-01 9.80012193e-01 -3.92632888e-04 -2.15559015e+00] [-2.37271225e-03 -8.10077464e-05 9.99997182e-01 -6.91021063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:13.82, Y:-2.16, Z:-0.07 [[ 9.80119393e-01 1.98394913e-01 2.33109621e-03 1.38203602e+01] [-1.98394413e-01 9.80122165e-01 -4.46446060e-04 -2.16145600e+00] [-2.37333169e-03 -2.49060225e-05 9.99997183e-01 -7.07419647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:-2.17, Z:-0.07 [[ 9.80025005e-01 1.98860643e-01 2.33096930e-03 1.38520913e+01] [-1.98860142e-01 9.80027777e-01 -4.47107693e-04 -2.16815405e+00] [-2.37332679e-03 -2.53601671e-05 9.99997183e-01 -6.80704554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:-2.18, Z:-0.07 [[ 9.80337114e-01 1.97316269e-01 2.33084249e-03 1.38829812e+01] [-1.97315762e-01 9.80339885e-01 -4.47767829e-04 -2.17577629e+00] [-2.37336973e-03 -2.09485397e-05 9.99997183e-01 -6.80911549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:13.91, Y:-2.17, Z:-0.07 [[ 9.81852425e-01 1.89632231e-01 2.33076371e-03 1.39075451e+01] [-1.89631702e-01 9.81855191e-01 -4.48177491e-04 -2.17292120e+00] [-2.37346135e-03 -1.94253281e-06 9.99997183e-01 -7.46723307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.0 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:13.94, Y:-2.18, Z:-0.07 [[ 9.81902717e-01 1.89371531e-01 2.34041765e-03 1.39395554e+01] [-1.89371120e-01 9.81905505e-01 -3.97976559e-04 -2.18093482e+00] [-2.37343440e-03 -5.24332472e-05 9.99997182e-01 -7.33750328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:13.97, Y:-2.19, Z:-0.07 [[ 9.82356911e-01 1.87001139e-01 2.33941539e-03 1.39702944e+01] [-1.87000709e-01 9.82359696e-01 -4.03177473e-04 -2.18756575e+00] [-2.37354204e-03 -4.14081591e-05 9.99997182e-01 -7.36244251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:14.01, Y:-2.20, Z:-0.07 [[ 9.81124132e-01 1.93364843e-01 2.33976264e-03 1.40072136e+01] [-1.93364436e-01 9.81126920e-01 -4.01375151e-04 -2.20288733e+00] [-2.37321596e-03 -5.86280361e-05 9.99997182e-01 -6.83208687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.09 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:14.04, Y:-2.21, Z:-0.07 [[ 9.80945911e-01 1.94267059e-01 2.33011396e-03 1.40399017e+01] [-1.94266535e-01 9.80948678e-01 -4.51203145e-04 -2.20791603e+00] [-2.37337611e-03 -1.00572852e-05 9.99997183e-01 -6.99579078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:14.06, Y:-2.20, Z:-0.08 [[ 9.82417555e-01 1.86682401e-01 2.32998560e-03 1.40633018e+01] [-1.86681855e-01 9.82420318e-01 -4.51864993e-04 -2.20322928e+00] [-2.37338044e-03 8.95406800e-06 9.99997183e-01 -7.52973433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:14.09, Y:-2.21, Z:-0.08 [[ 9.82403535e-01 1.86756017e-01 2.34177196e-03 1.40935499e+01] [-1.86755615e-01 9.82406325e-01 -3.90997899e-04 -2.20928877e+00] [-2.37359279e-03 -5.32213448e-05 9.99997182e-01 -7.71932728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-2.23, Z:-0.07 [[ 9.80859170e-01 1.94704394e-01 2.34249719e-03 1.41310142e+01] [-1.94704024e-01 9.80861964e-01 -3.87252940e-04 -2.22724712e+00] [-2.37306625e-03 -7.62530323e-05 9.99997181e-01 -7.05910503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:14.16, Y:-2.22, Z:-0.08 [[ 9.82264431e-01 1.87486431e-01 2.32952937e-03 1.41553660e+01] [-1.87485882e-01 9.82267193e-01 -4.53818998e-04 -2.22445395e+00] [-2.37330518e-03 9.01639193e-06 9.99997184e-01 -7.71559905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:14.19, Y:-2.24, Z:-0.07 [[ 9.80820240e-01 1.94900438e-01 2.34009348e-03 1.41933232e+01] [-1.94900039e-01 9.80823029e-01 -3.99554398e-04 -2.24013277e+00] [-2.37309091e-03 -6.41932713e-05 9.99997182e-01 -7.37464811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-2.25, Z:-0.07 [[ 9.80604316e-01 1.95984059e-01 2.32904509e-03 1.42246929e+01] [-1.95983529e-01 9.80607082e-01 -4.55986372e-04 -2.24552933e+00] [-2.37324417e-03 -9.31227210e-06 9.99997184e-01 -7.04981808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299999999999999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:14.26, Y:-2.25, Z:-0.08 [[ 9.80165313e-01 1.98167946e-01 2.32892370e-03 1.42565078e+01] [-1.98167420e-01 9.80168080e-01 -4.56605532e-04 -2.25006512e+00] [-2.37322125e-03 -1.39678972e-05 9.99997184e-01 -7.60436500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:14.29, Y:-2.26, Z:-0.08 [[ 9.79877090e-01 1.99588240e-01 2.32881149e-03 1.42891578e+01] [-1.99587718e-01 9.79879857e-01 -4.57177114e-04 -2.25570304e+00] [-2.37320265e-03 -1.68247900e-05 9.99997184e-01 -7.51783013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:14.32, Y:-2.26, Z:-0.08 [[ 9.79603413e-01 2.00927177e-01 2.32868224e-03 1.43215964e+01] [-2.00926656e-01 9.79606181e-01 -4.57834535e-04 -2.26151701e+00] [-2.37318291e-03 -1.93980633e-05 9.99997184e-01 -7.59832965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:14.35, Y:-2.27, Z:-0.08 [[ 9.79055306e-01 2.03581155e-01 2.32855291e-03 1.43542497e+01] [-2.03580640e-01 9.79058074e-01 -4.58491358e-04 -2.26656296e+00] [-2.37312873e-03 -2.51598957e-05 9.99997184e-01 -7.56142595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:14.39, Y:-2.27, Z:-0.07 [[ 9.78696997e-01 2.05296778e-01 2.32842329e-03 1.43869735e+01] [-2.05296267e-01 9.78699766e-01 -4.59148705e-04 -2.27229485e+00] [-2.37308908e-03 -2.86491496e-05 9.99997184e-01 -7.43363256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.42, Y:-2.28, Z:-0.08 [[ 9.78408153e-01 2.06668973e-01 2.32829344e-03 1.44190325e+01] [-2.06668464e-01 9.78410923e-01 -4.59806178e-04 -2.27793029e+00] [-2.37305541e-03 -3.13067162e-05 9.99997184e-01 -7.53605956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479999999999999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:14.45, Y:-2.28, Z:-0.08 [[ 9.78014187e-01 2.08525370e-01 2.32816224e-03 1.44518125e+01] [-2.08524865e-01 9.78016957e-01 -4.60469548e-04 -2.28281713e+00] [-2.37300173e-03 -3.51339663e-05 9.99997184e-01 -7.54589191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.48, Y:-2.29, Z:-0.08 [[ 9.77845918e-01 2.09313021e-01 2.32803096e-03 1.44828243e+01] [-2.09312516e-01 9.77848689e-01 -4.61132308e-04 -2.28866016e+00] [-2.37298302e-03 -3.63696725e-05 9.99997184e-01 -7.52900881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.51, Y:-2.28, Z:-0.08 [[ 9.79358837e-01 2.02115929e-01 2.32790870e-03 1.45057430e+01] [-2.02115403e-01 9.79361604e-01 -4.61748695e-04 -2.28392607e+00] [-2.37319116e-03 -1.82885397e-05 9.99997184e-01 -8.00917799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.57 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.54, Y:-2.29, Z:-0.08 [[ 9.79206100e-01 2.02854486e-01 2.33929804e-03 1.45372562e+01] [-2.02854098e-01 9.79208891e-01 -4.04282328e-04 -2.29050263e+00] [-2.37267192e-03 -7.86604710e-05 9.99997182e-01 -8.01427076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.6 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:14.57, Y:-2.30, Z:-0.08 [[ 9.78910244e-01 2.04277416e-01 2.33921138e-03 1.45690912e+01] [-2.04277032e-01 9.78913035e-01 -4.04717665e-04 -2.29800810e+00] [-2.37255919e-03 -8.16648887e-05 9.99997182e-01 -7.68360247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.61, Y:-2.31, Z:-0.07 [[ 9.77587825e-01 2.10515027e-01 2.33823100e-03 1.46056455e+01] [-2.10514649e-01 9.77590617e-01 -4.09631157e-04 -2.31428430e+00] [-2.37206620e-03 -9.17814470e-05 9.99997182e-01 -7.27678829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:14.64, Y:-2.32, Z:-0.07 [[ 9.77793652e-01 2.09557058e-01 2.32678227e-03 1.46374328e+01] [-2.09556541e-01 9.77796420e-01 -4.66708976e-04 -2.32136455e+00] [-2.37292153e-03 -3.12473681e-05 9.99997184e-01 -7.20306071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.66, Y:-2.32, Z:-0.07 [[ 9.79238430e-01 2.02698506e-01 2.32665014e-03 1.46613799e+01] [-2.02697967e-01 9.79241194e-01 -4.67366709e-04 -2.31814724e+00] [-2.37308620e-03 -1.39438121e-05 9.99997184e-01 -7.32123370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.70, Y:-2.33, Z:-0.07 [[ 9.77906315e-01 2.09030558e-01 2.33772594e-03 1.46978398e+01] [-2.09030170e-01 9.77909105e-01 -4.12110236e-04 -2.33464428e+00] [-2.37222712e-03 -8.56500473e-05 9.99997183e-01 -7.11066087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.73, Y:-2.34, Z:-0.07 [[ 9.78004593e-01 2.08570384e-01 2.32630547e-03 1.47303991e+01] [-2.08569859e-01 9.78007359e-01 -4.68783542e-04 -2.34120530e+00] [-2.37291823e-03 -2.67247467e-05 9.99997184e-01 -7.23857737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:14.76, Y:-2.35, Z:-0.07 [[ 9.78039753e-01 2.08405449e-01 2.32617499e-03 1.47620593e+01] [-2.08404922e-01 9.78042518e-01 -4.69430114e-04 -2.34779627e+00] [-2.37292984e-03 -2.56650051e-05 9.99997184e-01 -7.39046803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.79, Y:-2.36, Z:-0.07 [[ 9.78109313e-01 2.08078738e-01 2.32605292e-03 1.47934255e+01] [-2.08078208e-01 9.78112079e-01 -4.70034217e-04 -2.35505612e+00] [-2.37294458e-03 -2.42560783e-05 9.99997184e-01 -7.39765840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:14.82, Y:-2.36, Z:-0.07 [[ 9.78162791e-01 2.07827200e-01 2.32593247e-03 1.48241336e+01] [-2.07826668e-01 9.78165556e-01 -4.70629488e-04 -2.36196632e+00] [-2.37295663e-03 -2.30385424e-05 9.99997184e-01 -7.34159933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:14.86, Y:-2.37, Z:-0.07 [[ 9.78170231e-01 2.07792177e-01 2.32585299e-03 1.48560379e+01] [-2.07791645e-01 9.78172996e-01 -4.71021950e-04 -2.36921516e+00] [-2.37296126e-03 -2.25531682e-05 9.99997184e-01 -7.39749753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:14.89, Y:-2.38, Z:-0.07 [[ 9.78204637e-01 2.07630150e-01 2.32572036e-03 1.48875898e+01] [-2.07629615e-01 9.78207401e-01 -4.71675889e-04 -2.37621242e+00] [-2.37297101e-03 -2.14928826e-05 9.99997184e-01 -7.47812190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:14.92, Y:-2.38, Z:-0.07 [[ 9.78206981e-01 2.07619107e-01 2.32559698e-03 1.49190651e+01] [-2.07618571e-01 9.78209745e-01 -4.72283470e-04 -2.38406204e+00] [-2.37297670e-03 -2.08461324e-05 9.99997184e-01 -7.33381781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-2.39, Z:-0.07 [[ 9.78030849e-01 2.08447236e-01 2.32564258e-03 1.49502787e+01] [-2.08446703e-01 9.78033614e-01 -4.72059031e-04 -2.39132642e+00] [-2.37295601e-03 -2.30842324e-05 9.99997184e-01 -7.20517245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:14.98, Y:-2.40, Z:-0.08 [[ 9.78034257e-01 2.08431246e-01 2.32543655e-03 1.49810821e+01] [-2.08430710e-01 9.78037021e-01 -4.73071802e-04 -2.39900939e+00] [-2.37296598e-03 -2.20119616e-05 9.99997184e-01 -7.51651815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-2.41, Z:-0.07 [[ 9.77665727e-01 2.10153086e-01 2.32531190e-03 1.50136846e+01] [-2.10152554e-01 9.77668492e-01 -4.73683664e-04 -2.40603887e+00] [-2.37293027e-03 -2.55659512e-05 9.99997184e-01 -7.18267467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:15.04, Y:-2.41, Z:-0.08 [[ 9.78525642e-01 2.06112014e-01 2.32517953e-03 1.50410177e+01] [-2.06111469e-01 9.78528404e-01 -4.74332544e-04 -2.40608178e+00] [-2.37301985e-03 -1.50996127e-05 9.99997184e-01 -7.79331015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:15.08, Y:-2.42, Z:-0.07 [[ 9.77095365e-01 2.12789119e-01 2.33188330e-03 1.50752762e+01] [-2.12788671e-01 9.77098146e-01 -4.41413384e-04 -2.41805537e+00] [-2.37240681e-03 -6.48953760e-05 9.99997184e-01 -7.44960945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:15.11, Y:-2.42, Z:-0.08 [[ 9.76696627e-01 2.14611964e-01 2.32464271e-03 1.51068416e+01] [-2.14611436e-01 9.76699393e-01 -4.76848146e-04 -2.42447341e+00] [-2.37281444e-03 -3.31589355e-05 9.99997184e-01 -7.52567726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:15.13, Y:-2.42, Z:-0.08 [[ 9.77294059e-01 2.11874768e-01 2.32493838e-03 1.51339554e+01] [-2.11874237e-01 9.77296824e-01 -4.75402209e-04 -2.42394657e+00] [-2.37288062e-03 -2.79867898e-05 9.99997184e-01 -8.20073246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.17, Y:-2.44, Z:-0.08 [[ 9.76059558e-01 2.17490920e-01 2.33217976e-03 1.51682501e+01] [-2.17490489e-01 9.76062341e-01 -4.39944759e-04 -2.43702495e+00] [-2.37203683e-03 -7.78146290e-05 9.99997184e-01 -7.76350554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.2 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:15.20, Y:-2.44, Z:-0.08 [[ 9.76015869e-01 2.17686976e-01 2.32473999e-03 1.51997582e+01] [-2.17686459e-01 9.76018636e-01 -4.76260068e-04 -2.44384592e+00] [-2.37266517e-03 -4.12270326e-05 9.99997184e-01 -7.76667593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:15.23, Y:-2.45, Z:-0.08 [[ 9.76143699e-01 2.17113045e-01 2.32465564e-03 1.52307740e+01] [-2.17112526e-01 9.76146466e-01 -4.76671418e-04 -2.45078187e+00] [-2.37269597e-03 -3.94120568e-05 9.99997184e-01 -7.74383864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259999999999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:15.26, Y:-2.45, Z:-0.09 [[ 9.77804557e-01 2.09506191e-01 2.32457224e-03 1.52569621e+01] [-2.09505649e-01 9.77807320e-01 -4.77077808e-04 -2.44842464e+00] [-2.37293451e-03 -2.05221593e-05 9.99997184e-01 -8.56686102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:15.29, Y:-2.46, Z:-0.08 [[ 9.77725156e-01 2.09876330e-01 2.33354431e-03 1.52888320e+01] [-2.09875893e-01 9.77727939e-01 -4.33265336e-04 -2.45704805e+00] [-2.37250360e-03 -6.61402779e-05 9.99997183e-01 -8.45653984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.32, Y:-2.47, Z:-0.08 [[ 9.77692199e-01 2.10029823e-01 2.33203625e-03 1.53215101e+01] [-2.10029369e-01 9.77694978e-01 -4.40635320e-04 -2.46879731e+00] [-2.37256669e-03 -5.89903869e-05 9.99997184e-01 -8.31234411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349999999999998 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:15.35, Y:-2.48, Z:-0.08 [[ 9.77847104e-01 2.09307480e-01 2.32823802e-03 1.53520626e+01] [-2.09306980e-01 9.77849875e-01 -4.59154323e-04 -2.47678316e+00] [-2.37277169e-03 -3.83337438e-05 9.99997184e-01 -8.16979669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:15.38, Y:-2.49, Z:-0.08 [[ 9.77517901e-01 2.10839591e-01 2.32800365e-03 1.53843083e+01] [-2.10839093e-01 9.77520672e-01 -4.60293638e-04 -2.48859617e+00] [-2.37271982e-03 -4.08889078e-05 9.99997184e-01 -7.82113164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:15.41, Y:-2.50, Z:-0.08 [[ 9.78079224e-01 2.08220148e-01 2.32414777e-03 1.54141015e+01] [-2.08219597e-01 9.78081985e-01 -4.79002591e-04 -2.49611453e+00] [-2.37294506e-03 -1.54306317e-05 9.99997184e-01 -7.68718330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:15.45, Y:-2.50, Z:-0.07 [[ 9.78132274e-01 2.07970797e-01 2.32408352e-03 1.54456341e+01] [-2.07970245e-01 9.78135035e-01 -4.79314131e-04 -2.50295042e+00] [-2.37295086e-03 -1.45075992e-05 9.99997184e-01 -7.36713532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:15.48, Y:-2.51, Z:-0.08 [[ 9.78473678e-01 2.06358575e-01 2.32396794e-03 1.54774166e+01] [-2.06358017e-01 9.78476437e-01 -4.79873904e-04 -2.50967684e+00] [-2.37297396e-03 -1.00254309e-05 9.99997184e-01 -7.56214100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.5 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:15.51, Y:-2.52, Z:-0.07 [[ 9.78962989e-01 2.04024669e-01 2.32383650e-03 1.55090952e+01] [-2.04024103e-01 9.78965747e-01 -4.80509548e-04 -2.51657934e+00] [-2.37299214e-03 -3.71759349e-06 9.99997184e-01 -7.27404179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:15.54, Y:-2.52, Z:-0.07 [[ 9.79278274e-01 2.02505954e-01 2.32375461e-03 1.55416434e+01] [-2.02505383e-01 9.79281031e-01 -4.80905226e-04 -2.52359314e+00] [-2.37299499e-03 3.67221504e-07 9.99997184e-01 -7.40376329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.57, Y:-2.53, Z:-0.07 [[ 9.79500553e-01 2.01428072e-01 2.32362557e-03 1.55735281e+01] [-2.01427497e-01 9.79503309e-01 -4.81527949e-04 -2.53092355e+00] [-2.37299218e-03 3.61481058e-06 9.99997184e-01 -7.18091793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:15.61, Y:-2.54, Z:-0.07 [[ 9.79562625e-01 2.01125993e-01 2.32349727e-03 1.56052374e+01] [-2.01125415e-01 9.79565381e-01 -4.82146246e-04 -2.53766880e+00] [-2.37298963e-03 4.97809022e-06 9.99997184e-01 -7.25329365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:15.63, Y:-2.54, Z:-0.08 [[ 9.80770095e-01 1.95152821e-01 2.32335975e-03 1.56312916e+01] [-1.95152225e-01 9.80772846e-01 -4.82808006e-04 -2.53560579e+00] [-2.37290950e-03 2.01148308e-05 9.99997184e-01 -7.99725027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:15.66, Y:-2.54, Z:-0.08 [[ 9.80609529e-01 1.95957939e-01 2.33166397e-03 1.56626981e+01] [-1.95957440e-01 9.80612301e-01 -4.42908016e-04 -2.54284009e+00] [-2.37324971e-03 -2.25870806e-05 9.99997184e-01 -8.14010815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:15.69, Y:-2.55, Z:-0.08 [[ 9.80395110e-01 1.97027907e-01 2.33052623e-03 1.56943096e+01] [-1.97027398e-01 9.80397880e-01 -4.48346921e-04 -2.54972975e+00] [-2.37317983e-03 -1.96203901e-05 9.99997184e-01 -8.15289236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.73, Y:-2.56, Z:-0.08 [[ 9.80106801e-01 1.98457123e-01 2.32994599e-03 1.57262224e+01] [-1.98456611e-01 9.80109570e-01 -4.51111289e-04 -2.55687530e+00] [-2.37312861e-03 -2.02559429e-05 9.99997184e-01 -8.02439952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.76, Y:-2.56, Z:-0.08 [[ 9.80022065e-01 1.98875155e-01 2.32914656e-03 1.57576255e+01] [-1.98874636e-01 9.80024832e-01 -4.54915700e-04 -2.56316213e+00] [-2.37309290e-03 -1.73807511e-05 9.99997184e-01 -8.12748804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:15.79, Y:-2.58, Z:-0.07 [[ 9.78699457e-01 2.05285046e-01 2.32859542e-03 1.57924472e+01] [-2.05284539e-01 9.78702227e-01 -4.57540371e-04 -2.57564559e+00] [-2.37292772e-03 -3.02301238e-05 9.99997184e-01 -7.36616956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.8 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:15.82, Y:-2.58, Z:-0.08 [[ 9.79453658e-01 2.01655994e-01 2.32190568e-03 1.58212090e+01] [-2.01655401e-01 9.79456410e-01 -4.89286509e-04 -2.57681569e+00] [-2.37287296e-03 1.10086420e-05 9.99997185e-01 -7.77365319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:15.85, Y:-2.59, Z:-0.07 [[ 9.78730234e-01 2.05138275e-01 2.32749358e-03 1.58546702e+01] [-2.05137755e-01 9.78733001e-01 -4.62762797e-04 -2.58880145e+00] [-2.37292513e-03 -2.45368664e-05 9.99997184e-01 -7.45738732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:15.89, Y:-2.60, Z:-0.07 [[ 9.78721611e-01 2.05179477e-01 2.32169471e-03 1.58860330e+01] [-2.05178891e-01 9.78724365e-01 -4.90226038e-04 -2.59563979e+00] [-2.37288350e-03 3.43207205e-06 9.99997185e-01 -7.38227331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:15.92, Y:-2.60, Z:-0.07 [[ 9.78581953e-01 2.05844533e-01 2.32160951e-03 1.59180549e+01] [-2.05843949e-01 9.78584707e-01 -4.90629218e-04 -2.60256143e+00] [-2.37288490e-03 2.23163098e-06 9.99997185e-01 -7.37042217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.95, Y:-2.61, Z:-0.07 [[ 9.78529919e-01 2.06091749e-01 2.32147214e-03 1.59501491e+01] [-2.06091163e-01 9.78532672e-01 -4.91278318e-04 -2.60896413e+00] [-2.37288475e-03 2.29563844e-06 9.99997185e-01 -7.49314991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:15.98, Y:-2.61, Z:-0.08 [[ 9.79965607e-01 1.99153260e-01 2.32133228e-03 1.59761598e+01] [-1.99152653e-01 9.79968356e-01 -4.91938274e-04 -2.60715504e+00] [-2.37280329e-03 1.97831066e-05 9.99997185e-01 -8.24087381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:16.01, Y:-2.61, Z:-0.08 [[ 9.80118092e-01 1.98401341e-01 2.33097468e-03 1.60064622e+01] [-1.98400841e-01 9.80120864e-01 -4.46468391e-04 -2.61324059e+00] [-2.37321684e-03 -2.48755881e-05 9.99997184e-01 -8.30583984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009999999999998 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:16.04, Y:-2.63, Z:-0.08 [[ 9.78750441e-01 2.05041787e-01 2.33223471e-03 1.60435124e+01] [-2.05041319e-01 9.78753219e-01 -4.40530977e-04 -2.62976799e+00] [-2.37300949e-03 -4.70345932e-05 9.99997183e-01 -7.56100294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:16.07, Y:-2.62, Z:-0.08 [[ 9.80466693e-01 1.96671498e-01 2.32063936e-03 1.60662748e+01] [-1.96670877e-01 9.80469439e-01 -4.94902553e-04 -2.62394695e+00] [-2.37264920e-03 2.88332902e-05 9.99997185e-01 -8.18467499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.09, Y:-2.63, Z:-0.08 [[ 9.80414941e-01 1.96929190e-01 2.33202390e-03 1.60944985e+01] [-1.96928696e-01 9.80417714e-01 -4.41808727e-04 -2.62939509e+00] [-2.37336257e-03 -2.60865482e-05 9.99997183e-01 -8.22464500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.13, Y:-2.64, Z:-0.08 [[ 9.80296777e-01 1.97516523e-01 2.33516227e-03 1.61274037e+01] [-1.97516065e-01 9.80299557e-01 -4.27194271e-04 -2.63688229e+00] [-2.37353646e-03 -4.24548957e-05 9.99997182e-01 -8.18236618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:16.16, Y:-2.64, Z:-0.08 [[ 9.80046403e-01 1.98755159e-01 2.33130892e-03 1.61571589e+01] [-1.98754663e-01 9.80049175e-01 -4.45045851e-04 -2.64296990e+00] [-2.37325254e-03 -2.71929328e-05 9.99997183e-01 -8.22572994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:16.19, Y:-2.65, Z:-0.08 [[ 9.80112084e-01 1.98431003e-01 2.33229438e-03 1.61887832e+01] [-1.98430516e-01 9.80114859e-01 -4.40494505e-04 -2.64959945e+00] [-2.37332414e-03 -3.10643903e-05 9.99997183e-01 -8.33970660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189999999999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.22, Y:-2.67, Z:-0.08 [[ 9.78493218e-01 2.06265813e-01 2.33171573e-03 1.62248523e+01] [-2.06265342e-01 9.78495995e-01 -4.43163029e-04 -2.66726461e+00] [-2.37298389e-03 -4.73201250e-05 9.99997183e-01 -7.56653591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:16.26, Y:-2.67, Z:-0.08 [[ 9.78887613e-01 2.04386046e-01 2.32054687e-03 1.62577117e+01] [-2.04385448e-01 9.78890364e-01 -4.94541913e-04 -2.67470287e+00] [-2.37263844e-03 9.81494018e-06 9.99997185e-01 -7.79266299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.28, Y:-2.67, Z:-0.08 [[ 9.81250817e-01 1.92721194e-01 2.31834240e-03 1.62790583e+01] [-1.92720539e-01 9.81253555e-01 -5.04668798e-04 -2.66790321e+00] [-2.37214210e-03 4.84144722e-05 9.99997185e-01 -8.33706389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:16.31, Y:-2.68, Z:-0.08 [[ 9.81165792e-01 1.93153417e-01 2.33355529e-03 1.63107872e+01] [-1.93152929e-01 9.81168567e-01 -4.34679833e-04 -2.67597634e+00] [-2.37357100e-03 -2.42400566e-05 9.99997183e-01 -8.13941999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.34, Y:-2.68, Z:-0.08 [[ 9.81398237e-01 1.91968902e-01 2.33251561e-03 1.63421858e+01] [-1.91968400e-01 9.81401009e-01 -4.39444475e-04 -2.68297694e+00] [-2.37349284e-03 -1.64992550e-05 9.99997183e-01 -7.99167178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:16.38, Y:-2.70, Z:-0.07 [[ 9.79801222e-01 1.99960313e-01 2.33214813e-03 1.63795616e+01] [-1.99959829e-01 9.79803997e-01 -4.41124255e-04 -2.70176132e+00] [-2.37325540e-03 -3.41218573e-05 9.99997183e-01 -7.31581187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.41, Y:-2.71, Z:-0.07 [[ 9.79820136e-01 1.99867787e-01 2.31712355e-03 1.64105946e+01] [-1.99867141e-01 9.79822875e-01 -5.09459131e-04 -2.70821205e+00] [-2.37219512e-03 3.60614569e-05 9.99997186e-01 -7.24686934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.4 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:16.43, Y:-2.70, Z:-0.08 [[ 9.81437766e-01 1.91766898e-01 2.31699114e-03 1.64344048e+01] [-1.91766228e-01 9.81440499e-01 -5.10060601e-04 -2.70388553e+00] [-2.37180168e-03 5.62720868e-05 9.99997186e-01 -7.87429116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:16.47, Y:-2.72, Z:-0.08 [[ 9.80098984e-01 1.98495735e-01 2.32927826e-03 1.64712788e+01] [-1.98495216e-01 9.80101751e-01 -4.54104230e-04 -2.72170983e+00] [-2.37306745e-03 -1.72834974e-05 9.99997184e-01 -7.56870543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:16.50, Y:-2.73, Z:-0.08 [[ 9.80045217e-01 1.98761179e-01 2.31671277e-03 1.65038764e+01] [-1.98760526e-01 9.80047954e-01 -5.11064983e-04 -2.72896364e+00] [-2.37206949e-03 4.03957439e-05 9.99997186e-01 -7.57927498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.54, Y:-2.74, Z:-0.08 [[ 9.79968090e-01 1.99141094e-01 2.31657425e-03 1.65361988e+01] [-1.99140441e-01 9.79970828e-01 -5.11692088e-04 -2.73620443e+00] [-2.37207411e-03 4.01183021e-05 9.99997186e-01 -7.51765081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.56, Y:-2.73, Z:-0.08 [[ 9.81594096e-01 1.90965090e-01 2.31643577e-03 1.65596142e+01] [-1.90964413e-01 9.81596827e-01 -5.12318199e-04 -2.73141671e+00] [-2.37164090e-03 6.05317215e-05 9.99997186e-01 -8.35450501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.60, Y:-2.75, Z:-0.08 [[ 9.79893900e-01 1.99505686e-01 2.32926115e-03 1.65958799e+01] [-1.99505170e-01 9.79896668e-01 -4.54210580e-04 -2.74911525e+00] [-2.37305283e-03 -1.96214641e-05 9.99997184e-01 -7.72644281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:16.62, Y:-2.75, Z:-0.08 [[ 9.81037132e-01 1.93806041e-01 2.31609442e-03 1.66210521e+01] [-1.93805368e-01 9.81039864e-01 -5.13587761e-04 -2.74600402e+00] [-2.37171737e-03 5.49771329e-05 9.99997186e-01 -8.48218775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:-2.75, Z:-0.08 [[ 9.80935306e-01 1.94320661e-01 2.32517642e-03 1.66486983e+01] [-1.94320086e-01 9.80938062e-01 -4.72825119e-04 -2.74966092e+00] [-2.37273374e-03 1.19823702e-05 9.99997185e-01 -8.43522822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:16.69, Y:-2.77, Z:-0.08 [[ 9.78570782e-01 2.05897539e-01 2.32991838e-03 1.66859700e+01] [-2.05897048e-01 9.78573555e-01 -4.51539427e-04 -2.76865538e+00] [-2.37296737e-03 -3.78600267e-05 9.99997184e-01 -7.77804968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669999999999998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:16.72, Y:-2.77, Z:-0.08 [[ 9.78775466e-01 2.04922495e-01 2.31496284e-03 1.67154055e+01] [-2.04921842e-01 9.78778203e-01 -5.18333372e-04 -2.77202610e+00] [-2.37205334e-03 3.29455370e-05 9.99997186e-01 -8.26367109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.7 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:16.75, Y:-2.78, Z:-0.08 [[ 9.77561611e-01 2.10636924e-01 2.32006527e-03 1.67480773e+01] [-2.10636341e-01 9.77564364e-01 -4.95520742e-04 -2.78249159e+00] [-2.37238810e-03 -4.28800403e-06 9.99997186e-01 -7.79808090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:16.78, Y:-2.79, Z:-0.08 [[ 9.77625544e-01 2.10340052e-01 2.31475699e-03 1.67775923e+01] [-2.10339412e-01 9.77628284e-01 -5.19187291e-04 -2.78658397e+00] [-2.37217779e-03 2.06861318e-05 9.99997186e-01 -8.25441972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:-2.80, Z:-0.08 [[ 9.76741654e-01 2.14407014e-01 2.31796063e-03 1.68093066e+01] [-2.14406420e-01 9.76744405e-01 -5.04899850e-04 -2.79578832e+00] [-2.37230915e-03 -3.82892529e-06 9.99997186e-01 -7.67152839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:16.84, Y:-2.80, Z:-0.08 [[ 9.75909209e-01 2.18164751e-01 2.31454472e-03 1.68409466e+01] [-2.18164131e-01 9.75911954e-01 -5.20101300e-04 -2.80226572e+00] [-2.37225963e-03 2.62101183e-06 9.99997186e-01 -7.82488367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:16.87, Y:-2.81, Z:-0.08 [[ 9.75364528e-01 2.20587128e-01 2.31445335e-03 1.68726944e+01] [-2.20586514e-01 9.75367274e-01 -5.20507550e-04 -2.80923381e+00] [-2.37225932e-03 -2.85259563e-06 9.99997186e-01 -7.79783867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:16.90, Y:-2.82, Z:-0.08 [[ 9.75027883e-01 2.22070419e-01 2.31430760e-03 1.69045032e+01] [-2.22069808e-01 9.75030630e-01 -5.21154804e-04 -2.81614762e+00] [-2.37225386e-03 -5.79737820e-06 9.99997186e-01 -7.84528639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:16.93, Y:-2.82, Z:-0.09 [[ 9.76028945e-01 2.17628451e-01 2.31416068e-03 1.69310936e+01] [-2.17627825e-01 9.76031689e-01 -5.21806368e-04 -2.81544359e+00] [-2.37225407e-03 5.67236270e-06 9.99997186e-01 -8.59753711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:16.97, Y:-2.83, Z:-0.08 [[ 9.74554081e-01 2.24140468e-01 2.32252614e-03 1.69657395e+01] [-2.24139950e-01 9.74556847e-01 -4.84671498e-04 -2.83014929e+00] [-2.37206825e-03 -4.82323067e-05 9.99997185e-01 -7.99192730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.939999999999998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:17.00, Y:-2.84, Z:-0.08 [[ 9.74438554e-01 2.24642274e-01 2.31387468e-03 1.69972974e+01] [-2.24641665e-01 9.74441301e-01 -5.22951164e-04 -2.83786258e+00] [-2.37221200e-03 -1.02088870e-05 9.99997186e-01 -7.88844421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:17.03, Y:-2.85, Z:-0.08 [[ 9.74420534e-01 2.24720425e-01 2.31372497e-03 1.70277886e+01] [-2.24719815e-01 9.74423281e-01 -5.23612714e-04 -2.84545484e+00] [-2.37221395e-03 -9.72086726e-06 9.99997186e-01 -7.88069225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.0 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.06, Y:-2.85, Z:-0.08 [[ 9.75292720e-01 2.20904407e-01 2.31358569e-03 1.70560267e+01] [-2.20903785e-01 9.75295464e-01 -5.24227401e-04 -2.85006923e+00] [-2.37223377e-03 1.95331423e-07 9.99997186e-01 -8.24311509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029999999999998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:17.09, Y:-2.86, Z:-0.08 [[ 9.74614311e-01 2.23878474e-01 2.31806692e-03 1.70884871e+01] [-2.23877908e-01 9.74617067e-01 -5.04456172e-04 -2.86210499e+00] [-2.37216446e-03 -2.73137683e-05 9.99997186e-01 -7.87331690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.12, Y:-2.87, Z:-0.08 [[ 9.75674337e-01 2.19212767e-01 2.31326495e-03 1.71166450e+01] [-2.19212137e-01 9.75677079e-01 -5.25590928e-04 -2.86636923e+00] [-2.37221583e-03 5.70982829e-06 9.99997186e-01 -8.13191928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.15, Y:-2.88, Z:-0.08 [[ 9.74947646e-01 2.22422369e-01 2.31876859e-03 1.71500080e+01] [-2.22421805e-01 9.74950403e-01 -5.01353011e-04 -2.87929697e+00] [-2.37219650e-03 -2.69517572e-05 9.99997186e-01 -7.69174656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:17.18, Y:-2.88, Z:-0.08 [[ 9.76046068e-01 2.17551657e-01 2.31303095e-03 1.71785437e+01] [-2.17551020e-01 9.76048808e-01 -5.26557012e-04 -2.88271263e+00] [-2.37218445e-03 1.07416601e-05 9.99997186e-01 -8.33967367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:-2.89, Z:-0.08 [[ 9.76131812e-01 2.17166552e-01 2.31806866e-03 1.72098455e+01] [-2.17165967e-01 9.76134565e-01 -5.04428515e-04 -2.89107798e+00] [-2.37229194e-03 -1.10168996e-05 9.99997186e-01 -8.27414372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.24, Y:-2.90, Z:-0.08 [[ 9.75613137e-01 2.19484938e-01 2.31707724e-03 1.72427088e+01] [-2.19484349e-01 9.75615888e-01 -5.08781831e-04 -2.90219204e+00] [-2.37224732e-03 -1.21879505e-05 9.99997186e-01 -7.94626812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.27, Y:-2.90, Z:-0.09 [[ 9.76886144e-01 2.13747769e-01 2.31369400e-03 1.72719681e+01] [-2.13747128e-01 9.76888884e-01 -5.23605886e-04 -2.90426319e+00] [-2.37214154e-03 1.69578862e-05 9.99997186e-01 -8.51994499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:17.30, Y:-2.91, Z:-0.08 [[ 9.77005611e-01 2.13200997e-01 2.31742730e-03 1.73031818e+01] [-2.13200394e-01 9.77008360e-01 -5.07253236e-04 -2.91126340e+00] [-2.37229274e-03 1.51284469e-06 9.99997186e-01 -8.44825648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.34, Y:-2.92, Z:-0.08 [[ 9.76237759e-01 2.16689788e-01 2.31821601e-03 1.73362774e+01] [-2.16689203e-01 9.76240511e-01 -5.03803349e-04 -2.92347457e+00] [-2.37230543e-03 -1.05005275e-05 9.99997186e-01 -7.93625006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.3 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:17.36, Y:-2.93, Z:-0.08 [[ 9.77542820e-01 2.10724202e-01 2.31222845e-03 1.73649985e+01] [-2.10723538e-01 9.77545554e-01 -5.29928778e-04 -2.92541073e+00] [-2.37197746e-03 3.07871129e-05 9.99997186e-01 -8.33165170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:17.40, Y:-2.93, Z:-0.08 [[ 9.77632852e-01 2.10306055e-01 2.31728431e-03 1.73965443e+01] [-2.10305442e-01 9.77635598e-01 -5.07867808e-04 -2.93259441e+00] [-2.37226730e-03 9.17075386e-06 9.99997186e-01 -8.28831457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.43, Y:-2.94, Z:-0.08 [[ 9.77011431e-01 2.13174329e-01 2.31696883e-03 1.74300311e+01] [-2.13173721e-01 9.77014179e-01 -5.09245622e-04 -2.94369958e+00] [-2.37226949e-03 3.62192789e-06 9.99997186e-01 -7.85871429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:17.46, Y:-2.95, Z:-0.08 [[ 9.77322494e-01 2.11743704e-01 2.31208520e-03 1.74622382e+01] [-2.11743042e-01 9.77325229e-01 -5.30528846e-04 -2.94867048e+00] [-2.37199534e-03 2.89298223e-05 9.99997186e-01 -7.92978740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419999999999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.49, Y:-2.95, Z:-0.08 [[ 9.78242060e-01 2.07453916e-01 2.31194041e-03 1.74916221e+01] [-2.07453240e-01 9.78244791e-01 -5.31159069e-04 -2.95041722e+00] [-2.37183469e-03 3.99826125e-05 9.99997186e-01 -8.39561814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.53, Y:-2.96, Z:-0.08 [[ 9.77809763e-01 2.09481984e-01 2.31649382e-03 1.75256364e+01] [-2.09481360e-01 9.77812507e-01 -5.11345215e-04 -2.96021348e+00] [-2.37221424e-03 1.47360677e-05 9.99997186e-01 -7.99532573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.56, Y:-2.97, Z:-0.08 [[ 9.77993748e-01 2.08621392e-01 2.31160063e-03 1.75582840e+01] [-2.08620716e-01 9.77996479e-01 -5.32583380e-04 -2.96715338e+00] [-2.37184556e-03 3.86154373e-05 9.99997186e-01 -7.97396566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509999999999998 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:17.59, Y:-2.97, Z:-0.09 [[ 9.79012692e-01 2.03786177e-01 2.31145258e-03 1.75871001e+01] [-2.03785485e-01 9.79015419e-01 -5.33225165e-04 -2.96917445e+00] [-2.37161163e-03 5.09937189e-05 9.99997186e-01 -8.54661482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:17.62, Y:-2.97, Z:-0.09 [[ 9.79484104e-01 2.01508124e-01 2.31653281e-03 1.76170021e+01] [-2.01507479e-01 9.79486843e-01 -5.11201503e-04 -2.97365476e+00] [-2.37202466e-03 3.39150616e-05 9.99997186e-01 -8.70017022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:17.65, Y:-2.98, Z:-0.09 [[ 9.79394268e-01 2.01944281e-01 2.31864689e-03 1.76486645e+01] [-2.01943658e-01 9.79397012e-01 -5.02041325e-04 -2.98143310e+00] [-2.37226021e-03 2.34603596e-05 9.99997186e-01 -8.62388631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:17.68, Y:-2.99, Z:-0.09 [[ 9.79300921e-01 2.02396483e-01 2.31710878e-03 1.76802764e+01] [-2.02395846e-01 9.79303662e-01 -5.08679144e-04 -2.98749813e+00] [-2.37210798e-03 2.91767624e-05 9.99997186e-01 -8.60889226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:17.72, Y:-3.00, Z:-0.08 [[ 9.78116791e-01 2.08043670e-01 2.31806918e-03 1.77150140e+01] [-2.08043059e-01 9.78119538e-01 -5.04538279e-04 -2.99989857e+00] [-2.37231475e-03 1.12391598e-05 9.99997186e-01 -8.11799755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:17.75, Y:-3.01, Z:-0.08 [[ 9.77855724e-01 2.09267403e-01 2.31038656e-03 1.77460327e+01] [-2.09266717e-01 9.77858452e-01 -5.37557650e-04 -3.00641238e+00] [-2.37172432e-03 4.21668133e-05 9.99997187e-01 -8.26215377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:17.78, Y:-3.01, Z:-0.08 [[ 9.77145839e-01 2.12557455e-01 2.31029163e-03 1.77783755e+01] [-2.12556777e-01 9.77148570e-01 -5.37965356e-04 -3.01214797e+00] [-2.37184671e-03 3.46024672e-05 9.99997187e-01 -8.18249520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:17.81, Y:-3.01, Z:-0.09 [[ 9.77421619e-01 2.11285688e-01 2.31014048e-03 1.78080522e+01] [-2.11285005e-01 9.77424348e-01 -5.38613652e-04 -3.01494533e+00] [-2.37178891e-03 3.83545850e-05 9.99997187e-01 -8.57340468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:17.84, Y:-3.02, Z:-0.08 [[ 9.76990434e-01 2.13270577e-01 2.31385544e-03 1.78397472e+01] [-2.13269937e-01 9.76993173e-01 -5.22689993e-04 -3.02190296e+00] [-2.37209536e-03 1.71873198e-05 9.99997186e-01 -8.34987524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779999999999998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:17.87, Y:-3.03, Z:-0.08 [[ 9.76029380e-01 2.17626510e-01 2.31352267e-03 1.78722909e+01] [-2.17625879e-01 9.76032122e-01 -5.24114195e-04 -3.03141806e+00] [-2.37213358e-03 8.06844906e-06 9.99997186e-01 -7.88778850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:17.90, Y:-3.04, Z:-0.08 [[ 9.75996768e-01 2.17772760e-01 2.30961442e-03 1.79042224e+01] [-2.17772090e-01 9.75999500e-01 -5.40805174e-04 -3.03881331e+00] [-2.37195515e-03 2.48545422e-05 9.99997187e-01 -7.82539345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:17.94, Y:-3.05, Z:-0.08 [[ 9.75930065e-01 2.18071489e-01 2.30946788e-03 1.79364623e+01] [-2.18070818e-01 9.75932797e-01 -5.41430207e-04 -3.04606509e+00] [-2.37195594e-03 2.47704661e-05 9.99997187e-01 -7.62045911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:17.97, Y:-3.05, Z:-0.08 [[ 9.75892857e-01 2.18237939e-01 2.30932194e-03 1.79684171e+01] [-2.18237267e-01 9.75895589e-01 -5.42051988e-04 -3.05291636e+00] [-2.37195340e-03 2.50045539e-05 9.99997187e-01 -7.61903626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.9 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.00, Y:-3.06, Z:-0.08 [[ 9.75726853e-01 2.18978941e-01 2.30917679e-03 1.79997135e+01] [-2.18978270e-01 9.75729585e-01 -5.42669613e-04 -3.05826243e+00] [-2.37196533e-03 2.38377738e-05 9.99997187e-01 -7.78326989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-3.06, Z:-0.08 [[ 9.75397591e-01 2.20440940e-01 2.30904149e-03 1.80316495e+01] [-2.20440272e-01 9.75400324e-01 -5.43244689e-04 -3.06497466e+00] [-2.37199319e-03 2.08738261e-05 9.99997187e-01 -7.65882358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:18.06, Y:-3.07, Z:-0.08 [[ 9.75265092e-01 2.21026398e-01 2.30889837e-03 1.80634467e+01] [-2.21025730e-01 9.75267825e-01 -5.43852294e-04 -3.07142719e+00] [-2.37200001e-03 2.00742083e-05 9.99997187e-01 -8.02301643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:18.10, Y:-3.08, Z:-0.08 [[ 9.74665900e-01 2.23653867e-01 2.30875546e-03 1.80957577e+01] [-2.23653205e-01 9.74668635e-01 -5.44458339e-04 -3.07822487e+00] [-2.37204174e-03 1.43044201e-05 9.99997187e-01 -8.22526781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.13, Y:-3.09, Z:-0.08 [[ 9.74332034e-01 2.25103884e-01 2.30860324e-03 1.81272825e+01] [-2.25103224e-01 9.74334769e-01 -5.45102979e-04 -3.08547878e+00] [-2.37205721e-03 1.14372612e-05 9.99997187e-01 -8.26506989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.16, Y:-3.09, Z:-0.08 [[ 9.74031759e-01 2.26399652e-01 2.30850863e-03 1.81585454e+01] [-2.26398995e-01 9.74034495e-01 -5.45503353e-04 -3.09249600e+00] [-2.37206881e-03 8.69355640e-06 9.99997187e-01 -8.43784860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:18.19, Y:-3.10, Z:-0.08 [[ 9.73408048e-01 2.29066459e-01 2.30837346e-03 1.81906032e+01] [-2.29065808e-01 9.73410786e-01 -5.46074765e-04 -3.09980912e+00] [-2.37208304e-03 2.78413934e-06 9.99997187e-01 -8.47436144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:18.22, Y:-3.11, Z:-0.09 [[ 9.73102388e-01 2.30361487e-01 2.30822241e-03 1.82211920e+01] [-2.30360838e-01 9.73105126e-01 -5.46712497e-04 -3.10753767e+00] [-2.37208456e-03 2.83187099e-07 9.99997187e-01 -8.65093366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:18.25, Y:-3.12, Z:-0.09 [[ 9.72551837e-01 2.32674874e-01 2.30808157e-03 1.82529267e+01] [-2.32674231e-01 9.72554576e-01 -5.47306432e-04 -3.11666488e+00] [-2.37207975e-03 -4.74722851e-06 9.99997187e-01 -8.58679808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:18.28, Y:-3.13, Z:-0.09 [[ 9.72227617e-01 2.34025925e-01 2.30793212e-03 1.82843142e+01] [-2.34025284e-01 9.72230357e-01 -5.47935931e-04 -3.12519073e+00] [-2.37207288e-03 -7.39602512e-06 9.99997187e-01 -8.50833950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.2 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:18.32, Y:-3.13, Z:-0.09 [[ 9.71921221e-01 2.35295164e-01 2.30778331e-03 1.83163464e+01] [-2.35294525e-01 9.71923961e-01 -5.48561979e-04 -3.13385993e+00] [-2.37206388e-03 -9.84974901e-06 9.99997187e-01 -8.50699856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:18.35, Y:-3.14, Z:-0.08 [[ 9.71668065e-01 2.36338414e-01 2.30763506e-03 1.83474494e+01] [-2.36337776e-01 9.71670805e-01 -5.49184907e-04 -3.14241413e+00] [-2.37205511e-03 -1.17559018e-05 9.99997187e-01 -8.41532487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259999999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:18.38, Y:-3.15, Z:-0.09 [[ 9.71375086e-01 2.37539718e-01 2.30749703e-03 1.83791215e+01] [-2.37539083e-01 9.71377827e-01 -5.49764264e-04 -3.15159601e+00] [-2.37204230e-03 -1.40934175e-05 9.99997187e-01 -8.50883772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.41, Y:-3.16, Z:-0.09 [[ 9.71229237e-01 2.38135351e-01 2.30735084e-03 1.84101004e+01] [-2.38134715e-01 9.71231978e-01 -5.50377135e-04 -3.15955402e+00] [-2.37203717e-03 -1.49179695e-05 9.99997187e-01 -8.55934157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:18.44, Y:-3.17, Z:-0.09 [[ 9.71005417e-01 2.39046349e-01 2.30721394e-03 1.84414425e+01] [-2.39045714e-01 9.71008158e-01 -5.50950429e-04 -3.16795337e+00] [-2.37202625e-03 -1.65537530e-05 9.99997187e-01 -8.57030639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349999999999998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:18.47, Y:-3.18, Z:-0.09 [[ 9.70878409e-01 2.39561669e-01 2.30706894e-03 1.84731234e+01] [-2.39561034e-01 9.70881150e-01 -5.51556930e-04 -3.17654997e+00] [-2.37202164e-03 -1.71891070e-05 9.99997187e-01 -8.56248876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:18.51, Y:-3.18, Z:-0.09 [[ 9.70815304e-01 2.39817273e-01 2.30692330e-03 1.85055850e+01] [-2.39816638e-01 9.70818044e-01 -5.52165405e-04 -3.18442025e+00] [-2.37202157e-03 -1.71879657e-05 9.99997187e-01 -8.57043955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.54, Y:-3.19, Z:-0.09 [[ 9.70493438e-01 2.41116496e-01 2.30677777e-03 1.85358127e+01] [-2.41115863e-01 9.70496180e-01 -5.52772732e-04 -3.19400480e+00] [-2.37200164e-03 -1.97384045e-05 9.99997187e-01 -8.51448682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.57, Y:-3.20, Z:-0.09 [[ 9.70337547e-01 2.41743097e-01 2.30664216e-03 1.85678392e+01] [-2.41742465e-01 9.70340288e-01 -5.53338013e-04 -3.20221298e+00] [-2.37199347e-03 -2.06887117e-05 9.99997187e-01 -8.51857007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:18.60, Y:-3.21, Z:-0.09 [[ 9.70134282e-01 2.42557529e-01 2.30649920e-03 1.85993021e+01] [-2.42556898e-01 9.70137024e-01 -5.53933293e-04 -3.21013003e+00] [-2.37198096e-03 -2.20676132e-05 9.99997187e-01 -8.59154883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.5 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.63, Y:-3.22, Z:-0.09 [[ 9.69895294e-01 2.43511395e-01 2.30634124e-03 1.86313515e+01] [-2.43510764e-01 9.69898036e-01 -5.54590206e-04 -3.21807500e+00] [-2.37196487e-03 -2.37244863e-05 9.99997187e-01 -8.72233085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.66, Y:-3.23, Z:-0.09 [[ 9.69691310e-01 2.44322419e-01 2.30618508e-03 1.86634672e+01] [-2.44321790e-01 9.69694052e-01 -5.55238813e-04 -3.22611364e+00] [-2.37195124e-03 -2.50410141e-05 9.99997187e-01 -8.89707938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.69, Y:-3.23, Z:-0.09 [[ 9.69503093e-01 2.45068227e-01 2.30602965e-03 1.86935522e+01] [-2.45067597e-01 9.69505835e-01 -5.55883600e-04 -3.23411480e+00] [-2.37193861e-03 -2.62022757e-05 9.99997187e-01 -9.35908914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:-3.24, Z:-0.09 [[ 9.69176503e-01 2.46356628e-01 2.30595324e-03 1.87256521e+01] [-2.46356002e-01 9.69179246e-01 -5.56200389e-04 -3.24271949e+00] [-2.37190567e-03 -2.90290712e-05 9.99997187e-01 -8.94892883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.76, Y:-3.25, Z:-0.09 [[ 9.69253654e-01 2.46052915e-01 2.30579928e-03 1.87563191e+01] [-2.46052286e-01 9.69256397e-01 -5.56837914e-04 -3.25106582e+00] [-2.37192229e-03 -2.76300016e-05 9.99997187e-01 -9.16073693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:18.79, Y:-3.26, Z:-0.09 [[ 9.69208017e-01 2.46232623e-01 2.30565631e-03 1.87882299e+01] [-2.46231994e-01 9.69210759e-01 -5.57429268e-04 -3.25997765e+00] [-2.37192417e-03 -2.74614345e-05 9.99997187e-01 -9.14956575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:18.82, Y:-3.27, Z:-0.09 [[ 9.69400947e-01 2.45471972e-01 2.30550393e-03 1.88181698e+01] [-2.45471339e-01 9.69403688e-01 -5.58058775e-04 -3.26915510e+00] [-2.37195180e-03 -2.49524329e-05 9.99997187e-01 -8.99644676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.85, Y:-3.28, Z:-0.09 [[ 9.69608560e-01 2.44650619e-01 2.30538118e-03 1.88503797e+01] [-2.44649983e-01 9.69611300e-01 -5.58565438e-04 -3.27782686e+00] [-2.37197702e-03 -2.24216346e-05 9.99997187e-01 -9.01099980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:-3.29, Z:-0.09 [[ 9.69594774e-01 2.44705251e-01 2.30523007e-03 1.88824307e+01] [-2.44704613e-01 9.69597514e-01 -5.59188372e-04 -3.28644234e+00] [-2.37198168e-03 -2.19143076e-05 9.99997187e-01 -8.61045052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.91, Y:-3.29, Z:-0.09 [[ 9.69846671e-01 2.43704989e-01 2.30507985e-03 1.89143414e+01] [-2.43704347e-01 9.69849410e-01 -5.59806916e-04 -3.29480909e+00] [-2.37200807e-03 -1.88311048e-05 9.99997187e-01 -8.79724118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-3.30, Z:-0.09 [[ 9.70039604e-01 2.42935906e-01 2.30493039e-03 1.89459878e+01] [-2.42935261e-01 9.70042342e-01 -5.60421626e-04 -3.30191451e+00] [-2.37202661e-03 -1.63176927e-05 9.99997187e-01 -8.69044228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:18.97, Y:-3.30, Z:-0.09 [[ 9.71433879e-01 2.37299190e-01 2.30478109e-03 1.89722415e+01] [-2.37298527e-01 9.71436614e-01 -5.61034943e-04 -3.30144004e+00] [-2.37208188e-03 -1.91280847e-06 9.99997187e-01 -9.22539353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:-3.31, Z:-0.09 [[ 9.71296196e-01 2.37862021e-01 2.31504707e-03 1.90056652e+01] [-2.37861460e-01 9.71298953e-01 -5.18800900e-04 -3.30783265e+00] [-2.37200582e-03 -4.67511354e-05 9.99997186e-01 -9.31485983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:19.04, Y:-3.32, Z:-0.09 [[ 9.70354165e-01 2.41676314e-01 2.31383191e-03 1.90415432e+01] [-2.41675752e-01 9.70356922e-01 -5.23812151e-04 -3.32167994e+00] [-2.37183581e-03 -5.09137650e-05 9.99997186e-01 -9.14869523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:-3.33, Z:-0.09 [[ 9.70132013e-01 2.42566618e-01 2.30485129e-03 1.90729725e+01] [-2.42565971e-01 9.70134751e-01 -5.60726757e-04 -3.32827817e+00] [-2.37202993e-03 -1.50995131e-05 9.99997187e-01 -9.04106794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.11, Y:-3.34, Z:-0.09 [[ 9.70144643e-01 2.42516101e-01 2.30471054e-03 1.91050109e+01] [-2.42515452e-01 9.70147381e-01 -5.61304676e-04 -3.33598362e+00] [-2.37203432e-03 -1.43811936e-05 9.99997187e-01 -9.11552683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-3.34, Z:-0.09 [[ 9.69867591e-01 2.43621727e-01 2.30455164e-03 1.91358922e+01] [-2.43621080e-01 9.69870328e-01 -5.61956323e-04 -3.34339081e+00] [-2.37202102e-03 -1.64141326e-05 9.99997187e-01 -8.94029774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.17, Y:-3.35, Z:-0.09 [[ 9.70010772e-01 2.43051005e-01 2.30440361e-03 1.91674570e+01] [-2.43050355e-01 9.70013509e-01 -5.62562683e-04 -3.35108547e+00] [-2.37203406e-03 -1.43942518e-05 9.99997187e-01 -9.05807505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-3.36, Z:-0.09 [[ 9.69903062e-01 2.43480472e-01 2.30426512e-03 1.91991569e+01] [-2.43479821e-01 9.69905799e-01 -5.63129382e-04 -3.35858599e+00] [-2.37203111e-03 -1.48611462e-05 9.99997187e-01 -8.95189567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.23, Y:-3.37, Z:-0.09 [[ 9.70082417e-01 2.42764897e-01 2.30410748e-03 1.92301010e+01] [-2.42764243e-01 9.70085153e-01 -5.63773626e-04 -3.36609073e+00] [-2.37204491e-03 -1.24480269e-05 9.99997187e-01 -9.15645289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.26, Y:-3.37, Z:-0.09 [[ 9.70058362e-01 2.42861000e-01 2.30396863e-03 1.92624228e+01] [-2.42860344e-01 9.70061098e-01 -5.64340504e-04 -3.37382808e+00] [-2.37204664e-03 -1.20993896e-05 9.99997187e-01 -9.14059200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:19.29, Y:-3.38, Z:-0.09 [[ 9.70200144e-01 2.42293980e-01 2.30380895e-03 1.92939316e+01] [-2.42293322e-01 9.70202879e-01 -5.64991619e-04 -3.38130741e+00] [-2.37205614e-03 -1.00425729e-05 9.99997187e-01 -9.34786256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.32, Y:-3.38, Z:-0.10 [[ 9.71941195e-01 2.35212684e-01 2.30365047e-03 1.93176469e+01] [-2.35212004e-01 9.71943925e-01 -5.65637071e-04 -3.37799457e+00] [-2.37206409e-03 7.91972752e-06 9.99997187e-01 -9.74585413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.35, Y:-3.39, Z:-0.10 [[ 9.71902964e-01 2.35370464e-01 2.31810896e-03 1.93497732e+01] [-2.35369925e-01 9.71905727e-01 -5.06670295e-04 -3.38692291e+00] [-2.37223859e-03 -5.31787688e-05 9.99997185e-01 -9.85737199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:19.39, Y:-3.41, Z:-0.09 [[ 9.70174990e-01 2.42394545e-01 2.31792860e-03 1.93867888e+01] [-2.42394024e-01 9.70177757e-01 -5.07404529e-04 -3.40568241e+00] [-2.37179486e-03 -6.95808570e-05 9.99997185e-01 -9.31569967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:19.42, Y:-3.41, Z:-0.09 [[ 9.70195474e-01 2.42312689e-01 2.30289979e-03 1.94176029e+01] [-2.42312022e-01 9.70198207e-01 -5.68304692e-04 -3.41341489e+00] [-2.37197669e-03 -6.65366647e-06 9.99997187e-01 -9.47538789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:-3.41, Z:-0.10 [[ 9.71725801e-01 2.36100965e-01 2.30275053e-03 1.94403770e+01] [-2.36100279e-01 9.71728529e-01 -5.68908856e-04 -3.40912651e+00] [-2.37196832e-03 9.14336992e-06 9.99997187e-01 -9.83046293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.48, Y:-3.43, Z:-0.09 [[ 9.69628435e-01 2.44571716e-01 2.31813030e-03 1.94773534e+01] [-2.44571203e-01 9.69631203e-01 -5.06529338e-04 -3.42904234e+00] [-2.37161422e-03 -7.58026673e-05 9.99997185e-01 -9.08407712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.51, Y:-3.44, Z:-0.09 [[ 9.69441610e-01 2.45311362e-01 2.30238283e-03 1.95088204e+01] [-2.45310700e-01 9.69444344e-01 -5.70123817e-04 -3.43730001e+00] [-2.37188986e-03 -1.20973915e-05 9.99997187e-01 -9.12321361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:19.53, Y:-3.43, Z:-0.10 [[ 9.71040610e-01 2.38903397e-01 2.30221989e-03 1.95327098e+01] [-2.38902715e-01 9.71043339e-01 -5.70781017e-04 -3.43430096e+00] [-2.37191681e-03 4.24496435e-06 9.99997187e-01 -1.01130064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:-3.44, Z:-0.10 [[ 9.70787366e-01 2.39930262e-01 2.31494581e-03 1.95638608e+01] [-2.39929706e-01 9.70790125e-01 -5.19361976e-04 -3.44229507e+00] [-2.37193718e-03 -5.12342207e-05 9.99997186e-01 -1.00006179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:19.60, Y:-3.45, Z:-0.10 [[ 9.70863043e-01 2.39623860e-01 2.31470165e-03 1.95959085e+01] [-2.39623300e-01 9.70865801e-01 -5.20346531e-04 -3.45085538e+00] [-2.37195212e-03 -4.94712336e-05 9.99997186e-01 -1.02732932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:19.63, Y:-3.47, Z:-0.09 [[ 9.69362059e-01 2.45625413e-01 2.31412300e-03 1.96323823e+01] [-2.45624864e-01 9.69364819e-01 -5.22676207e-04 -3.46928486e+00] [-2.37161199e-03 -6.17436652e-05 9.99997186e-01 -9.42562742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:-3.47, Z:-0.10 [[ 9.70908825e-01 2.39438420e-01 2.30138872e-03 1.96592045e+01] [-2.39437733e-01 9.70911553e-01 -5.73754721e-04 -3.46927082e+00] [-2.37182382e-03 6.02422364e-06 9.99997187e-01 -9.94805107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.69, Y:-3.49, Z:-0.09 [[ 9.70051113e-01 2.42889887e-01 2.31080240e-03 1.96934620e+01] [-2.42889300e-01 9.70053865e-01 -5.35957840e-04 -3.48586435e+00] [-2.37178154e-03 -4.13626776e-05 9.99997186e-01 -9.41111717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.72, Y:-3.49, Z:-0.10 [[ 9.71662481e-01 2.36361433e-01 2.30109756e-03 1.97201441e+01] [-2.36360735e-01 9.71665206e-01 -5.74808660e-04 -3.48673541e+00] [-2.37175904e-03 1.46308987e-05 9.99997187e-01 -1.00527059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:19.75, Y:-3.50, Z:-0.10 [[ 9.72141552e-01 2.34383166e-01 2.30970023e-03 1.97514164e+01] [-2.34382544e-01 9.72144295e-01 -5.40358119e-04 -3.49574998e+00] [-2.37201275e-03 -1.60488344e-05 9.99997187e-01 -9.93373630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.79, Y:-3.51, Z:-0.09 [[ 9.72021322e-01 2.34881283e-01 2.30928829e-03 1.97855552e+01] [-2.34880658e-01 9.72024065e-01 -5.42006760e-04 -3.51182512e+00] [-2.37199104e-03 -1.55650280e-05 9.99997187e-01 -9.22601806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.82, Y:-3.52, Z:-0.09 [[ 9.72362302e-01 2.33465757e-01 2.30068737e-03 1.98174134e+01] [-2.33465046e-01 9.72365024e-01 -5.76340691e-04 -3.51974183e+00] [-2.37166375e-03 2.32818781e-05 9.99997187e-01 -9.21073098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.85, Y:-3.53, Z:-0.09 [[ 9.72683007e-01 2.32125991e-01 2.30053589e-03 1.98497920e+01] [-2.32125276e-01 9.72685727e-01 -5.76944717e-04 -3.52791389e+00] [-2.37162229e-03 2.71717950e-05 9.99997187e-01 -9.22017915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.7 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:19.88, Y:-3.54, Z:-0.09 [[ 9.73154289e-01 2.30142211e-01 2.30038531e-03 1.98810328e+01] [-2.30141489e-01 9.73157008e-01 -5.77544467e-04 -3.53585005e+00] [-2.37155345e-03 3.26257757e-05 9.99997187e-01 -9.30042475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.91, Y:-3.54, Z:-0.09 [[ 9.73112832e-01 2.30317446e-01 2.30024504e-03 1.99132366e+01] [-2.30316723e-01 9.73115550e-01 -5.78102608e-04 -3.54365347e+00] [-2.37155133e-03 3.27741668e-05 9.99997187e-01 -9.05563223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:-3.55, Z:-0.09 [[ 9.73103027e-01 2.30358869e-01 2.30009464e-03 1.99448536e+01] [-2.30358144e-01 9.73105745e-01 -5.78700385e-04 -3.55134465e+00] [-2.37154407e-03 3.32895639e-05 9.99997187e-01 -8.95198527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:-3.55, Z:-0.09 [[ 9.74394367e-01 2.24833999e-01 2.29993433e-03 1.99712169e+01] [-2.24833258e-01 9.74397081e-01 -5.79336821e-04 -3.55134365e+00] [-2.37130391e-03 4.74008076e-05 9.99997187e-01 -9.41427706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:20.01, Y:-3.56, Z:-0.09 [[ 9.73396769e-01 2.29114377e-01 2.30933728e-03 2.00058920e+01] [-2.29113736e-01 9.73399508e-01 -5.41984141e-04 -3.56486431e+00] [-2.37208413e-03 -1.53528022e-06 9.99997187e-01 -9.20982525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:20.04, Y:-3.57, Z:-0.09 [[ 9.73504897e-01 2.28654603e-01 2.29959801e-03 2.00368857e+01] [-2.28653870e-01 9.73507612e-01 -5.80561313e-04 -3.57214730e+00] [-2.37142418e-03 3.93672972e-05 9.99997187e-01 -9.36395352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:20.07, Y:-3.58, Z:-0.09 [[ 9.73466722e-01 2.28817075e-01 2.29946113e-03 2.00687794e+01] [-2.28816340e-01 9.73469437e-01 -5.81102964e-04 -3.57995012e+00] [-2.37142141e-03 3.95301171e-05 9.99997187e-01 -9.20390594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:20.09, Y:-3.58, Z:-0.10 [[ 9.74701399e-01 2.23499209e-01 2.29931619e-03 2.00947459e+01] [-2.23498459e-01 9.74704109e-01 -5.81675914e-04 -3.57881495e+00] [-2.37115704e-03 5.30667034e-05 9.99997187e-01 -9.81115832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:-3.59, Z:-0.09 [[ 9.73404935e-01 2.29079703e-01 2.30690096e-03 2.01288953e+01] [-2.29079038e-01 9.73407669e-01 -5.51834806e-04 -3.59445482e+00] [-2.37196924e-03 8.69606972e-06 9.99997187e-01 -8.99389685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.97 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:20.16, Y:-3.59, Z:-0.10 [[ 9.75160627e-01 2.21486938e-01 2.29956326e-03 2.01561697e+01] [-2.21486184e-01 9.75163337e-01 -5.80636301e-04 -3.59319845e+00] [-2.37105314e-03 5.68921671e-05 9.99997187e-01 -9.88050652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:-3.61, Z:-0.09 [[ 9.73474200e-01 2.28785194e-01 2.30575240e-03 2.01895913e+01] [-2.28784518e-01 9.73476931e-01 -5.56430523e-04 -3.60923941e+00] [-2.37189983e-03 1.41503060e-05 9.99997187e-01 -8.90130402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:20.21, Y:-3.61, Z:-0.10 [[ 9.75228485e-01 2.21187984e-01 2.29743215e-03 2.02145207e+01] [-2.21187210e-01 9.75231189e-01 -5.88890261e-04 -3.60668933e+00] [-2.37078293e-03 6.61399512e-05 9.99997188e-01 -9.82111433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:20.25, Y:-3.62, Z:-0.10 [[ 9.75129422e-01 2.21624163e-01 2.31081744e-03 2.02479478e+01] [-2.21623514e-01 9.75132160e-01 -5.36622841e-04 -3.61554812e+00] [-2.37228099e-03 1.11452418e-05 9.99997186e-01 -9.64262791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:20.28, Y:-3.63, Z:-0.09 [[ 9.73580897e-01 2.28330682e-01 2.30992911e-03 2.02843679e+01] [-2.28330044e-01 9.73583638e-01 -5.40117021e-04 -3.63213335e+00] [-2.37223448e-03 -1.57860149e-06 9.99997186e-01 -9.12186999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:-3.64, Z:-0.09 [[ 9.73181159e-01 2.30028585e-01 2.29817508e-03 2.03160456e+01] [-2.30027842e-01 9.73183872e-01 -5.86198417e-04 -3.63962653e+00] [-2.37138931e-03 4.18330029e-05 9.99997187e-01 -8.84694122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.35, Y:-3.65, Z:-0.09 [[ 9.72863997e-01 2.31366293e-01 2.29801095e-03 2.03470877e+01] [-2.31365552e-01 9.72866711e-01 -5.86841114e-04 -3.64685924e+00] [-2.37143361e-03 3.92360191e-05 9.99997187e-01 -8.88609101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.38, Y:-3.65, Z:-0.09 [[ 9.72381228e-01 2.33386946e-01 2.29785798e-03 2.03780477e+01] [-2.33386209e-01 9.72383943e-01 -5.87439477e-04 -3.65425553e+00] [-2.37150091e-03 3.49267570e-05 9.99997187e-01 -8.83272505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:20.40, Y:-3.65, Z:-0.10 [[ 9.72901540e-01 2.31208378e-01 2.29761975e-03 2.04033030e+01] [-2.31207633e-01 9.72904252e-01 -5.88370452e-04 -3.65233754e+00] [-2.37140020e-03 4.11992950e-05 9.99997187e-01 -9.56271168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:20.44, Y:-3.67, Z:-0.09 [[ 9.70819029e-01 2.39802169e-01 2.30906065e-03 2.04389451e+01] [-2.39801554e-01 9.70821775e-01 -5.43824769e-04 -3.66831795e+00] [-2.37209671e-03 -2.57608972e-05 9.99997186e-01 -9.18126005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:20.47, Y:-3.68, Z:-0.09 [[ 9.70755768e-01 2.40058253e-01 2.29660879e-03 2.04712715e+01] [-2.40057523e-01 9.70758484e-01 -5.92120748e-04 -3.67672881e+00] [-2.37159594e-03 2.34864138e-05 9.99997187e-01 -9.19135022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:-3.68, Z:-0.09 [[ 9.70027721e-01 2.42983429e-01 2.29645250e-03 2.05035407e+01] [-2.42982707e-01 9.70030439e-01 -5.92726257e-04 -3.68445046e+00] [-2.37165149e-03 1.69626551e-05 9.99997187e-01 -9.00831336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-3.69, Z:-0.09 [[ 9.69520216e-01 2.45000565e-01 2.29629188e-03 2.05341257e+01] [-2.44999847e-01 9.69522936e-01 -5.93347873e-04 -3.69176040e+00] [-2.37167821e-03 1.26715981e-05 9.99997187e-01 -9.12621609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:20.57, Y:-3.70, Z:-0.10 [[ 9.68955018e-01 2.47226416e-01 2.29614219e-03 2.05653735e+01] [-2.47225703e-01 9.68957739e-01 -5.93926599e-04 -3.69855470e+00] [-2.37169908e-03 7.82279321e-06 9.99997187e-01 -9.53941351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:20.59, Y:-3.70, Z:-0.10 [[ 9.70114301e-01 2.42637531e-01 2.29600646e-03 2.05914189e+01] [-2.42636803e-01 9.70117018e-01 -5.94450811e-04 -3.69759079e+00] [-2.37163102e-03 1.95895641e-05 9.99997187e-01 -9.98040028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:20.62, Y:-3.70, Z:-0.10 [[ 9.69930585e-01 2.43370775e-01 2.30791841e-03 2.06222934e+01] [-2.43370159e-01 9.69933330e-01 -5.48419541e-04 -3.70497978e+00] [-2.37199628e-03 -2.97495860e-05 9.99997186e-01 -1.00521561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.65, Y:-3.71, Z:-0.10 [[ 9.69803738e-01 2.43875749e-01 2.30829024e-03 2.06536488e+01] [-2.43875138e-01 9.69806485e-01 -5.46982190e-04 -3.71311674e+00] [-2.37199054e-03 -3.24692297e-05 9.99997186e-01 -1.00329397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:20.68, Y:-3.72, Z:-0.10 [[ 9.69258137e-01 2.46035250e-01 2.30626636e-03 2.06838272e+01] [-2.46034626e-01 9.69260881e-01 -5.54764073e-04 -3.72314764e+00] [-2.37186528e-03 -2.97117893e-05 9.99997187e-01 -1.01108651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509999999999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:20.72, Y:-3.74, Z:-0.09 [[ 9.67489433e-01 2.52900923e-01 2.30652842e-03 2.07182482e+01] [-2.52900321e-01 9.67492181e-01 -5.53757524e-04 -3.74032174e+00] [-2.37159400e-03 -4.75672236e-05 9.99997187e-01 -9.47611545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:-3.74, Z:-0.10 [[ 9.69244483e-01 2.46089143e-01 2.29459260e-03 2.07417844e+01] [-2.46088414e-01 9.69247199e-01 -5.99446112e-04 -3.73860955e+00] [-2.37154463e-03 1.63371841e-05 9.99997188e-01 -1.00520478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:-3.76, Z:-0.09 [[ 9.67177612e-01 2.54090803e-01 2.30905352e-03 2.07767847e+01] [-2.54090228e-01 9.67180366e-01 -5.43988691e-04 -3.75983446e+00] [-2.37149375e-03 -6.05742530e-05 9.99997186e-01 -9.37668043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599999999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.80, Y:-3.76, Z:-0.10 [[ 9.68903014e-01 2.47430165e-01 2.29420817e-03 2.08003729e+01] [-2.47429436e-01 9.68905730e-01 -6.00687611e-04 -3.75802755e+00] [-2.37149968e-03 1.43534026e-05 9.99997188e-01 -9.94333645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:-3.78, Z:-0.09 [[ 9.66513803e-01 2.56604246e-01 2.30874194e-03 2.08360476e+01] [-2.56603675e-01 9.66516558e-01 -5.45079239e-04 -3.77730675e+00] [-2.37130696e-03 -6.56050595e-05 9.99997186e-01 -9.29642803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:20.87, Y:-3.79, Z:-0.09 [[ 9.65693406e-01 2.59674767e-01 2.29382912e-03 2.08679332e+01] [-2.59674070e-01 9.65696130e-01 -6.01910716e-04 -3.78669513e+00] [-2.37144293e-03 -1.43867340e-05 9.99997188e-01 -9.21267241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:20.89, Y:-3.78, Z:-0.10 [[ 9.66976081e-01 2.54856819e-01 2.29366052e-03 2.08921904e+01] [-2.54856107e-01 9.66978801e-01 -6.02552510e-04 -3.78452327e+00] [-2.37148571e-03 -1.89952491e-06 9.99997188e-01 -9.67538523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:20.93, Y:-3.80, Z:-0.09 [[ 9.64115123e-01 2.65474479e-01 2.30876107e-03 2.09284426e+01] [-2.65473934e-01 9.64117884e-01 -5.44993443e-04 -3.80371441e+00] [-2.37059969e-03 -8.74794634e-05 9.99997186e-01 -9.00107915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:20.95, Y:-3.80, Z:-0.10 [[ 9.65415956e-01 2.60704378e-01 2.29314169e-03 2.09522048e+01] [-2.60703678e-01 9.65418680e-01 -6.04267627e-04 -3.80091417e+00] [-2.37137703e-03 -1.44608622e-05 9.99997188e-01 -9.61262716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:20.99, Y:-3.82, Z:-0.09 [[ 9.62379518e-01 2.71698979e-01 2.30842850e-03 2.09891705e+01] [-2.71698449e-01 9.62382281e-01 -5.46175002e-04 -3.82021217e+00] [-2.36998587e-03 -1.01568806e-04 9.99997186e-01 -8.96249468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:21.02, Y:-3.83, Z:-0.09 [[ 9.61083289e-01 2.76249264e-01 2.29263650e-03 2.10193924e+01] [-2.76248605e-01 9.61086022e-01 -6.05926958e-04 -3.82868227e+00] [-2.37080777e-03 -5.09913598e-05 9.99997188e-01 -9.13627773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:21.05, Y:-3.84, Z:-0.09 [[ 9.60422363e-01 2.78538380e-01 2.29249822e-03 2.10506692e+01] [-2.78537726e-01 9.60425097e-01 -6.06449695e-04 -3.83734670e+00] [-2.37069234e-03 -5.60993906e-05 9.99997188e-01 -9.06112614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869999999999997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:21.08, Y:-3.84, Z:-0.10 [[ 9.62150111e-01 2.72510384e-01 2.29232482e-03 2.10753518e+01] [-2.72509711e-01 9.62152841e-01 -6.07104396e-04 -3.83573184e+00] [-2.37100909e-03 -4.05552115e-05 9.99997188e-01 -9.82024380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.9 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:21.11, Y:-3.85, Z:-0.09 [[ 9.60312967e-01 2.78915204e-01 2.30526612e-03 2.11101763e+01] [-2.78914666e-01 9.60315728e-01 -5.58159831e-04 -3.85343366e+00] [-2.36946258e-03 -1.06964407e-04 9.99997187e-01 -9.37558602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:21.14, Y:-3.86, Z:-0.10 [[ 9.60692219e-01 2.77606210e-01 2.29196310e-03 2.11407913e+01] [-2.77605548e-01 9.60694951e-01 -6.08284479e-04 -3.86238991e+00] [-2.37074093e-03 -5.18875070e-05 9.99997188e-01 -9.50369765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:21.17, Y:-3.87, Z:-0.09 [[ 9.60930074e-01 2.76781757e-01 2.29181160e-03 2.11718928e+01] [-2.76781092e-01 9.60932805e-01 -6.08854745e-04 -3.87164151e+00] [-2.37079684e-03 -4.92632823e-05 9.99997188e-01 -9.47075947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:21.20, Y:-3.88, Z:-0.10 [[ 9.61269178e-01 2.75601734e-01 2.29163323e-03 2.12023013e+01] [-2.75601063e-01 9.61271909e-01 -6.09525376e-04 -3.88116980e+00] [-2.37086890e-03 -4.56585964e-05 9.99997188e-01 -9.55340826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:21.23, Y:-3.89, Z:-0.09 [[ 9.62411950e-01 2.71584219e-01 2.29146684e-03 2.12314251e+01] [-2.71583536e-01 9.62414677e-01 -6.10150253e-04 -3.89148900e+00] [-2.37104850e-03 -3.51087727e-05 9.99997188e-01 -9.45394354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:-3.89, Z:-0.10 [[ 9.64165019e-01 2.65293359e-01 2.29132554e-03 2.12587668e+01] [-2.65292657e-01 9.64167741e-01 -6.10680427e-04 -3.89355347e+00] [-2.37123163e-03 -1.90751347e-05 9.99997188e-01 -9.69834035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:-3.90, Z:-0.10 [[ 9.64746185e-01 2.63172018e-01 2.29955220e-03 2.12887862e+01] [-2.63171383e-01 9.64748924e-01 -5.79854261e-04 -3.90243638e+00] [-2.37109192e-03 -4.57641454e-05 9.99997188e-01 -9.58969387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.32, Y:-3.91, Z:-0.10 [[ 9.65381374e-01 2.60832338e-01 2.30069924e-03 2.13192330e+01] [-2.60831707e-01 9.65384115e-01 -5.75564207e-04 -3.91118674e+00] [-2.37118426e-03 -4.44563445e-05 9.99997188e-01 -9.53877209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.35, Y:-3.93, Z:-0.09 [[ 9.65024539e-01 2.62149467e-01 2.30128951e-03 2.13532123e+01] [-2.62148845e-01 9.65027282e-01 -5.73358998e-04 -3.92990962e+00] [-2.37111291e-03 -4.99748834e-05 9.99997188e-01 -8.95819753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:-3.93, Z:-0.09 [[ 9.67346045e-01 2.53448979e-01 2.29015529e-03 2.13775175e+01] [-2.53448234e-01 9.67348755e-01 -6.14832246e-04 -3.92834800e+00] [-2.37120747e-03 1.43197272e-05 9.99997189e-01 -9.36748016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:-3.95, Z:-0.09 [[ 9.65774286e-01 2.59373705e-01 2.30413414e-03 2.14124173e+01] [-2.59373100e-01 9.65777033e-01 -5.62654748e-04 -3.94714953e+00] [-2.37121768e-03 -5.42329271e-05 9.99997187e-01 -8.81175511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:-3.95, Z:-0.09 [[ 9.67712492e-01 2.52046206e-01 2.28984467e-03 2.14378669e+01] [-2.52045454e-01 9.67715201e-01 -6.15790764e-04 -3.94719256e+00] [-2.37112522e-03 1.87634745e-05 9.99997189e-01 -9.44262242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:-3.95, Z:-0.10 [[ 9.68407122e-01 2.49363902e-01 2.30026228e-03 2.14673893e+01] [-2.49363235e-01 9.68409853e-01 -5.77049106e-04 -3.95146007e+00] [-2.37149188e-03 -1.47823803e-05 9.99997188e-01 -9.71596772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.50, Y:-3.96, Z:-0.10 [[ 9.68599351e-01 2.48616147e-01 2.30408471e-03 2.14974567e+01] [-2.48615512e-01 9.68602091e-01 -5.62846852e-04 -3.95875336e+00] [-2.37167408e-03 -2.76581029e-05 9.99997187e-01 -1.00434273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:21.53, Y:-3.98, Z:-0.09 [[ 9.66703907e-01 2.55887178e-01 2.30383186e-03 2.15333602e+01] [-2.55886561e-01 9.66706652e-01 -5.63785996e-04 -3.97627241e+00] [-2.37139519e-03 -4.45054849e-05 9.99997187e-01 -9.44331497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:-3.97, Z:-0.10 [[ 9.68734904e-01 2.48087576e-01 2.28904193e-03 2.15569044e+01] [-2.48086807e-01 9.68737608e-01 -6.18521020e-04 -3.97144507e+00] [-2.37092839e-03 3.13017984e-05 9.99997189e-01 -1.01772673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.59, Y:-3.99, Z:-0.10 [[ 9.66800149e-01 2.55523305e-01 2.30467467e-03 2.15928571e+01] [-2.55522695e-01 9.66802895e-01 -5.60543067e-04 -3.99140150e+00] [-2.37139796e-03 -4.69635590e-05 9.99997187e-01 -9.61419835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-4.00, Z:-0.09 [[ 9.66580123e-01 2.56354497e-01 2.28871017e-03 2.16249800e+01] [-2.56353748e-01 9.66582832e-01 -6.19521077e-04 -3.99908826e+00] [-2.37104497e-03 1.20973287e-05 9.99997189e-01 -9.38429831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-4.00, Z:-0.10 [[ 9.68639658e-01 2.48459202e-01 2.28853442e-03 2.16491155e+01] [-2.48458430e-01 9.68642361e-01 -6.20169626e-04 -3.99543263e+00] [-2.37085823e-03 3.21152267e-05 9.99997189e-01 -1.02473669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:21.69, Y:-4.01, Z:-0.10 [[ 9.66494635e-01 2.56676476e-01 2.30367523e-03 2.16855211e+01] [-2.56675861e-01 9.66497379e-01 -5.64177140e-04 -4.01404809e+00] [-2.37130708e-03 -4.60236440e-05 9.99997187e-01 -9.61214660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-4.01, Z:-0.10 [[ 9.68001071e-01 2.50935629e-01 2.28819923e-03 2.17101134e+01] [-2.50934862e-01 9.68003776e-01 -6.21184643e-04 -4.01088196e+00] [-2.37086286e-03 2.71184425e-05 9.99997189e-01 -1.01496573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529999999999998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:21.75, Y:-4.03, Z:-0.10 [[ 9.65765678e-01 2.59405778e-01 2.30183193e-03 2.17454264e+01] [-2.59405154e-01 9.65768420e-01 -5.70855906e-04 -4.02787143e+00] [-2.37111990e-03 -4.57940243e-05 9.99997188e-01 -9.66428525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:21.78, Y:-4.04, Z:-0.09 [[ 9.65348876e-01 2.60952703e-01 2.28790423e-03 2.17767570e+01] [-2.60951961e-01 9.65351587e-01 -6.22079659e-04 -4.03616912e+00] [-2.37096535e-03 3.49080408e-06 9.99997189e-01 -9.39539829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:21.80, Y:-4.04, Z:-0.10 [[ 9.67035522e-01 2.54631235e-01 2.28774424e-03 2.18030043e+01] [-2.54630474e-01 9.67038228e-01 -6.22667456e-04 -4.03599797e+00] [-2.37088672e-03 1.96121458e-05 9.99997189e-01 -1.01733217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:-4.04, Z:-0.10 [[ 9.66580809e-01 2.56351816e-01 2.29929270e-03 2.18340330e+01] [-2.56351161e-01 9.66583543e-01 -5.80213696e-04 -4.04478101e+00] [-2.37119732e-03 -2.86029298e-05 9.99997188e-01 -9.78227058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:21.87, Y:-4.05, Z:-0.10 [[ 9.66549214e-01 2.56470911e-01 2.29982820e-03 2.18652752e+01] [-2.56470261e-01 9.66551950e-01 -5.78248032e-04 -4.05355316e+00] [-2.37120723e-03 -3.09323557e-05 9.99997188e-01 -9.92146332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:-4.06, Z:-0.10 [[ 9.66054107e-01 2.58329590e-01 2.29906956e-03 2.18968149e+01] [-2.58328938e-01 9.66056842e-01 -5.81027566e-04 -4.06250939e+00] [-2.37112849e-03 -3.26121320e-05 9.99997188e-01 -9.68453152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:21.93, Y:-4.08, Z:-0.09 [[ 9.64450320e-01 2.64254228e-01 2.29830443e-03 2.19309244e+01] [-2.64253587e-01 9.64453058e-01 -5.83827111e-04 -4.07876918e+00] [-2.37088551e-03 -4.42629441e-05 9.99997188e-01 -9.24583658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:-4.09, Z:-0.09 [[ 9.63603808e-01 2.67324659e-01 2.28655455e-03 2.19624552e+01] [-2.67323925e-01 9.63606521e-01 -6.26697456e-04 -4.08712256e+00] [-2.37087056e-03 -7.36268226e-06 9.99997189e-01 -8.90698061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:21.99, Y:-4.09, Z:-0.10 [[ 9.65042470e-01 2.62083583e-01 2.28637773e-03 2.19882946e+01] [-2.62082832e-01 9.65045178e-01 -6.27341905e-04 -4.08725552e+00] [-2.37087381e-03 6.19123144e-06 9.99997189e-01 -9.60893475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:-4.10, Z:-0.09 [[ 9.64254514e-01 2.64967837e-01 2.29711314e-03 2.20196437e+01] [-2.64967187e-01 9.64257250e-01 -5.88186093e-04 -4.09679319e+00] [-2.37085840e-03 -4.14985119e-05 9.99997189e-01 -9.47065336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:-4.11, Z:-0.09 [[ 9.62335185e-01 2.71856071e-01 2.29545557e-03 2.20530616e+01] [-2.71855426e-01 9.62337921e-01 -5.94222586e-04 -4.11179596e+00] [-2.37054696e-03 -5.21907505e-05 9.99997189e-01 -8.98158936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:-4.11, Z:-0.10 [[ 9.62862102e-01 2.69983976e-01 2.28581313e-03 2.20816083e+01] [-2.69983243e-01 9.62864815e-01 -6.29249719e-04 -4.11407041e+00] [-2.37081638e-03 -1.12505348e-05 9.99997190e-01 -9.65336116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:22.11, Y:-4.12, Z:-0.10 [[ 9.62507285e-01 2.71246149e-01 2.29204603e-03 2.21117247e+01] [-2.71245473e-01 9.62510013e-01 -6.06670140e-04 -4.12293081e+00] [-2.37067419e-03 -3.77826796e-05 9.99997189e-01 -9.80383287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:22.14, Y:-4.14, Z:-0.09 [[ 9.61063968e-01 2.76316473e-01 2.29264151e-03 2.21447859e+01] [-2.76315817e-01 9.61066701e-01 -6.04514840e-04 -4.13688671e+00] [-2.37041882e-03 -5.25156810e-05 9.99997189e-01 -9.42501204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:22.18, Y:-4.15, Z:-0.09 [[ 9.60887595e-01 2.76929248e-01 2.28489711e-03 2.21751509e+01] [-2.76928527e-01 9.60890312e-01 -6.32491749e-04 -4.14572166e+00] [-2.37069096e-03 -2.49997136e-05 9.99997190e-01 -9.49008588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:22.21, Y:-4.16, Z:-0.09 [[ 9.60792209e-01 2.77260006e-01 2.28473558e-03 2.22066627e+01] [-2.77259285e-01 9.60794925e-01 -6.33074692e-04 -4.15613724e+00] [-2.37068864e-03 -2.52109206e-05 9.99997190e-01 -9.31597229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:22.23, Y:-4.16, Z:-0.10 [[ 9.61457284e-01 2.74944858e-01 2.28392777e-03 2.22333840e+01] [-2.74944123e-01 9.61459997e-01 -6.35987975e-04 -4.16135552e+00] [-2.37076680e-03 -1.64772449e-05 9.99997190e-01 -9.78797087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:22.27, Y:-4.18, Z:-0.09 [[ 9.60049441e-01 2.79821043e-01 2.29213163e-03 2.22663259e+01] [-2.79820392e-01 9.60052176e-01 -6.06601662e-04 -4.17663168e+00] [-2.37030587e-03 -5.90175846e-05 9.99997189e-01 -9.46980079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:22.30, Y:-4.19, Z:-0.09 [[ 9.60006976e-01 2.79966772e-01 2.28304509e-03 2.22979197e+01] [-2.79966044e-01 9.60009690e-01 -6.39063236e-04 -4.18665721e+00] [-2.37066188e-03 -2.56699366e-05 9.99997190e-01 -9.47518700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:22.33, Y:-4.20, Z:-0.09 [[ 9.59871950e-01 2.80429365e-01 2.28286550e-03 2.23298622e+01] [-2.80428637e-01 9.59874664e-01 -6.39704108e-04 -4.19597069e+00] [-2.37065657e-03 -2.61468308e-05 9.99997190e-01 -9.41116856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:22.36, Y:-4.20, Z:-0.10 [[ 9.61108074e-01 2.76163104e-01 2.28268468e-03 2.23569402e+01] [-2.76162362e-01 9.61110784e-01 -6.40348702e-04 -4.19852850e+00] [-2.37075354e-03 -1.49472861e-05 9.99997190e-01 -1.00522020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-4.21, Z:-0.09 [[ 9.59226773e-01 2.82628288e-01 2.29109209e-03 2.23903814e+01] [-2.82627636e-01 9.59229507e-01 -6.10358332e-04 -4.21264406e+00] [-2.37018767e-03 -6.20538895e-05 9.99997189e-01 -9.49121563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-4.22, Z:-0.10 [[ 9.59146992e-01 2.82898989e-01 2.28241216e-03 2.24225125e+01] [-2.82898264e-01 9.59149707e-01 -6.41252838e-04 -4.22173625e+00] [-2.37058473e-03 -3.06347054e-05 9.99997190e-01 -9.50055195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:22.45, Y:-4.23, Z:-0.10 [[ 9.59091526e-01 2.83086975e-01 2.28223105e-03 2.24534195e+01] [-2.83086249e-01 9.59094241e-01 -6.41896754e-04 -4.22956173e+00] [-2.37058727e-03 -3.04304901e-05 9.99997190e-01 -9.92293858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:-4.24, Z:-0.10 [[ 9.58755600e-01 2.84222609e-01 2.28207337e-03 2.24855407e+01] [-2.84221885e-01 9.58758315e-01 -6.42456865e-04 -4.23801344e+00] [-2.37055758e-03 -3.26560764e-05 9.99997190e-01 -9.77600923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:-4.25, Z:-0.10 [[ 9.58712134e-01 2.84369192e-01 2.28189192e-03 2.25162944e+01] [-2.84368467e-01 9.58714849e-01 -6.43100685e-04 -4.24652096e+00] [-2.37056169e-03 -3.23496764e-05 9.99997190e-01 -9.87762107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:-4.26, Z:-0.10 [[ 9.58653136e-01 2.84568019e-01 2.28172307e-03 2.25481728e+01] [-2.84567293e-01 9.58655851e-01 -6.43699192e-04 -4.25595999e+00] [-2.37056338e-03 -3.22195091e-05 9.99997190e-01 -9.90011256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:22.58, Y:-4.27, Z:-0.10 [[ 9.59201705e-01 2.82713432e-01 2.28154013e-03 2.25779485e+01] [-2.82712699e-01 9.59204418e-01 -6.44346957e-04 -4.26658093e+00] [-2.37062892e-03 -2.69616698e-05 9.99997190e-01 -1.01930009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:-4.28, Z:-0.10 [[ 9.59294667e-01 2.82397834e-01 2.28145066e-03 2.26096105e+01] [-2.82397099e-01 9.59297380e-01 -6.44663587e-04 -4.27727029e+00] [-2.37064125e-03 -2.58527086e-05 9.99997190e-01 -9.99037387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:-4.29, Z:-0.10 [[ 9.59608424e-01 2.81329821e-01 2.28127458e-03 2.26403926e+01] [-2.81329082e-01 9.59611136e-01 -6.45286112e-04 -4.28758944e+00] [-2.37067471e-03 -2.25668920e-05 9.99997190e-01 -9.93826413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:-4.29, Z:-0.10 [[ 9.61744033e-01 2.73940160e-01 2.28109599e-03 2.26661962e+01] [-2.73939399e-01 9.61746738e-01 -6.45916807e-04 -4.28995295e+00] [-2.37077918e-03 -3.67542898e-06 9.99997190e-01 -1.03918352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-4.31, Z:-0.10 [[ 9.60310895e-01 2.78922452e-01 2.29149129e-03 2.26999038e+01] [-2.78921792e-01 9.60313627e-01 -6.09147652e-04 -4.30698700e+00] [-2.37045527e-03 -5.41757298e-05 9.99997189e-01 -9.56461950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:-4.32, Z:-0.09 [[ 9.60449794e-01 2.78443875e-01 2.28084736e-03 2.27310089e+01] [-2.78443125e-01 9.60452502e-01 -6.46688430e-04 -4.31545313e+00] [-2.37071199e-03 -1.39744968e-05 9.99997190e-01 -9.41432388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:-4.32, Z:-0.09 [[ 9.60478448e-01 2.78345017e-01 2.28068807e-03 2.27625185e+01] [-2.78344265e-01 9.60481156e-01 -6.47249705e-04 -4.32374870e+00] [-2.37071665e-03 -1.31470529e-05 9.99997190e-01 -9.26215160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:-4.32, Z:-0.10 [[ 9.62322364e-01 2.71901575e-01 2.28050532e-03 2.27886011e+01] [-2.71900804e-01 9.62325066e-01 -6.47892975e-04 -4.32228382e+00] [-2.37075055e-03 3.41067040e-06 9.99997190e-01 -9.72542636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:22.82, Y:-4.33, Z:-0.10 [[ 9.63007531e-01 2.69464735e-01 2.29150281e-03 2.28190124e+01] [-2.69464048e-01 9.63010257e-01 -6.09229499e-04 -4.32849661e+00] [-2.37090658e-03 -3.07850273e-05 9.99997189e-01 -9.88534375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:-4.35, Z:-0.09 [[ 9.61462576e-01 2.74926275e-01 2.29314449e-03 2.28534210e+01] [-2.74925618e-01 9.61465309e-01 -6.03462653e-04 -4.34684519e+00] [-2.37068661e-03 -5.02374073e-05 9.99997189e-01 -9.14388797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.88, Y:-4.36, Z:-0.09 [[ 9.62015458e-01 2.72985460e-01 2.27954369e-03 2.28849045e+01] [-2.72984684e-01 9.62018159e-01 -6.51081310e-04 -4.35603217e+00] [-2.37069816e-03 4.06977078e-06 9.99997190e-01 -9.12278651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:-4.37, Z:-0.09 [[ 9.62747739e-01 2.70391560e-01 2.27935723e-03 2.29163699e+01] [-2.70390774e-01 9.62750437e-01 -6.51733435e-04 -4.36560607e+00] [-2.37067539e-03 1.11377250e-05 9.99997190e-01 -9.18446402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:-4.37, Z:-0.09 [[ 9.64536840e-01 2.63938420e-01 2.27917039e-03 2.29467844e+01] [-2.63937616e-01 9.64539532e-01 -6.52386160e-04 -4.37495703e+00] [-2.37053972e-03 2.76916860e-05 9.99997190e-01 -9.31924906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:22.98, Y:-4.38, Z:-0.10 [[ 9.65666934e-01 2.59773323e-01 2.27899643e-03 2.29780273e+01] [-2.59772505e-01 9.65669622e-01 -6.52993300e-04 -4.38345633e+00] [-2.37038786e-03 3.85534258e-05 9.99997190e-01 -9.65902842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:23.01, Y:-4.39, Z:-0.10 [[ 9.66558653e-01 2.56435523e-01 2.27882453e-03 2.30098141e+01] [-2.56434694e-01 9.66561338e-01 -6.53592649e-04 -4.39237301e+00] [-2.37022806e-03 4.73659587e-05 9.99997190e-01 -9.79601879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:23.04, Y:-4.40, Z:-0.10 [[ 9.67318681e-01 2.53553499e-01 2.27864417e-03 2.30412926e+01] [-2.53552661e-01 9.67321363e-01 -6.54220855e-04 -4.40098112e+00] [-2.37006117e-03 5.50837620e-05 9.99997190e-01 -9.73236449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:23.07, Y:-4.41, Z:-0.10 [[ 9.68542014e-01 2.48839660e-01 2.27845915e-03 2.30730717e+01] [-2.48838808e-01 9.68544691e-01 -6.54864573e-04 -4.40953121e+00] [-2.36974580e-03 6.72947937e-05 9.99997190e-01 -9.69848626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:-4.42, Z:-0.09 [[ 9.68763309e-01 2.47976733e-01 2.27827339e-03 2.31047605e+01] [-2.47975877e-01 9.68765986e-01 -6.55510214e-04 -4.41821345e+00] [-2.36966505e-03 7.00774030e-05 9.99997190e-01 -9.44546582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:23.14, Y:-4.43, Z:-0.10 [[ 9.69249656e-01 2.46068923e-01 2.27808650e-03 2.31364577e+01] [-2.46068060e-01 9.69252330e-01 -6.56159080e-04 -4.42674295e+00] [-2.36950100e-03 7.54176385e-05 9.99997190e-01 -9.73924350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-4.42, Z:-0.10 [[ 9.70817226e-01 2.39809766e-01 2.27789916e-03 2.31620435e+01] [-2.39808884e-01 9.70819895e-01 -6.56808775e-04 -4.42444380e+00] [-2.36893898e-03 9.13808168e-05 9.99997190e-01 -1.01404004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:-4.44, Z:-0.09 [[ 9.68621070e-01 2.48531620e-01 2.29285009e-03 2.31972370e+01] [-2.48530884e-01 9.68623783e-01 -6.04897300e-04 -4.44316821e+00] [-2.37124523e-03 1.60722090e-05 9.99997188e-01 -9.42549356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:-4.45, Z:-0.09 [[ 9.68143378e-01 2.50386126e-01 2.27746987e-03 2.32289560e+01] [-2.50385270e-01 9.68146055e-01 -6.58121506e-04 -4.45155181e+00] [-2.36970796e-03 6.69110709e-05 9.99997190e-01 -9.39399810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:-4.46, Z:-0.09 [[ 9.66924885e-01 2.55051135e-01 2.27728802e-03 2.32613045e+01] [-2.55050291e-01 9.66927565e-01 -6.58750166e-04 -4.45881304e+00] [-2.36998753e-03 5.61389570e-05 9.99997190e-01 -9.33015659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:23.29, Y:-4.47, Z:-0.09 [[ 9.66294859e-01 2.57427777e-01 2.27710389e-03 2.32934277e+01] [-2.57426938e-01 9.66297541e-01 -6.59386011e-04 -4.46643375e+00] [-2.37010417e-03 5.09734296e-05 9.99997190e-01 -9.47920523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-4.47, Z:-0.09 [[ 9.65104169e-01 2.61856370e-01 2.27691625e-03 2.33254747e+01] [-2.61855542e-01 9.65106854e-01 -6.60033340e-04 -4.47444465e+00] [-2.37030141e-03 4.07777908e-05 9.99997190e-01 -9.22799679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:23.36, Y:-4.48, Z:-0.10 [[ 9.64243801e-01 2.65006997e-01 2.27672973e-03 2.33573813e+01] [-2.65006176e-01 9.64246488e-01 -6.60676094e-04 -4.48224106e+00] [-2.37041243e-03 3.37053897e-05 9.99997190e-01 -9.51026967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119999999999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:23.39, Y:-4.49, Z:-0.09 [[ 9.61928842e-01 2.73290541e-01 2.27654268e-03 2.33896818e+01] [-2.73289742e-01 9.61931536e-01 -6.61319980e-04 -4.48860437e+00] [-2.37061070e-03 1.39870011e-05 9.99997190e-01 -9.33675387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:-4.50, Z:-0.09 [[ 9.60683753e-01 2.77635634e-01 2.27635418e-03 2.34211811e+01] [-2.77634845e-01 9.60686450e-01 -6.61968191e-04 -4.49622773e+00] [-2.37064858e-03 3.94684470e-06 9.99997190e-01 -9.25470532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:23.45, Y:-4.50, Z:-0.10 [[ 9.59812249e-01 2.80633686e-01 2.27623666e-03 2.34537019e+01] [-2.80632904e-01 9.59814948e-01 -6.62372065e-04 -4.50388618e+00] [-2.37064988e-03 -3.03408351e-06 9.99997190e-01 -9.66592404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:23.49, Y:-4.51, Z:-0.10 [[ 9.58876482e-01 2.83814573e-01 2.27605014e-03 2.34855682e+01] [-2.83813798e-01 9.58879183e-01 -6.63012353e-04 -4.51188255e+00] [-2.37062967e-03 -1.02274834e-05 9.99997190e-01 -9.69842116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.51, Y:-4.51, Z:-0.10 [[ 9.59717322e-01 2.80958151e-01 2.27586383e-03 2.35098151e+01] [-2.80957367e-01 9.59720020e-01 -6.63651259e-04 -4.50805811e+00] [-2.37065032e-03 -2.50310189e-06 9.99997190e-01 -1.01969175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:23.55, Y:-4.53, Z:-0.10 [[ 9.57140888e-01 2.89613641e-01 2.29345222e-03 2.35465128e+01] [-2.89613026e-01 9.57143631e-01 -6.03231414e-04 -4.52800944e+00] [-2.36986723e-03 -8.68361863e-05 9.99997188e-01 -9.84454369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.3 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:23.58, Y:-4.54, Z:-0.10 [[ 9.56849934e-01 2.90573615e-01 2.27542510e-03 2.35784169e+01] [-2.90572856e-01 9.56852639e-01 -6.64921922e-04 -4.53700139e+00] [-2.37045528e-03 -2.49462720e-05 9.99997190e-01 -9.82814968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:23.61, Y:-4.55, Z:-0.10 [[ 9.56597437e-01 2.91403786e-01 2.27523593e-03 2.36094707e+01] [-2.91403028e-01 9.56600142e-01 -6.65568612e-04 -4.54618924e+00] [-2.37044022e-03 -2.63294083e-05 9.99997190e-01 -9.71024592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.64, Y:-4.56, Z:-0.10 [[ 9.56496258e-01 2.91735725e-01 2.27505969e-03 2.36414111e+01] [-2.91734966e-01 9.56498963e-01 -6.66170478e-04 -4.55594130e+00] [-2.37043796e-03 -2.65248922e-05 9.99997190e-01 -9.53887021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.67, Y:-4.57, Z:-0.10 [[ 9.56826115e-01 2.90652045e-01 2.27487114e-03 2.36725696e+01] [-2.90651281e-01 9.56828819e-01 -6.66813732e-04 -4.56640920e+00] [-2.37047304e-03 -2.31694182e-05 9.99997190e-01 -9.56330667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419999999999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:23.70, Y:-4.58, Z:-0.10 [[ 9.57161462e-01 2.89545784e-01 2.27468173e-03 2.37026279e+01] [-2.89545015e-01 9.57164165e-01 -6.67459229e-04 -4.57574352e+00] [-2.37050385e-03 -1.97565055e-05 9.99997190e-01 -9.72960613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.73, Y:-4.59, Z:-0.10 [[ 9.57249818e-01 2.89253545e-01 2.27450551e-03 2.37334572e+01] [-2.89252774e-01 9.57252520e-01 -6.68059189e-04 -4.58562347e+00] [-2.37051462e-03 -1.84074924e-05 9.99997190e-01 -9.57414936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.76, Y:-4.59, Z:-0.10 [[ 9.59150870e-01 2.82885906e-01 2.27433140e-03 2.37590662e+01] [-2.82885116e-01 9.59153567e-01 -6.68651426e-04 -4.58668635e+00] [-2.37058513e-03 -2.03690321e-06 9.99997190e-01 -9.97811771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509999999999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:23.79, Y:-4.61, Z:-0.10 [[ 9.57852098e-01 2.87252719e-01 2.28756540e-03 2.37933349e+01] [-2.87252048e-01 9.57854828e-01 -6.23596928e-04 -4.60559937e+00] [-2.37028548e-03 -5.97942215e-05 9.99997189e-01 -9.63383238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:-4.61, Z:-0.10 [[ 9.59656266e-01 2.81166642e-01 2.27385831e-03 2.38184077e+01] [-2.81165843e-01 9.59658960e-01 -6.70108771e-04 -4.60521654e+00] [-2.37054073e-03 3.74279188e-06 9.99997190e-01 -1.01035002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:23.85, Y:-4.63, Z:-0.10 [[ 9.57917926e-01 2.87033111e-01 2.28909214e-03 2.38536091e+01] [-2.87032452e-01 9.57920659e-01 -6.18373898e-04 -4.62532898e+00] [-2.37026243e-03 -6.46922886e-05 9.99997189e-01 -9.88835347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.599999999999998 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:23.88, Y:-4.64, Z:-0.10 [[ 9.58141959e-01 2.86284506e-01 2.27329647e-03 2.38843511e+01] [-2.86283718e-01 9.58144656e-01 -6.71822868e-04 -4.63593423e+00] [-2.37047935e-03 -7.10608827e-06 9.99997190e-01 -1.00205753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.92, Y:-4.65, Z:-0.10 [[ 9.58167060e-01 2.86200485e-01 2.27313011e-03 2.39157177e+01] [-2.86199695e-01 9.58169757e-01 -6.72385304e-04 -4.64619025e+00] [-2.37048152e-03 -6.31169326e-06 9.99997190e-01 -9.75810230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:23.95, Y:-4.66, Z:-0.10 [[ 9.58584611e-01 2.84798836e-01 2.27293872e-03 2.39463631e+01] [-2.84798040e-01 9.58587306e-01 -6.73031663e-04 -4.65652460e+00] [-2.37048883e-03 -2.17069712e-06 9.99997190e-01 -1.00201386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:23.97, Y:-4.66, Z:-0.10 [[ 9.60776487e-01 2.77314582e-01 2.27277167e-03 2.39712377e+01] [-2.77313764e-01 9.60779175e-01 -6.73595280e-04 -4.65697489e+00] [-2.37042949e-03 1.69036387e-05 9.99997190e-01 -1.04883531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:-4.67, Z:-0.10 [[ 9.61625566e-01 2.74355680e-01 2.28738925e-03 2.40005280e+01] [-2.74354971e-01 9.61628286e-01 -6.24333617e-04 -4.66865256e+00] [-2.37090768e-03 -2.71814436e-05 9.99997189e-01 -1.02670158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:24.04, Y:-4.69, Z:-0.10 [[ 9.60432524e-01 2.78503372e-01 2.28863140e-03 2.40350919e+01] [-2.78502685e-01 9.60435250e-01 -6.20154043e-04 -4.69016613e+00] [-2.37079726e-03 -4.17738760e-05 9.99997189e-01 -9.87762909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:24.06, Y:-4.69, Z:-0.10 [[ 9.62790141e-01 2.70240604e-01 2.27154642e-03 2.40595247e+01] [-2.70239757e-01 9.62792820e-01 -6.77442082e-04 -4.69160905e+00] [-2.37010094e-03 3.83724039e-05 9.99997191e-01 -1.01825618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:24.09, Y:-4.71, Z:-0.10 [[ 9.62550535e-01 2.71092681e-01 2.28616570e-03 2.40938598e+01] [-2.71091953e-01 9.62553249e-01 -6.28388591e-04 -4.71329974e+00] [-2.37090777e-03 -1.49053520e-05 9.99997189e-01 -9.74673041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:-4.72, Z:-0.09 [[ 9.62981254e-01 2.69558799e-01 2.27095597e-03 2.41237437e+01] [-2.69557947e-01 9.62983931e-01 -6.79240459e-04 -4.72358340e+00] [-2.36998935e-03 4.19416010e-05 9.99997191e-01 -9.31260744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-4.73, Z:-0.09 [[ 9.63529228e-01 2.67593480e-01 2.27080062e-03 2.41546818e+01] [-2.67592621e-01 9.63531902e-01 -6.79759423e-04 -4.73396590e+00] [-2.36988803e-03 4.73185833e-05 9.99997191e-01 -9.24559485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.9 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:24.18, Y:-4.74, Z:-0.09 [[ 9.64158003e-01 2.65319034e-01 2.27060951e-03 2.41848106e+01] [-2.65318167e-01 9.64160675e-01 -6.80397168e-04 -4.74385035e+00] [-2.36975472e-03 5.35764192e-05 9.99997191e-01 -9.47285676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.22, Y:-4.75, Z:-0.09 [[ 9.64695960e-01 2.63356316e-01 2.27043124e-03 2.42155607e+01] [-2.63355442e-01 9.64698630e-01 -6.80991542e-04 -4.75426974e+00] [-2.36962533e-03 5.90193669e-05 9.99997191e-01 -9.23200974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-4.75, Z:-0.10 [[ 9.66605120e-01 2.56260390e-01 2.27023754e-03 2.42406390e+01] [-2.56259496e-01 9.66607783e-01 -6.81636651e-04 -4.75378166e+00] [-2.36910575e-03 7.71035490e-05 9.99997191e-01 -9.74538461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:24.28, Y:-4.77, Z:-0.09 [[ 9.64892694e-01 2.62634473e-01 2.28557418e-03 2.42755931e+01] [-2.62633716e-01 9.64895400e-01 -6.30491527e-04 -4.77263634e+00] [-2.37092882e-03 8.08782887e-06 9.99997189e-01 -9.44098990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:-4.77, Z:-0.10 [[ 9.66292003e-01 2.57438561e-01 2.26978323e-03 2.43009921e+01] [-2.57437667e-01 9.66294666e-01 -6.82971088e-04 -4.77227188e+00] [-2.36910253e-03 7.56218017e-05 9.99997191e-01 -9.80942062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:-4.78, Z:-0.10 [[ 9.65837201e-01 2.59139517e-01 2.28308470e-03 2.43314019e+01] [-2.59138731e-01 9.65839899e-01 -6.38869354e-04 -4.78048750e+00] [-2.37065059e-03 2.54081181e-05 9.99997190e-01 -9.71079368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:-4.79, Z:-0.10 [[ 9.65679735e-01 2.59725689e-01 2.28383329e-03 2.43621960e+01] [-2.59724911e-01 9.65682435e-01 -6.36392717e-04 -4.79006279e+00] [-2.37074523e-03 2.13831532e-05 9.99997190e-01 -9.71832253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:-4.81, Z:-0.09 [[ 9.63459103e-01 2.67845742e-01 2.28370541e-03 2.43971117e+01] [-2.67844985e-01 9.63461810e-01 -6.36815275e-04 -4.80867870e+00] [-2.37083121e-03 1.86643390e-06 9.99997190e-01 -9.26938240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:24.43, Y:-4.82, Z:-0.10 [[ 9.63315033e-01 2.68363566e-01 2.26796907e-03 2.44291267e+01] [-2.68362688e-01 9.63317701e-01 -6.88641295e-04 -4.81787329e+00] [-2.36958098e-03 5.47402370e-05 9.99997191e-01 -9.60290950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169999999999998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:24.46, Y:-4.83, Z:-0.10 [[ 9.62922558e-01 2.69768427e-01 2.26777526e-03 2.44606996e+01] [-2.69767551e-01 9.62925227e-01 -6.89278942e-04 -4.82701780e+00] [-2.36964370e-03 5.19500637e-05 9.99997191e-01 -9.68507106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.2 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:24.49, Y:-4.84, Z:-0.09 [[ 9.61875201e-01 2.73479351e-01 2.26758170e-03 2.44915744e+01] [-2.73478484e-01 9.61877873e-01 -6.89915139e-04 -4.83544933e+00] [-2.36981420e-03 4.34774591e-05 9.99997191e-01 -9.44346647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:24.52, Y:-4.84, Z:-0.10 [[ 9.61589019e-01 2.74483912e-01 2.26740125e-03 2.45229302e+01] [-2.74483047e-01 9.61591691e-01 -6.90507653e-04 -4.84424297e+00] [-2.36984745e-03 4.16213726e-05 9.99997191e-01 -9.81485071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:24.55, Y:-4.85, Z:-0.10 [[ 9.61106237e-01 2.76169625e-01 2.26720777e-03 2.45547489e+01] [-2.76168763e-01 9.61108910e-01 -6.91142341e-04 -4.85342906e+00] [-2.36990611e-03 3.81292480e-05 9.99997191e-01 -9.73179146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:24.59, Y:-4.86, Z:-0.10 [[ 9.60725973e-01 2.77489576e-01 2.26701409e-03 2.45854914e+01] [-2.77488716e-01 9.60728647e-01 -6.91777061e-04 -4.86249578e+00] [-2.36994630e-03 3.55373619e-05 9.99997191e-01 -9.73255979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:24.62, Y:-4.87, Z:-0.10 [[ 9.60337045e-01 2.78832605e-01 2.26689404e-03 2.46159851e+01] [-2.78831748e-01 9.60339720e-01 -6.92170218e-04 -4.87190459e+00] [-2.36998802e-03 3.26346719e-05 9.99997191e-01 -9.78146928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:24.65, Y:-4.88, Z:-0.10 [[ 9.60105207e-01 2.79629853e-01 2.26671648e-03 2.46475741e+01] [-2.79628996e-01 9.60107882e-01 -6.92751224e-04 -4.88178246e+00] [-2.37000628e-03 3.12744037e-05 9.99997191e-01 -9.84636573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:-4.89, Z:-0.10 [[ 9.59679888e-01 2.81086065e-01 2.26651881e-03 2.46780515e+01] [-2.81085211e-01 9.59682564e-01 -6.93397351e-04 -4.89155212e+00] [-2.37004291e-03 2.83545748e-05 9.99997191e-01 -9.51099429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:24.71, Y:-4.90, Z:-0.10 [[ 9.59803368e-01 2.80664137e-01 2.26639604e-03 2.47094450e+01] [-2.80663281e-01 9.59806044e-01 -6.93798392e-04 -4.90088515e+00] [-2.37002494e-03 2.98158856e-05 9.99997191e-01 -9.69523394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:-4.91, Z:-0.10 [[ 9.59607491e-01 2.81333124e-01 2.26620047e-03 2.47410044e+01] [-2.81332268e-01 9.59610167e-01 -6.94436610e-04 -4.91057130e+00] [-2.37003703e-03 2.88312547e-05 9.99997191e-01 -9.50622858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:-4.91, Z:-0.10 [[ 9.61177838e-01 2.75920330e-01 2.26600429e-03 2.47674639e+01] [-2.75919458e-01 9.61180508e-01 -6.95076177e-04 -4.91198997e+00] [-2.36982480e-03 4.28571433e-05 9.99997191e-01 -9.98018324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.80, Y:-4.92, Z:-0.10 [[ 9.61264091e-01 2.75619603e-01 2.27647277e-03 2.47974525e+01] [-2.75618810e-01 9.61266786e-01 -6.60930611e-04 -4.92140138e+00] [-2.37046309e-03 7.89014695e-06 9.99997190e-01 -1.00548520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.83, Y:-4.93, Z:-0.10 [[ 9.61224392e-01 2.75758026e-01 2.27601277e-03 2.48274063e+01] [-2.75757230e-01 9.61227086e-01 -6.62425485e-04 -4.93125280e+00] [-2.37043427e-03 9.11255478e-06 9.99997190e-01 -1.00411400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:-4.94, Z:-0.10 [[ 9.61282074e-01 2.75556879e-01 2.27624228e-03 2.48580796e+01] [-2.75556085e-01 9.61284769e-01 -6.61680209e-04 -4.94120931e+00] [-2.37044757e-03 8.82891364e-06 9.99997190e-01 -1.00654198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:24.89, Y:-4.96, Z:-0.10 [[ 9.60171559e-01 2.79401858e-01 2.27593142e-03 2.48913658e+01] [-2.79401072e-01 9.60174256e-01 -6.62690044e-04 -4.95829249e+00] [-2.37044759e-03 3.98454007e-07 9.99997190e-01 -9.83800904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.619999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:-4.97, Z:-0.10 [[ 9.59822959e-01 2.80597145e-01 2.26475913e-03 2.49217706e+01] [-2.80596277e-01 9.59825630e-01 -6.98893764e-04 -4.96807482e+00] [-2.36988146e-03 3.53312999e-05 9.99997191e-01 -9.61941799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:-4.98, Z:-0.10 [[ 9.59549468e-01 2.81530976e-01 2.26457937e-03 2.49536070e+01] [-2.81530110e-01 9.59552139e-01 -6.99475742e-04 -4.97763661e+00] [-2.36990607e-03 3.36342976e-05 9.99997191e-01 -9.59511033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:24.98, Y:-4.99, Z:-0.10 [[ 9.59389965e-01 2.82074047e-01 2.26438912e-03 2.49846125e+01] [-2.82073180e-01 9.59392636e-01 -7.00091107e-04 -4.98650987e+00] [-2.36991578e-03 3.29369437e-05 9.99997191e-01 -9.91710019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709999999999997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:25.02, Y:-5.00, Z:-0.10 [[ 9.58926030e-01 2.83647214e-01 2.26422348e-03 2.50159240e+01] [-2.83646350e-01 9.58928703e-01 -7.00626405e-04 -4.99537562e+00] [-2.36995961e-03 2.96101720e-05 9.99997191e-01 -9.99569760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.05, Y:-5.00, Z:-0.10 [[ 9.58114826e-01 2.86375372e-01 2.26403146e-03 2.50459063e+01] [-2.86374515e-01 9.58117501e-01 -7.01246353e-04 -5.00301742e+00] [-2.37002785e-03 2.35136176e-05 9.99997191e-01 -1.00408184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:25.08, Y:-5.01, Z:-0.10 [[ 9.57723853e-01 2.87680197e-01 2.26393737e-03 2.50775219e+01] [-2.87679342e-01 9.57726529e-01 -7.01549978e-04 -5.01285492e+00] [-2.37005492e-03 2.06031339e-05 9.99997191e-01 -9.96654940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-5.02, Z:-0.10 [[ 9.57059976e-01 2.89881144e-01 2.26373791e-03 2.51075731e+01] [-2.89880294e-01 9.57062653e-01 -7.02193007e-04 -5.02264155e+00] [-2.37009152e-03 1.58278131e-05 9.99997191e-01 -9.68229335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:25.14, Y:-5.03, Z:-0.10 [[ 9.56702907e-01 2.91057425e-01 2.26355207e-03 2.51386987e+01] [-2.91056577e-01 9.56705584e-01 -7.02791546e-04 -5.03201376e+00] [-2.37010561e-03 1.35409959e-05 9.99997191e-01 -1.00241923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:25.17, Y:-5.04, Z:-0.10 [[ 9.56511428e-01 2.91686073e-01 2.26337906e-03 2.51685390e+01] [-2.91685225e-01 9.56514106e-01 -7.03348313e-04 -5.04102620e+00] [-2.37011090e-03 1.25664689e-05 9.99997191e-01 -1.02357208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-5.05, Z:-0.10 [[ 9.56106776e-01 2.93009746e-01 2.26321963e-03 2.51995526e+01] [-2.93008901e-01 9.56109454e-01 -7.03860939e-04 -5.05097810e+00] [-2.37012380e-03 9.82271646e-06 9.99997191e-01 -9.78964051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:25.22, Y:-5.05, Z:-0.11 [[ 9.58254673e-01 2.85907085e-01 2.26302154e-03 2.52248259e+01] [-2.85906218e-01 9.58257344e-01 -7.04497249e-04 -5.05132927e+00] [-2.36997777e-03 2.80758501e-05 9.99997191e-01 -1.06454106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:25.26, Y:-5.07, Z:-0.10 [[ 9.56371946e-01 2.92142970e-01 2.27715663e-03 2.52587635e+01] [-2.92142229e-01 9.56374657e-01 -6.59055117e-04 -5.07084496e+00] [-2.37035321e-03 -3.49517891e-05 9.99997190e-01 -9.71962759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:25.29, Y:-5.08, Z:-0.10 [[ 9.56512572e-01 2.91682329e-01 2.26249203e-03 2.52899577e+01] [-2.91681475e-01 9.56515247e-01 -7.06047102e-04 -5.08077633e+00] [-2.37004959e-03 1.54159166e-05 9.99997191e-01 -9.68980953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:-5.09, Z:-0.09 [[ 9.56328417e-01 2.92285547e-01 2.26229075e-03 2.53199852e+01] [-2.92284693e-01 9.56331093e-01 -7.06691469e-04 -5.09098317e+00] [-2.37005468e-03 1.45961786e-05 9.99997191e-01 -9.41305134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.35, Y:-5.10, Z:-0.10 [[ 9.56703319e-01 2.91056080e-01 2.26210338e-03 2.53505979e+01] [-2.91055221e-01 9.56705993e-01 -7.07290714e-04 -5.10115545e+00] [-2.37002912e-03 1.82703738e-05 9.99997191e-01 -9.67751205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:25.38, Y:-5.11, Z:-0.09 [[ 9.56645044e-01 2.91247564e-01 2.26191831e-03 2.53821727e+01] [-2.91246705e-01 9.56647718e-01 -7.07882071e-04 -5.11179421e+00] [-2.37002792e-03 1.84156207e-05 9.99997191e-01 -9.47518660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:25.41, Y:-5.12, Z:-0.09 [[ 9.56465148e-01 2.91837808e-01 2.26171926e-03 2.54119622e+01] [-2.91836948e-01 9.56467822e-01 -7.08517474e-04 -5.12178172e+00] [-2.37003388e-03 1.76190238e-05 9.99997191e-01 -9.45288191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.44, Y:-5.13, Z:-0.10 [[ 9.56132958e-01 2.92924310e-01 2.26153391e-03 2.54434158e+01] [-2.92923452e-01 9.56135633e-01 -7.09108593e-04 -5.13162359e+00] [-2.37004831e-03 1.55457745e-05 9.99997191e-01 -9.55396752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.47, Y:-5.13, Z:-0.10 [[ 9.57315279e-01 2.89036923e-01 2.26133258e-03 2.54711508e+01] [-2.89036052e-01 9.57317950e-01 -7.09750069e-04 -5.13456374e+00] [-2.36995824e-03 2.58479441e-05 9.99997191e-01 -1.01053081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.50, Y:-5.15, Z:-0.10 [[ 9.55217510e-01 2.95895840e-01 2.27167939e-03 2.55039949e+01] [-2.95895067e-01 9.55220211e-01 -6.76755812e-04 -5.15085858e+00] [-2.37020330e-03 -2.57297240e-05 9.99997191e-01 -9.63733250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:25.53, Y:-5.16, Z:-0.10 [[ 9.54339319e-01 2.98716174e-01 2.26101550e-03 2.55345925e+01] [-2.98715328e-01 9.54341997e-01 -7.10682658e-04 -5.16061205e+00] [-2.37007446e-03 2.83241492e-06 9.99997191e-01 -9.87049802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.56, Y:-5.17, Z:-0.10 [[ 9.53583666e-01 3.01119711e-01 2.26082653e-03 2.55648502e+01] [-3.01118870e-01 9.53586346e-01 -7.11283327e-04 -5.17047902e+00] [-2.37007474e-03 -2.50936675e-06 9.99997191e-01 -9.68500500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:25.60, Y:-5.18, Z:-0.10 [[ 9.53338742e-01 3.01894241e-01 2.26064218e-03 2.55959574e+01] [-3.01893402e-01 9.53341422e-01 -7.11868757e-04 -5.18032815e+00] [-2.37007291e-03 -3.82089183e-06 9.99997191e-01 -9.91433637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.63, Y:-5.19, Z:-0.10 [[ 9.52903029e-01 3.03266725e-01 2.26057996e-03 2.56275762e+01] [-3.03265889e-01 9.52905711e-01 -7.12066284e-04 -5.19026986e+00] [-2.37006556e-03 -7.02667122e-06 9.99997191e-01 -1.00609283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:-5.20, Z:-0.10 [[ 9.52164138e-01 3.05578706e-01 2.26038027e-03 2.56586847e+01] [-3.05577875e-01 9.52166821e-01 -7.12699612e-04 -5.20011070e+00] [-2.37004492e-03 -1.21151876e-05 9.99997191e-01 -9.83292309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369999999999997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:25.69, Y:-5.21, Z:-0.10 [[ 9.52222237e-01 3.05397615e-01 2.26017960e-03 2.56900685e+01] [-3.05396782e-01 9.52224919e-01 -7.13335436e-04 -5.21047308e+00] [-2.37005027e-03 -1.09977106e-05 9.99997191e-01 -1.03615396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.4 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.72, Y:-5.22, Z:-0.10 [[ 9.51916995e-01 3.06347724e-01 2.25997923e-03 2.57208927e+01] [-3.06346892e-01 9.51919677e-01 -7.13969656e-04 -5.22063044e+00] [-2.37004168e-03 -1.26977663e-05 9.99997191e-01 -1.00741778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:-5.22, Z:-0.10 [[ 9.53298381e-01 3.02021672e-01 2.25977955e-03 2.57483343e+01] [-3.02020826e-01 9.53301059e-01 -7.14601126e-04 -5.22383274e+00] [-2.37007526e-03 -1.27238917e-06 9.99997191e-01 -1.04380725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459999999999997 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.78, Y:-5.24, Z:-0.10 [[ 9.51914630e-01 3.06354999e-01 2.26995704e-03 2.57812593e+01] [-3.06354242e-01 9.51917335e-01 -6.82400830e-04 -5.24098661e+00] [-2.36986837e-03 -4.58236365e-05 9.99997191e-01 -1.02159288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:25.81, Y:-5.25, Z:-0.10 [[ 9.52163224e-01 3.05581562e-01 2.25939498e-03 2.58122344e+01] [-3.05580723e-01 9.52165904e-01 -7.15742264e-04 -5.25194289e+00] [-2.37003650e-03 -8.92409205e-06 9.99997191e-01 -1.02050065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:25.84, Y:-5.26, Z:-0.10 [[ 9.52406277e-01 3.04823193e-01 2.25919291e-03 2.58438533e+01] [-3.04822351e-01 9.52408957e-01 -7.16379522e-04 -5.26258614e+00] [-2.37004466e-03 -6.36814001e-06 9.99997191e-01 -1.01752148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:25.87, Y:-5.27, Z:-0.10 [[ 9.52760433e-01 3.03714429e-01 2.25899098e-03 2.58739803e+01] [-3.03713583e-01 9.52763111e-01 -7.17015710e-04 -5.27251715e+00] [-2.37005129e-03 -2.94204719e-06 9.99997191e-01 -1.00580629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:25.90, Y:-5.28, Z:-0.10 [[ 9.53257104e-01 3.02151935e-01 2.25886573e-03 2.59048145e+01] [-3.02151083e-01 9.53259780e-01 -7.17410086e-04 -5.28311527e+00] [-2.37005269e-03 1.35753434e-06 9.99997191e-01 -1.00831222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:25.93, Y:-5.29, Z:-0.10 [[ 9.54592599e-01 2.97905805e-01 2.25866131e-03 2.59342394e+01] [-2.97904940e-01 9.54595271e-01 -7.18053098e-04 -5.29493735e+00] [-2.37001959e-03 1.25818129e-05 9.99997191e-01 -9.99885434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.96, Y:-5.31, Z:-0.10 [[ 9.55219949e-01 2.95888068e-01 2.25853418e-03 2.59640637e+01] [-2.95887196e-01 9.55222619e-01 -7.18452748e-04 -5.30541504e+00] [-2.36998453e-03 1.80090527e-05 9.99997191e-01 -9.84079708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.00, Y:-5.32, Z:-0.10 [[ 9.55825006e-01 2.93927641e-01 2.25834569e-03 2.59950815e+01] [-2.93926763e-01 9.55827673e-01 -7.19044747e-04 -5.31646300e+00] [-2.36993643e-03 2.34927128e-05 9.99997191e-01 -9.84004410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.7 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:26.02, Y:-5.33, Z:-0.10 [[ 9.56544536e-01 2.91577521e-01 2.25814169e-03 2.60241832e+01] [-2.91576635e-01 9.56547201e-01 -7.19684842e-04 -5.32721524e+00] [-2.36986303e-03 2.99892503e-05 9.99997191e-01 -1.00201984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:-5.33, Z:-0.10 [[ 9.59835862e-01 2.80553060e-01 2.25804189e-03 2.60478638e+01] [-2.80552142e-01 9.59838516e-01 -7.19997808e-04 -5.32828667e+00] [-2.36935317e-03 5.75812261e-05 9.99997191e-01 -1.02268804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759999999999998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:26.08, Y:-5.35, Z:-0.10 [[ 9.58315652e-01 2.85702532e-01 2.27464617e-03 2.60817972e+01] [-2.85701752e-01 9.58318352e-01 -6.67852825e-04 -5.34897476e+00] [-2.37064241e-03 -9.85657830e-06 9.99997190e-01 -9.83703736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:-5.36, Z:-0.10 [[ 9.58696801e-01 2.84421075e-01 2.25757623e-03 2.61124954e+01] [-2.84420165e-01 9.58699457e-01 -7.21280963e-04 -5.35843988e+00] [-2.36948461e-03 4.93895483e-05 9.99997192e-01 -9.54650637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.14, Y:-5.36, Z:-0.10 [[ 9.61090319e-01 2.76225093e-01 2.25745106e-03 2.61382829e+01] [-2.76224159e-01 9.61092968e-01 -7.21672481e-04 -5.35894043e+00] [-2.36896439e-03 7.00299140e-05 9.99997192e-01 -1.04406666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849999999999998 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:26.17, Y:-5.38, Z:-0.10 [[ 9.60311118e-01 2.78921852e-01 2.27092301e-03 2.61731326e+01] [-2.78921025e-01 9.60313803e-01 -6.79486834e-04 -5.37634262e+00] [-2.37032243e-03 1.91105882e-05 9.99997191e-01 -9.81463557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.20, Y:-5.38, Z:-0.10 [[ 9.62272408e-01 2.72078516e-01 2.25702922e-03 2.62008336e+01] [-2.72077568e-01 9.62275051e-01 -7.22867779e-04 -5.37892599e+00] [-2.36855970e-03 8.15086974e-05 9.99997192e-01 -1.03991305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:26.23, Y:-5.40, Z:-0.10 [[ 9.61131705e-01 2.76080970e-01 2.26778957e-03 2.62342182e+01] [-2.76080112e-01 9.61134380e-01 -6.89262381e-04 -5.39590358e+00] [-2.36994275e-03 3.63803305e-05 9.99997191e-01 -9.82574505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.939999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.26, Y:-5.40, Z:-0.10 [[ 9.63081849e-01 2.69199295e-01 2.25649585e-03 2.62589195e+01] [-2.69198335e-01 9.63084488e-01 -7.24440216e-04 -5.39556949e+00] [-2.36821494e-03 9.02502963e-05 9.99997192e-01 -1.03662818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:26.29, Y:-5.41, Z:-0.10 [[ 9.61574882e-01 2.74533406e-01 2.27062952e-03 2.62928282e+01] [-2.74532565e-01 9.61577562e-01 -6.80374647e-04 -5.41400575e+00] [-2.37017197e-03 3.08694228e-05 9.99997191e-01 -9.76602048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.0 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:26.32, Y:-5.42, Z:-0.10 [[ 9.61496758e-01 2.74807015e-01 2.25604425e-03 2.63245989e+01] [-2.74806068e-01 9.61499401e-01 -7.25716104e-04 -5.42427200e+00] [-2.36861707e-03 7.77990315e-05 9.99997192e-01 -9.77608644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:26.35, Y:-5.42, Z:-0.11 [[ 9.63700752e-01 2.66975227e-01 2.25583765e-03 2.63503466e+01] [-2.66974257e-01 9.63703387e-01 -7.26357759e-04 -5.42234735e+00] [-2.36787791e-03 9.77409392e-05 9.99997192e-01 -1.05399401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:26.38, Y:-5.44, Z:-0.10 [[ 9.61714086e-01 2.74045356e-01 2.27123655e-03 2.63845261e+01] [-2.74044518e-01 9.61716768e-01 -6.78475230e-04 -5.44063727e+00] [-2.37021926e-03 3.00792613e-05 9.99997191e-01 -9.86115436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-5.44, Z:-0.11 [[ 9.63598731e-01 2.67343221e-01 2.25539745e-03 2.64087909e+01] [-2.67342249e-01 9.63601366e-01 -7.27574612e-04 -5.43837710e+00] [-2.36781620e-03 9.81269459e-05 9.99997192e-01 -1.06423286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-5.45, Z:-0.11 [[ 9.63158485e-01 2.68924849e-01 2.27144636e-03 2.64398581e+01] [-2.68923998e-01 9.63161162e-01 -6.77772821e-04 -5.44849499e+00] [-2.37003887e-03 4.19562066e-05 9.99997191e-01 -1.06549332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:26.47, Y:-5.47, Z:-0.10 [[ 9.60311504e-01 2.78920528e-01 2.27017366e-03 2.64748002e+01] [-2.78919696e-01 9.60314187e-01 -6.81716637e-04 -5.46694420e+00] [-2.37022474e-03 2.14641815e-05 9.99997191e-01 -9.81444513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:26.50, Y:-5.46, Z:-0.11 [[ 9.62061869e-01 2.72822061e-01 2.25468517e-03 2.64987143e+01] [-2.72821099e-01 9.62064507e-01 -7.29581953e-04 -5.46388148e+00] [-2.36819863e-03 8.67772901e-05 9.99997192e-01 -1.07941693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209999999999997 meters Centerline goodness : 0.996983 Centerline is valid? [True, True] Translation: X:26.53, Y:-5.48, Z:-0.10 [[ 9.60091286e-01 2.79677597e-01 2.27259225e-03 2.65349432e+01] [-2.79676787e-01 9.60093975e-01 -6.73287458e-04 -5.47917358e+00] [-2.37020555e-03 1.08261235e-05 9.99997191e-01 -1.01237946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:26.57, Y:-5.49, Z:-0.10 [[ 9.59179870e-01 2.82787698e-01 2.25740674e-03 2.65655677e+01] [-2.82786784e-01 9.59182524e-01 -7.20870156e-04 -5.48751487e+00] [-2.36911831e-03 5.30793499e-05 9.99997192e-01 -9.95460089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:26.60, Y:-5.50, Z:-0.10 [[ 9.58125753e-01 2.86338864e-01 2.25746468e-03 2.65981199e+01] [-2.86337960e-01 9.58128412e-01 -7.20688680e-04 -5.49512567e+00] [-2.36930222e-03 4.41125535e-05 9.99997192e-01 -9.92694606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.3 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:26.63, Y:-5.50, Z:-0.10 [[ 9.57500103e-01 2.88424094e-01 2.25722654e-03 2.66284667e+01] [-2.88423194e-01 9.57502763e-01 -7.21433766e-04 -5.50386973e+00] [-2.36937953e-03 3.97364156e-05 9.99997192e-01 -1.00533158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:26.65, Y:-5.50, Z:-0.11 [[ 9.59229982e-01 2.82617669e-01 2.25703761e-03 2.66525133e+01] [-2.82616752e-01 9.59232636e-01 -7.22024358e-04 -5.50200527e+00] [-2.36908098e-03 5.47107724e-05 9.99997192e-01 -1.07607797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:-5.52, Z:-0.10 [[ 9.56013502e-01 2.93313849e-01 2.27359705e-03 2.66866397e+01] [-2.93313084e-01 9.56016206e-01 -6.70184959e-04 -5.52071338e+00] [-2.37017016e-03 -2.61698935e-05 9.99997191e-01 -9.65562228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:-5.52, Z:-0.10 [[ 9.57995782e-01 2.86773411e-01 2.25659587e-03 2.67106924e+01] [-2.86772503e-01 9.57998439e-01 -7.23231327e-04 -5.51870603e+00] [-2.36921884e-03 4.57229151e-05 9.99997192e-01 -1.04687856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:-5.53, Z:-0.10 [[ 9.57692167e-01 2.87785612e-01 2.27041537e-03 2.67387977e+01] [-2.87784808e-01 9.57694858e-01 -6.80302062e-04 -5.52667634e+00] [-2.37014627e-03 -1.87109358e-06 9.99997191e-01 -1.04403723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:26.77, Y:-5.55, Z:-0.10 [[ 9.55281236e-01 2.95690024e-01 2.27361854e-03 2.67734216e+01] [-2.95689266e-01 9.55283941e-01 -6.70356484e-04 -5.54666534e+00] [-2.37016900e-03 -3.19056241e-05 9.99997191e-01 -9.98548375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.80, Y:-5.56, Z:-0.10 [[ 9.54865408e-01 2.97030248e-01 2.25474701e-03 2.68035085e+01] [-2.97029355e-01 9.54868070e-01 -7.28745231e-04 -5.55606894e+00] [-2.36944531e-03 2.61275608e-05 9.99997193e-01 -9.83846271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:26.84, Y:-5.57, Z:-0.10 [[ 9.54512951e-01 2.98160936e-01 2.25455493e-03 2.68350684e+01] [-2.98160045e-01 9.54515613e-01 -7.29338991e-04 -5.56594312e+00] [-2.36946828e-03 2.39453128e-05 9.99997193e-01 -9.97349589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.86, Y:-5.57, Z:-0.11 [[ 9.56440488e-01 2.91918671e-01 2.25434829e-03 2.68593545e+01] [-2.91917761e-01 9.56443144e-01 -7.29977147e-04 -5.56531459e+00] [-2.36924993e-03 4.00953914e-05 9.99997193e-01 -1.05682267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:-5.59, Z:-0.10 [[ 9.53884365e-01 3.00165725e-01 2.27067359e-03 2.68944281e+01] [-3.00164958e-01 9.53887067e-01 -6.79496471e-04 -5.58577624e+00] [-2.36992772e-03 -3.34155826e-05 9.99997191e-01 -9.81463070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.599999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:-5.60, Z:-0.10 [[ 9.53591040e-01 3.01096411e-01 2.25388987e-03 2.69254613e+01] [-3.01095523e-01 9.53593703e-01 -7.31229424e-04 -5.59605579e+00] [-2.36946575e-03 1.86576758e-05 9.99997193e-01 -9.85976574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:26.95, Y:-5.60, Z:-0.10 [[ 9.53750070e-01 3.00592290e-01 2.25368613e-03 2.69548374e+01] [-3.00591400e-01 9.53752732e-01 -7.31856834e-04 -5.60497974e+00] [-2.36944983e-03 2.05698374e-05 9.99997193e-01 -1.03315485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:26.99, Y:-5.62, Z:-0.10 [[ 9.53823458e-01 3.00359340e-01 2.25352210e-03 2.69857193e+01] [-3.00358448e-01 9.53826119e-01 -7.32361576e-04 -5.61518931e+00] [-2.36943988e-03 2.16792504e-05 9.99997193e-01 -1.04221412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.02, Y:-5.63, Z:-0.10 [[ 9.53616644e-01 3.01015314e-01 2.25332065e-03 2.70167469e+01] [-3.01014422e-01 9.53619306e-01 -7.32980871e-04 -5.62633412e+00] [-2.36944854e-03 2.07007467e-05 9.99997193e-01 -1.01757113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:-5.63, Z:-0.11 [[ 9.55623473e-01 2.94582248e-01 2.25311427e-03 2.70424280e+01] [-2.94581337e-01 9.55626129e-01 -7.33614707e-04 -5.62830823e+00] [-2.36924474e-03 3.73340216e-05 9.99997193e-01 -1.08307246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:27.08, Y:-5.65, Z:-0.10 [[ 9.53941966e-01 2.99982634e-01 2.26809121e-03 2.70766338e+01] [-2.99981847e-01 9.53944662e-01 -6.87570278e-04 -5.64843933e+00] [-2.36989264e-03 -2.44840465e-05 9.99997192e-01 -1.03780779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.779999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:-5.66, Z:-0.10 [[ 9.53831969e-01 3.00332317e-01 2.25265863e-03 2.71069592e+01] [-3.00331419e-01 9.53834629e-01 -7.34876636e-04 -5.65952143e+00] [-2.36937101e-03 2.44046670e-05 9.99997193e-01 -1.01673235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:27.14, Y:-5.67, Z:-0.10 [[ 9.54137029e-01 2.99361748e-01 2.25252905e-03 2.71378182e+01] [-2.99360846e-01 9.54139687e-01 -7.35273613e-04 -5.67147635e+00] [-2.36934016e-03 2.72327792e-05 9.99997193e-01 -1.02074214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:27.17, Y:-5.68, Z:-0.10 [[ 9.54268456e-01 2.98942539e-01 2.25232423e-03 2.71687946e+01] [-2.98941635e-01 9.54271113e-01 -7.35900491e-04 -5.68280844e+00] [-2.36931991e-03 2.89331379e-05 9.99997193e-01 -1.03004616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-5.69, Z:-0.11 [[ 9.55654773e-01 2.94480702e-01 2.25211713e-03 2.71947128e+01] [-2.94479783e-01 9.55657425e-01 -7.36533735e-04 -5.68632936e+00] [-2.36914743e-03 4.06690135e-05 9.99997193e-01 -1.06592944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:-5.71, Z:-0.10 [[ 9.53688935e-01 3.00786114e-01 2.26453571e-03 2.72277250e+01] [-3.00785303e-01 9.53691624e-01 -6.98544152e-04 -5.70500421e+00] [-2.36978112e-03 -1.49452301e-05 9.99997192e-01 -1.01040862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:27.26, Y:-5.72, Z:-0.10 [[ 9.53612081e-01 3.01029780e-01 2.25157761e-03 2.72586971e+01] [-3.01028877e-01 9.53614739e-01 -7.38074272e-04 -5.71580218e+00] [-2.36931993e-03 2.60466635e-05 9.99997193e-01 -1.03924464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959999999999997 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:27.29, Y:-5.73, Z:-0.10 [[ 9.53076537e-01 3.02721068e-01 2.25137189e-03 2.72891943e+01] [-3.02720168e-01 9.53079196e-01 -7.38701260e-04 -5.72690884e+00] [-2.36935615e-03 2.25031632e-05 9.99997193e-01 -1.03251499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:27.32, Y:-5.74, Z:-0.10 [[ 9.51987284e-01 3.06129292e-01 2.25116627e-03 2.73189703e+01] [-3.06128400e-01 9.51989945e-01 -7.39327358e-04 -5.73836311e+00] [-2.36941741e-03 1.46843161e-05 9.99997193e-01 -1.04044721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:27.35, Y:-5.75, Z:-0.11 [[ 9.51291806e-01 3.08283690e-01 2.25103865e-03 2.73495633e+01] [-3.08282803e-01 9.51294469e-01 -7.39715706e-04 -5.74913544e+00] [-2.36944291e-03 9.72898519e-06 9.99997193e-01 -1.05147193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:-5.76, Z:-0.10 [[ 9.50099076e-01 3.11940186e-01 2.25083789e-03 2.73808747e+01] [-3.11939308e-01 9.50101742e-01 -7.40326094e-04 -5.76047783e+00] [-2.36946246e-03 1.25832577e-06 9.99997193e-01 -1.00607579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:27.41, Y:-5.77, Z:-0.10 [[ 9.49391041e-01 3.14088501e-01 2.25062746e-03 2.74107839e+01] [-3.14087627e-01 9.49393708e-01 -7.40965241e-04 -5.77130702e+00] [-2.36946022e-03 -3.42847923e-06 9.99997193e-01 -1.01028016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:-5.78, Z:-0.10 [[ 9.48464219e-01 3.16876255e-01 2.25049663e-03 2.74414158e+01] [-3.16875388e-01 9.48466889e-01 -7.41362394e-04 -5.78241222e+00] [-2.36944168e-03 -9.97128980e-06 9.99997193e-01 -9.94986839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:27.47, Y:-5.79, Z:-0.10 [[ 9.47849043e-01 3.18711669e-01 2.25028744e-03 2.74727880e+01] [-3.18710805e-01 9.47851714e-01 -7.41996828e-04 -5.79340090e+00] [-2.36942185e-03 -1.38899381e-05 9.99997193e-01 -1.00848731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:-5.80, Z:-0.10 [[ 9.45947660e-01 3.24311521e-01 2.25007521e-03 2.75025026e+01] [-3.24310672e-01 9.45950335e-01 -7.42639858e-04 -5.80459075e+00] [-2.36930606e-03 -2.72249657e-05 9.99997193e-01 -9.82495962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.2 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:27.53, Y:-5.81, Z:-0.11 [[ 9.46565736e-01 3.22503093e-01 2.24987734e-03 2.75306592e+01] [-3.22502237e-01 9.46568410e-01 -7.43238814e-04 -5.81058592e+00] [-2.36935963e-03 -2.20660817e-05 9.99997193e-01 -1.05074418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:27.56, Y:-5.83, Z:-0.10 [[ 9.44661217e-01 3.28039768e-01 2.25720713e-03 2.75629494e+01] [-3.28038981e-01 9.44663912e-01 -7.21053649e-04 -5.82568069e+00] [-2.36883639e-03 -5.93005092e-05 9.99997193e-01 -1.01392257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259999999999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:27.59, Y:-5.84, Z:-0.10 [[ 9.43907708e-01 3.30201724e-01 2.24943305e-03 2.75942241e+01] [-3.30200887e-01 9.43910388e-01 -7.44540968e-04 -5.83659258e+00] [-2.36911193e-03 -3.99868280e-05 9.99997193e-01 -1.03225002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:27.62, Y:-5.85, Z:-0.10 [[ 9.43907928e-01 3.30201097e-01 2.24922239e-03 2.76240405e+01] [-3.30200258e-01 9.43910607e-01 -7.45176813e-04 -5.84671422e+00] [-2.36912307e-03 -3.93155128e-05 9.99997193e-01 -1.04341694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:27.65, Y:-5.86, Z:-0.10 [[ 9.43789305e-01 3.30539998e-01 2.24902615e-03 2.76548091e+01] [-3.30539159e-01 9.43791983e-01 -7.45768602e-04 -5.85743661e+00] [-2.36911921e-03 -3.95427844e-05 9.99997193e-01 -1.01445933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:27.69, Y:-5.87, Z:-0.10 [[ 9.44182046e-01 3.29416464e-01 2.24881641e-03 2.76861775e+01] [-3.29415620e-01 9.44184723e-01 -7.46400535e-04 -5.86850903e+00] [-2.36917473e-03 -3.60572681e-05 9.99997193e-01 -1.03964839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:27.71, Y:-5.87, Z:-0.11 [[ 9.46277435e-01 3.23348049e-01 2.24860860e-03 2.77120118e+01] [-3.23347186e-01 9.46280106e-01 -7.47026074e-04 -5.87147267e+00] [-2.36936300e-03 -2.01873455e-05 9.99997193e-01 -1.09211069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:27.75, Y:-5.89, Z:-0.10 [[ 9.44762554e-01 3.27747777e-01 2.26097694e-03 2.77453340e+01] [-3.27747016e-01 9.44765256e-01 -7.09777336e-04 -5.88988332e+00] [-2.36872040e-03 -7.04573972e-05 9.99997192e-01 -1.04253532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.439999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:27.78, Y:-5.90, Z:-0.10 [[ 9.45236907e-01 3.26377291e-01 2.24810674e-03 2.77752968e+01] [-3.26376434e-01 9.45239580e-01 -7.48436070e-04 -5.90036325e+00] [-2.36927201e-03 -2.62796647e-05 9.99997193e-01 -1.03912537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:27.81, Y:-5.91, Z:-0.11 [[ 9.45915759e-01 3.24404568e-01 2.24790674e-03 2.78060423e+01] [-3.24403704e-01 9.45918430e-01 -7.49036272e-04 -5.91144744e+00] [-2.36932721e-03 -2.07040606e-05 9.99997193e-01 -1.05017116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.5 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:27.83, Y:-5.91, Z:-0.11 [[ 9.48556069e-01 3.16601219e-01 2.24769897e-03 2.78313932e+01] [-3.16600332e-01 9.48558732e-01 -7.49659226e-04 -5.91400929e+00] [-2.36941751e-03 -5.28432389e-07 9.99997193e-01 -1.09659966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529999999999998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:27.86, Y:-5.93, Z:-0.10 [[ 9.47321077e-01 3.20277474e-01 2.26190233e-03 2.78639628e+01] [-3.20276698e-01 9.47323776e-01 -7.07028999e-04 -5.93341247e+00] [-2.36919932e-03 -5.46511367e-05 9.99997192e-01 -1.04500416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:27.89, Y:-5.95, Z:-0.10 [[ 9.48322222e-01 3.17300981e-01 2.24727363e-03 2.78940866e+01] [-3.17300092e-01 9.48324885e-01 -7.50814370e-04 -5.94524082e+00] [-2.36937964e-03 -1.04617923e-06 9.99997193e-01 -1.01310553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:27.92, Y:-5.96, Z:-0.10 [[ 9.48560806e-01 3.16587032e-01 2.24708942e-03 2.79245454e+01] [-3.16586140e-01 9.48563467e-01 -7.51365279e-04 -5.95518958e+00] [-2.36937944e-03 1.31828619e-06 9.99997193e-01 -1.02081203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619999999999997 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:27.95, Y:-5.95, Z:-0.11 [[ 9.51238690e-01 3.08447574e-01 2.24689336e-03 2.79479699e+01] [-3.08446658e-01 9.51241344e-01 -7.51951147e-04 -5.95286541e+00] [-2.36927536e-03 2.22382783e-05 9.99997193e-01 -1.08375343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:27.98, Y:-5.97, Z:-0.10 [[ 9.48736080e-01 3.16061253e-01 2.26599557e-03 2.79835622e+01] [-3.16060494e-01 9.48738785e-01 -6.94783287e-04 -5.97442397e+00] [-2.36943196e-03 -5.70257084e-05 9.99997191e-01 -1.00317877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:28.01, Y:-5.97, Z:-0.11 [[ 9.50997844e-01 3.09189350e-01 2.24634684e-03 2.80092743e+01] [-3.09188433e-01 9.51000497e-01 -7.53370502e-04 -5.97373386e+00] [-2.36921110e-03 2.19092634e-05 9.99997193e-01 -1.09486316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709999999999997 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:28.04, Y:-5.99, Z:-0.10 [[ 9.48668313e-01 3.16264627e-01 2.26226295e-03 2.80449135e+01] [-3.16263843e-01 9.48671009e-01 -7.05851644e-04 -5.99159301e+00] [-2.36937919e-03 -4.58528874e-05 9.99997192e-01 -1.03563996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.07, Y:-6.00, Z:-0.10 [[ 9.48342134e-01 3.17241475e-01 2.24592236e-03 2.80749539e+01] [-3.17240578e-01 9.48344793e-01 -7.54493202e-04 -6.00095638e+00] [-2.36926531e-03 3.01998683e-06 9.99997193e-01 -1.02778897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:28.11, Y:-6.01, Z:-0.10 [[ 9.47898223e-01 3.18565402e-01 2.24572210e-03 2.81050397e+01] [-3.18564508e-01 9.47900883e-01 -7.55088771e-04 -6.01060337e+00] [-2.36926712e-03 3.39947359e-07 9.99997193e-01 -1.02429166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799999999999997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:28.13, Y:-6.01, Z:-0.11 [[ 9.49403159e-01 3.14051907e-01 2.24552299e-03 2.81317386e+01] [-3.14050998e-01 9.49405814e-01 -7.55680430e-04 -6.01206722e+00] [-2.36923547e-03 1.22366505e-05 9.99997193e-01 -1.07597468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.16, Y:-6.03, Z:-0.10 [[ 9.47216242e-01 3.20587412e-01 2.25900517e-03 2.81647595e+01] [-3.20586616e-01 9.47218934e-01 -7.15585943e-04 -6.02965703e+00] [-2.36918031e-03 -4.63921956e-05 9.99997192e-01 -1.02597328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.20, Y:-6.04, Z:-0.10 [[ 9.46533253e-01 3.22598450e-01 2.24509891e-03 2.81964063e+01] [-3.22597562e-01 9.46535916e-01 -7.56837749e-04 -6.03828096e+00] [-2.36922144e-03 -7.89133934e-06 9.99997193e-01 -1.03106731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.23, Y:-6.05, Z:-0.10 [[ 9.46442041e-01 3.22865952e-01 2.24488512e-03 2.82280210e+01] [-3.22865064e-01 9.46444703e-01 -7.57471356e-04 -6.04902455e+00] [-2.36922134e-03 -7.89224145e-06 9.99997193e-01 -1.03186141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.26, Y:-6.06, Z:-0.10 [[ 9.46162301e-01 3.23684818e-01 2.24467086e-03 2.82594125e+01] [-3.23683931e-01 9.46164964e-01 -7.58105758e-04 -6.05843330e+00] [-2.36921625e-03 -9.27279952e-06 9.99997193e-01 -1.04786734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:28.29, Y:-6.06, Z:-0.11 [[ 9.47753578e-01 3.18995484e-01 2.24445776e-03 2.82863256e+01] [-3.18994582e-01 9.47756235e-01 -7.58736157e-04 -6.05956919e+00] [-2.36923224e-03 3.12504441e-06 9.99997193e-01 -1.11602898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.32, Y:-6.07, Z:-0.11 [[ 9.47808362e-01 3.18832579e-01 2.25746785e-03 2.83153190e+01] [-3.18831768e-01 9.47811049e-01 -7.20212727e-04 -6.06755924e+00] [-2.36928026e-03 -3.71288220e-05 9.99997193e-01 -1.12301420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:28.35, Y:-6.09, Z:-0.11 [[ 9.45334722e-01 3.26093776e-01 2.26098110e-03 2.83494876e+01] [-3.26093010e-01 9.45337424e-01 -7.09812264e-04 -6.08782366e+00] [-2.36885541e-03 -6.62799542e-05 9.99997192e-01 -1.05839413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.38, Y:-6.10, Z:-0.11 [[ 9.45240655e-01 3.26366465e-01 2.24390732e-03 2.83800416e+01] [-3.26365580e-01 9.45243318e-01 -7.60208914e-04 -6.09816817e+00] [-2.36914510e-03 -1.37537435e-05 9.99997193e-01 -1.06231724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:28.41, Y:-6.11, Z:-0.11 [[ 9.45275420e-01 3.26265761e-01 2.24370736e-03 2.84112561e+01] [-3.26264874e-01 9.45278082e-01 -7.60798651e-04 -6.10884164e+00] [-2.36914994e-03 -1.28786345e-05 9.99997193e-01 -1.05382081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:28.44, Y:-6.12, Z:-0.10 [[ 9.45266255e-01 3.26292314e-01 2.24357619e-03 2.84418934e+01] [-3.26291426e-01 9.45268917e-01 -7.61185333e-04 -6.11914138e+00] [-2.36915176e-03 -1.25368654e-05 9.99997193e-01 -1.03830157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:28.47, Y:-6.12, Z:-0.11 [[ 9.47713578e-01 3.19114308e-01 2.24341210e-03 2.84670676e+01] [-3.19113399e-01 9.47716233e-01 -7.61668616e-04 -6.11828249e+00] [-2.36917742e-03 5.94082651e-06 9.99997193e-01 -1.12887281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:28.50, Y:-6.14, Z:-0.10 [[ 9.45389454e-01 3.25935075e-01 2.26014341e-03 2.85011977e+01] [-3.25934302e-01 9.45392153e-01 -7.12316436e-04 -6.13949213e+00] [-2.36889076e-03 -6.32418200e-05 9.99997192e-01 -1.03409769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:28.52, Y:-6.14, Z:-0.11 [[ 9.48000718e-01 3.18260282e-01 2.24296530e-03 2.85247304e+01] [-3.18259368e-01 9.48003372e-01 -7.62825877e-04 -6.13867264e+00] [-2.36911585e-03 9.31475939e-06 9.99997194e-01 -1.10937552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.56, Y:-6.16, Z:-0.10 [[ 9.44992767e-01 3.27083406e-01 2.26172782e-03 2.85586855e+01] [-3.27082648e-01 9.44995471e-01 -7.07549858e-04 -6.16136672e+00] [-2.36875037e-03 -7.11424274e-05 9.99997192e-01 -9.97495792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.59, Y:-6.17, Z:-0.10 [[ 9.44873187e-01 3.27428819e-01 2.24258731e-03 2.85899997e+01] [-3.27427929e-01 9.44875848e-01 -7.63751723e-04 -6.17251225e+00] [-2.36904091e-03 -1.26371946e-05 9.99997194e-01 -9.92012462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.61, Y:-6.17, Z:-0.11 [[ 9.47363261e-01 3.20152813e-01 2.24237152e-03 2.86142324e+01] [-3.20151900e-01 9.47365915e-01 -7.64384777e-04 -6.17171056e+00] [-2.36906628e-03 6.25055229e-06 9.99997194e-01 -1.09479500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:28.65, Y:-6.19, Z:-0.10 [[ 9.45256798e-01 3.26319595e-01 2.25993623e-03 2.86483752e+01] [-3.26318822e-01 9.45259498e-01 -7.12784166e-04 -6.19357048e+00] [-2.36882162e-03 -6.36956491e-05 9.99997192e-01 -1.02581186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.68, Y:-6.21, Z:-0.10 [[ 9.45408843e-01 3.25878954e-01 2.24197258e-03 2.86790790e+01] [-3.25878056e-01 9.45411501e-01 -7.65402269e-04 -6.20535558e+00] [-2.36901515e-03 -6.99159135e-06 9.99997194e-01 -1.02299483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369999999999997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.71, Y:-6.21, Z:-0.11 [[ 9.47436045e-01 3.19937362e-01 2.24175679e-03 2.87054020e+01] [-3.19936445e-01 9.47438697e-01 -7.66033758e-04 -6.20904901e+00] [-2.36900995e-03 8.54829527e-06 9.99997194e-01 -1.08411868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:28.74, Y:-6.23, Z:-0.10 [[ 9.46271864e-01 3.23364311e-01 2.25441111e-03 2.87374219e+01] [-3.23363492e-01 9.46274548e-01 -7.28942874e-04 -6.22774805e+00] [-2.36900596e-03 -3.92161160e-05 9.99997193e-01 -1.03729988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.77, Y:-6.24, Z:-0.10 [[ 9.46459041e-01 3.22816139e-01 2.24159103e-03 2.87681778e+01] [-3.22815229e-01 9.46461695e-01 -7.66437613e-04 -6.23990155e+00] [-2.36899847e-03 1.78208796e-06 9.99997194e-01 -1.00646103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459999999999997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:28.80, Y:-6.25, Z:-0.10 [[ 9.46662242e-01 3.22219763e-01 2.24137241e-03 2.87979383e+01] [-3.22218850e-01 9.46664896e-01 -7.67076412e-04 -6.25063523e+00] [-2.36899575e-03 3.94983779e-06 9.99997194e-01 -1.00904982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:28.82, Y:-6.25, Z:-0.11 [[ 9.47988833e-01 3.18295695e-01 2.24123679e-03 2.88238255e+01] [-3.18294770e-01 9.47991482e-01 -7.67472466e-04 -6.25097983e+00] [-2.36895656e-03 1.41813811e-05 9.99997194e-01 -1.06304054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.86, Y:-6.27, Z:-0.10 [[ 9.45665233e-01 3.25134098e-01 2.25519658e-03 2.88573787e+01] [-3.25133290e-01 9.45667921e-01 -7.26668403e-04 -6.26864953e+00] [-2.36893174e-03 -4.60544394e-05 9.99997193e-01 -1.01470663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549999999999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:28.89, Y:-6.28, Z:-0.10 [[ 9.45098826e-01 3.26776969e-01 2.24086639e-03 2.88886185e+01] [-3.26776066e-01 9.45101483e-01 -7.68456146e-04 -6.27841303e+00] [-2.36895992e-03 -5.99450262e-06 9.99997194e-01 -1.01247731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.92, Y:-6.28, Z:-0.11 [[ 9.45950408e-01 3.24303569e-01 2.24064969e-03 2.89156739e+01] [-3.24302657e-01 9.45953062e-01 -7.69087479e-04 -6.28131775e+00] [-2.36896725e-03 8.69964691e-07 9.99997194e-01 -1.07591861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:28.95, Y:-6.30, Z:-0.10 [[ 9.43714277e-01 3.30754133e-01 2.25107510e-03 2.89481813e+01] [-3.30753311e-01 9.43716960e-01 -7.38691041e-04 -6.29829100e+00] [-2.36870286e-03 -4.74372610e-05 9.99997193e-01 -1.01222295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:28.98, Y:-6.31, Z:-0.10 [[ 9.43376423e-01 3.31716605e-01 2.24031765e-03 2.89775597e+01] [-3.31715712e-01 9.43379083e-01 -7.69990284e-04 -6.30944374e+00] [-2.36888737e-03 -1.67578821e-05 9.99997194e-01 -1.01644506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.01, Y:-6.32, Z:-0.10 [[ 9.43252552e-01 3.32068674e-01 2.24011570e-03 2.90086428e+01] [-3.32067781e-01 9.43255212e-01 -7.70577368e-04 -6.32097618e+00] [-2.36888541e-03 -1.70211784e-05 9.99997194e-01 -1.00374697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:-6.33, Z:-0.10 [[ 9.43384958e-01 3.31692334e-01 2.23989781e-03 2.90381942e+01] [-3.31691438e-01 9.43387617e-01 -7.71210192e-04 -6.33187187e+00] [-2.36889637e-03 -1.54068315e-05 9.99997194e-01 -1.00945693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-6.34, Z:-0.11 [[ 9.44978773e-01 3.27123987e-01 2.23969500e-03 2.90661639e+01] [-3.27123076e-01 9.44981427e-01 -7.71798737e-04 -6.33938866e+00] [-2.36894406e-03 -3.32249479e-06 9.99997194e-01 -1.07241697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:-6.36, Z:-0.10 [[ 9.43789456e-01 3.30539583e-01 2.24638416e-03 2.90966253e+01] [-3.30538728e-01 9.43792129e-01 -7.52379701e-04 -6.35529216e+00] [-2.36881096e-03 -3.24289324e-05 9.99997194e-01 -1.01991588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:-6.37, Z:-0.10 [[ 9.43821710e-01 3.30447523e-01 2.23938264e-03 2.91272512e+01] [-3.30446620e-01 9.43824366e-01 -7.72671726e-04 -6.36624954e+00] [-2.36891136e-03 -1.07320739e-05 9.99997194e-01 -1.00770087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:-6.38, Z:-0.10 [[ 9.43645381e-01 3.30950724e-01 2.23916073e-03 2.91576403e+01] [-3.30949820e-01 9.43648037e-01 -7.73314268e-04 -6.37696648e+00] [-2.36890855e-03 -1.13154053e-05 9.99997194e-01 -1.01694227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:29.19, Y:-6.39, Z:-0.10 [[ 9.43597730e-01 3.31086561e-01 2.23895438e-03 2.91887536e+01] [-3.31085657e-01 9.43600386e-01 -7.73911267e-04 -6.38820280e+00] [-2.36890983e-03 -1.10247654e-05 9.99997194e-01 -1.01185154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.22, Y:-6.40, Z:-0.10 [[ 9.43420535e-01 3.31591136e-01 2.23873731e-03 2.92200522e+01] [-3.31590232e-01 9.43423191e-01 -7.74538685e-04 -6.39961448e+00] [-2.36890686e-03 -1.16277222e-05 9.99997194e-01 -9.95211323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:-6.40, Z:-0.11 [[ 9.45223981e-01 3.26414789e-01 2.23851687e-03 2.92473719e+01] [-3.26413869e-01 9.45226632e-01 -7.75175255e-04 -6.40292938e+00] [-2.36893443e-03 2.03128909e-06 9.99997194e-01 -1.07045049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939999999999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:29.28, Y:-6.42, Z:-0.10 [[ 9.43694416e-01 3.30810810e-01 2.24901170e-03 2.92798361e+01] [-3.30809974e-01 9.43697095e-01 -7.44846562e-04 -6.41941353e+00] [-2.36878910e-03 -4.10879618e-05 9.99997194e-01 -1.01381572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.31, Y:-6.43, Z:-0.10 [[ 9.43601295e-01 3.31076407e-01 2.23814430e-03 2.93105819e+01] [-3.31075497e-01 9.43603949e-01 -7.76183004e-04 -6.43054285e+00] [-2.36889768e-03 -8.58744870e-06 9.99997194e-01 -1.00025755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:-6.44, Z:-0.10 [[ 9.43587718e-01 3.31115100e-01 2.23792340e-03 2.93420506e+01] [-3.31114189e-01 9.43590372e-01 -7.76819406e-04 -6.44156851e+00] [-2.36889961e-03 -8.01093928e-06 9.99997194e-01 -9.92978762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:-6.44, Z:-0.11 [[ 9.45940700e-01 3.24331906e-01 2.23770091e-03 2.93686936e+01] [-3.24330974e-01 9.45943346e-01 -7.77459773e-04 -6.44346973e+00] [-2.36889330e-03 9.67512609e-06 9.99997194e-01 -1.08296696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:-6.46, Z:-0.10 [[ 9.44083497e-01 3.29698783e-01 2.25028792e-03 2.94016909e+01] [-3.29697952e-01 9.44086178e-01 -7.41214871e-04 -6.46268858e+00] [-2.36884336e-03 -4.21465929e-05 9.99997193e-01 -1.00570303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-6.47, Z:-0.10 [[ 9.44314526e-01 3.29036579e-01 2.23720909e-03 2.94312886e+01] [-3.29035657e-01 9.44317177e-01 -7.78786257e-04 -6.47325111e+00] [-2.36888414e-03 -7.02388308e-07 9.99997194e-01 -1.01164386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119999999999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.46, Y:-6.48, Z:-0.10 [[ 9.44646125e-01 3.28083365e-01 2.23700374e-03 2.94625581e+01] [-3.28082439e-01 9.44648774e-01 -7.79375672e-04 -6.48420106e+00] [-2.36888303e-03 2.31256500e-06 9.99997194e-01 -1.02119798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:29.49, Y:-6.49, Z:-0.10 [[ 9.45254500e-01 3.26326410e-01 2.23678348e-03 2.94921059e+01] [-3.26325478e-01 9.45257147e-01 -7.80007304e-04 -6.49495983e+00] [-2.36887255e-03 7.38597609e-06 9.99997194e-01 -1.02899977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:-6.51, Z:-0.10 [[ 9.45196273e-01 3.26495027e-01 2.23657840e-03 2.95226913e+01] [-3.26494094e-01 9.45198920e-01 -7.80594892e-04 -6.50667819e+00] [-2.36887184e-03 7.58574446e-06 9.99997194e-01 -1.01392209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:-6.52, Z:-0.10 [[ 9.45212347e-01 3.26448492e-01 2.23636092e-03 2.95537868e+01] [-3.26447558e-01 9.45214992e-01 -7.81217478e-04 -6.51755150e+00] [-2.36886913e-03 8.36184635e-06 9.99997194e-01 -1.01859992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:29.59, Y:-6.53, Z:-0.11 [[ 9.45414185e-01 3.25863497e-01 2.23614103e-03 2.95854481e+01] [-3.25862559e-01 9.45416829e-01 -7.81846385e-04 -6.52786610e+00] [-2.36886056e-03 1.04940255e-05 9.99997194e-01 -1.06123852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:29.62, Y:-6.54, Z:-0.11 [[ 9.45248814e-01 3.26342890e-01 2.23554798e-03 2.96151410e+01] [-3.26341950e-01 9.45251457e-01 -7.83541386e-04 -6.53813350e+00] [-2.36885815e-03 1.10884786e-05 9.99997194e-01 -1.06768620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299999999999997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:29.64, Y:-6.55, Z:-0.10 [[ 9.44735801e-01 3.27825062e-01 2.23506484e-03 2.96440851e+01] [-3.27824122e-01 9.44738445e-01 -7.84920853e-04 -6.54894552e+00] [-2.36886840e-03 8.83466287e-06 9.99997194e-01 -1.03099740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:29.67, Y:-6.56, Z:-0.10 [[ 9.44323887e-01 3.29009724e-01 2.23561561e-03 2.96747340e+01] [-3.29008791e-01 9.44326533e-01 -7.83348986e-04 -6.55984263e+00] [-2.36888057e-03 4.19796912e-06 9.99997194e-01 -1.04280057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:29.70, Y:-6.57, Z:-0.11 [[ 9.44072243e-01 3.29731106e-01 2.23539447e-03 2.97045714e+01] [-3.29730174e-01 9.44074890e-01 -7.83979531e-04 -6.57022673e+00] [-2.36888223e-03 3.05630689e-06 9.99997194e-01 -1.05521599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:29.73, Y:-6.58, Z:-0.11 [[ 9.43821024e-01 3.30449509e-01 2.23518885e-03 2.97344246e+01] [-3.30448577e-01 9.43823671e-01 -7.84565323e-04 -6.58066202e+00] [-2.36888338e-03 1.87426988e-06 9.99997194e-01 -1.06257011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419999999999998 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:29.77, Y:-6.59, Z:-0.11 [[ 9.43625744e-01 3.31006737e-01 2.23499110e-03 2.97655772e+01] [-3.31005806e-01 9.43628391e-01 -7.85128258e-04 -6.59161973e+00] [-2.36888380e-03 1.07220707e-06 9.99997194e-01 -1.05636869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:29.80, Y:-6.60, Z:-0.10 [[ 9.43357435e-01 3.31770636e-01 2.23477487e-03 2.97960006e+01] [-3.31769706e-01 9.43360082e-01 -7.85743264e-04 -6.60277456e+00] [-2.36888394e-03 -1.93849857e-07 9.99997194e-01 -1.04372089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:29.83, Y:-6.61, Z:-0.10 [[ 9.43205615e-01 3.32202007e-01 2.23456938e-03 2.98266615e+01] [-3.32201077e-01 9.43208262e-01 -7.86327198e-04 -6.61328423e+00] [-2.36888378e-03 -6.58126680e-07 9.99997194e-01 -1.03537176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509999999999998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:29.86, Y:-6.62, Z:-0.10 [[ 9.42996317e-01 3.32795663e-01 2.23434854e-03 2.98567126e+01] [-3.32794732e-01 9.42998964e-01 -7.86954225e-04 -6.62359647e+00] [-2.36888331e-03 -1.48448784e-06 9.99997194e-01 -1.03342838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:29.89, Y:-6.63, Z:-0.10 [[ 9.42557888e-01 3.34035382e-01 2.23414334e-03 2.98878345e+01] [-3.34034454e-01 9.42560536e-01 -7.87536364e-04 -6.63335943e+00] [-2.36888035e-03 -3.98223721e-06 9.99997194e-01 -1.03616511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:29.92, Y:-6.64, Z:-0.10 [[ 9.42239501e-01 3.34932430e-01 2.23392072e-03 2.99179145e+01] [-3.34931503e-01 9.42242149e-01 -7.88167343e-04 -6.64389504e+00] [-2.36887706e-03 -5.56801837e-06 9.99997194e-01 -1.02351717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599999999999998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:29.95, Y:-6.65, Z:-0.10 [[ 9.42072397e-01 3.35402161e-01 2.23371299e-03 2.99482925e+01] [-3.35401234e-01 9.42075045e-01 -7.88755615e-04 -6.65441837e+00] [-2.36887560e-03 -6.12520007e-06 9.99997194e-01 -1.03095399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:29.98, Y:-6.67, Z:-0.10 [[ 9.42237684e-01 3.34937544e-01 2.23357594e-03 2.99792597e+01] [-3.34936614e-01 9.42240331e-01 -7.89143507e-04 -6.66521398e+00] [-2.36887912e-03 -4.54561454e-06 9.99997194e-01 -1.03273351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:30.01, Y:-6.68, Z:-0.10 [[ 9.42598317e-01 3.33921285e-01 2.23335418e-03 3.00088189e+01] [-3.33920351e-01 9.42600963e-01 -7.89770633e-04 -6.67589616e+00] [-2.36888302e-03 -1.32594088e-06 9.99997194e-01 -1.04208459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689999999999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:30.04, Y:-6.69, Z:-0.10 [[ 9.42979895e-01 3.32842202e-01 2.23314851e-03 3.00388918e+01] [-3.32841263e-01 9.42982539e-01 -7.90351741e-04 -6.68724127e+00] [-2.36888247e-03 2.00183047e-06 9.99997194e-01 -1.02525676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:30.07, Y:-6.70, Z:-0.10 [[ 9.44186374e-01 3.29404168e-01 2.23294683e-03 3.00698668e+01] [-3.29403218e-01 9.44189014e-01 -7.90921118e-04 -6.69904070e+00] [-2.36885658e-03 1.12370689e-05 9.99997194e-01 -1.00665278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:30.10, Y:-6.71, Z:-0.10 [[ 9.44695771e-01 3.27940414e-01 2.23273032e-03 3.01005207e+01] [-3.27939459e-01 9.44698409e-01 -7.91531842e-04 -6.71031848e+00] [-2.36883207e-03 1.55564084e-05 9.99997194e-01 -1.00046931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779999999999998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:30.13, Y:-6.72, Z:-0.10 [[ 9.45576259e-01 3.25392924e-01 2.23251054e-03 3.01306018e+01] [-3.25391961e-01 9.45578894e-01 -7.92151257e-04 -6.72183398e+00] [-2.36877526e-03 2.25984399e-05 9.99997194e-01 -9.96492196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:30.16, Y:-6.73, Z:-0.10 [[ 9.45489636e-01 3.25644537e-01 2.23230589e-03 3.01620418e+01] [-3.25643573e-01 9.45492271e-01 -7.92727563e-04 -6.73309701e+00] [-2.36877536e-03 2.25796309e-05 9.99997194e-01 -9.97286114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:30.19, Y:-6.74, Z:-0.10 [[ 9.45756029e-01 3.24870053e-01 2.23209478e-03 3.01934872e+01] [-3.24869085e-01 9.45758663e-01 -7.93321537e-04 -6.74431238e+00] [-2.36874938e-03 2.51500380e-05 9.99997194e-01 -1.00309000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869999999999997 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:30.22, Y:-6.76, Z:-0.10 [[ 9.45690280e-01 3.25061398e-01 2.23188129e-03 3.02246064e+01] [-3.25060429e-01 9.45692914e-01 -7.93921695e-04 -6.75591435e+00] [-2.36874762e-03 2.53077406e-05 9.99997194e-01 -9.91494447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.9 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:30.26, Y:-6.77, Z:-0.10 [[ 9.45700978e-01 3.25030276e-01 2.23166519e-03 3.02556803e+01] [-3.25029306e-01 9.45703610e-01 -7.94528666e-04 -6.76635435e+00] [-2.36873970e-03 2.60299465e-05 9.99997194e-01 -1.00747955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:30.28, Y:-6.76, Z:-0.11 [[ 9.47212874e-01 3.20597556e-01 2.23145050e-03 3.02805986e+01] [-3.20596572e-01 9.47215501e-01 -7.95131171e-04 -6.76331958e+00] [-2.36858162e-03 3.77630991e-05 9.99997194e-01 -1.14019351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959999999999997 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:30.32, Y:-6.78, Z:-0.10 [[ 9.46086480e-01 3.23906334e-01 2.24941063e-03 3.03183142e+01] [-3.23905480e-01 9.46089153e-01 -7.44145494e-04 -6.78090308e+00] [-2.36917644e-03 -2.45704391e-05 9.99997193e-01 -1.04881891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:30.34, Y:-6.78, Z:-0.12 [[ 9.46167625e-01 3.23669349e-01 2.23107149e-03 3.03424643e+01] [-3.23668371e-01 9.46170255e-01 -7.96073158e-04 -6.78296248e+00] [-2.36863796e-03 3.10913740e-05 9.99997194e-01 -1.15312156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:30.38, Y:-6.80, Z:-0.11 [[ 9.44427037e-01 3.28713433e-01 2.24728155e-03 3.03759912e+01] [-3.28712578e-01 9.44429711e-01 -7.50123779e-04 -6.80022436e+00] [-2.36897522e-03 -3.02725332e-05 9.99997194e-01 -1.07495753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049999999999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:30.41, Y:-6.81, Z:-0.11 [[ 9.44494309e-01 3.28520174e-01 2.23500530e-03 3.04066783e+01] [-3.28519237e-01 9.44496954e-01 -7.84850236e-04 -6.81010535e+00] [-2.36879484e-03 7.04434564e-06 9.99997194e-01 -1.05757698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:30.43, Y:-6.81, Z:-0.11 [[ 9.47013320e-01 3.21186528e-01 2.23311260e-03 3.04311355e+01] [-3.21185557e-01 9.47015952e-01 -7.90199044e-04 -6.80871300e+00] [-2.36859454e-03 3.10855060e-05 9.99997194e-01 -1.12642655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:30.46, Y:-6.82, Z:-0.11 [[ 9.46755894e-01 3.21944411e-01 2.25242545e-03 3.04617062e+01] [-3.21943572e-01 9.46758573e-01 -7.35568599e-04 -6.82036018e+00] [-2.36931530e-03 -2.87499881e-05 9.99997193e-01 -1.12059174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:30.49, Y:-6.84, Z:-0.11 [[ 9.44404117e-01 3.28779254e-01 2.25079673e-03 3.04947106e+01] [-3.28778424e-01 9.44406798e-01 -7.40170867e-04 -6.84136583e+00] [-2.36902056e-03 -4.09929871e-05 9.99997193e-01 -1.05107975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169999999999998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:30.53, Y:-6.85, Z:-0.10 [[ 9.44179981e-01 3.29422496e-01 2.23227185e-03 3.05257818e+01] [-3.29421544e-01 9.44182619e-01 -7.92359988e-04 -6.85336940e+00] [-2.36869349e-03 1.27719992e-05 9.99997195e-01 -1.04355592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.2 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.55, Y:-6.86, Z:-0.11 [[ 9.45148923e-01 3.26632105e-01 2.23205691e-03 3.05536287e+01] [-3.26631143e-01 9.45151558e-01 -7.92964997e-04 -6.85868334e+00] [-2.36863990e-03 2.04107116e-05 9.99997195e-01 -1.10430023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:30.59, Y:-6.88, Z:-0.11 [[ 9.42803840e-01 3.33340514e-01 2.24074020e-03 3.05850127e+01] [-3.33339629e-01 9.42806503e-01 -7.68513454e-04 -6.87703838e+00] [-2.36876110e-03 -2.23700714e-05 9.99997194e-01 -1.05070891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.259999999999998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:30.62, Y:-6.89, Z:-0.11 [[ 9.42180476e-01 3.35098447e-01 2.23171518e-03 3.06160615e+01] [-3.35097507e-01 9.42183120e-01 -7.93884000e-04 -6.88886577e+00] [-2.36871367e-03 1.39811494e-07 9.99997195e-01 -1.05486694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:-6.90, Z:-0.10 [[ 9.41363666e-01 3.37386232e-01 2.23150167e-03 3.06454311e+01] [-3.37385297e-01 9.41366310e-01 -7.94483709e-04 -6.90056456e+00] [-2.36870836e-03 -4.97775629e-06 9.99997195e-01 -1.04140994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:30.68, Y:-6.91, Z:-0.11 [[ 9.40987176e-01 3.38434861e-01 2.23130307e-03 3.06765892e+01] [-3.38433928e-01 9.40989822e-01 -7.95041085e-04 -6.91143841e+00] [-2.36870310e-03 -7.02519549e-06 9.99997195e-01 -1.06675545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:30.71, Y:-6.92, Z:-0.11 [[ 9.40051344e-01 3.41025647e-01 2.23109369e-03 3.07075797e+01] [-3.41024719e-01 9.40053992e-01 -7.95628216e-04 -6.92375586e+00] [-2.36867816e-03 -1.29267271e-05 9.99997195e-01 -1.05948220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:30.74, Y:-6.93, Z:-0.11 [[ 9.39614181e-01 3.42228307e-01 2.23088140e-03 3.07387318e+01] [-3.42227381e-01 9.39616829e-01 -7.96223038e-04 -6.93423111e+00] [-2.36866377e-03 -1.53262388e-05 9.99997195e-01 -1.06126420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:30.77, Y:-6.94, Z:-0.11 [[ 9.39594208e-01 3.42283140e-01 2.23066036e-03 3.07682035e+01] [-3.42282212e-01 9.39596856e-01 -7.96841790e-04 -6.94037357e+00] [-2.36866697e-03 -1.48074339e-05 9.99997195e-01 -1.08274279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439999999999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:30.80, Y:-6.95, Z:-0.11 [[ 9.38363307e-01 3.45643325e-01 2.23526920e-03 3.07986775e+01] [-3.45642438e-01 9.38365968e-01 -7.83937495e-04 -6.95291776e+00] [-2.36846331e-03 -3.69857166e-05 9.99997195e-01 -1.08163336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:30.83, Y:-6.96, Z:-0.11 [[ 9.38014708e-01 3.46588276e-01 2.23035959e-03 3.08302619e+01] [-3.46587359e-01 9.38017359e-01 -7.97665309e-04 -6.96328661e+00] [-2.36857745e-03 -2.47926463e-05 9.99997195e-01 -1.07354937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.5 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.86, Y:-6.97, Z:-0.11 [[ 9.37554526e-01 3.47831191e-01 2.23014478e-03 3.08622921e+01] [-3.47830276e-01 9.37557178e-01 -7.98265423e-04 -6.97230917e+00] [-2.36854986e-03 -2.72945131e-05 9.99997195e-01 -1.07281690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529999999999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.89, Y:-6.98, Z:-0.11 [[ 9.37396004e-01 3.48258180e-01 2.22992414e-03 3.08923171e+01] [-3.48257265e-01 9.37398656e-01 -7.98881305e-04 -6.98208593e+00] [-2.36854484e-03 -2.77191374e-05 9.99997195e-01 -1.10209536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:-6.99, Z:-0.11 [[ 9.37009308e-01 3.49297281e-01 2.22827598e-03 3.09222862e+01] [-3.49296358e-01 9.37011958e-01 -8.03477315e-04 -6.99225158e+00] [-2.36857368e-03 -2.54629596e-05 9.99997195e-01 -1.08151719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:30.95, Y:-7.00, Z:-0.11 [[ 9.37130176e-01 3.48972869e-01 2.22949623e-03 3.09525241e+01] [-3.48971953e-01 9.37132827e-01 -8.00076943e-04 -7.00228603e+00] [-2.36853925e-03 -2.82554080e-05 9.99997195e-01 -1.09884391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619999999999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:30.98, Y:-7.01, Z:-0.11 [[ 9.37283068e-01 3.48562020e-01 2.22930368e-03 3.09825928e+01] [-3.48561101e-01 9.37285718e-01 -8.00613093e-04 -7.01304165e+00] [-2.36855782e-03 -2.66474517e-05 9.99997195e-01 -1.12477598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:31.01, Y:-7.02, Z:-0.11 [[ 9.37872252e-01 3.46973588e-01 2.22909873e-03 3.10133982e+01] [-3.46972664e-01 9.37874900e-01 -8.01183322e-04 -7.02330679e+00] [-2.36860520e-03 -2.20287187e-05 9.99997195e-01 -1.10906096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.04, Y:-7.04, Z:-0.11 [[ 9.38636034e-01 3.44902056e-01 2.22885587e-03 3.10432844e+01] [-3.44901124e-01 9.38638680e-01 -8.01858394e-04 -7.03589171e+00] [-2.36865294e-03 -1.60817113e-05 9.99997195e-01 -1.11030066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:-7.05, Z:-0.11 [[ 9.39305426e-01 3.43074845e-01 2.22861448e-03 3.10727991e+01] [-3.43073906e-01 9.39308070e-01 -8.02528724e-04 -7.04760824e+00] [-2.36868298e-03 -1.07598900e-05 9.99997195e-01 -1.10780796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:-7.06, Z:-0.11 [[ 9.40971199e-01 3.38479299e-01 2.22840311e-03 3.11018935e+01] [-3.38478346e-01 9.40973838e-01 -8.03115223e-04 -7.06034327e+00] [-2.36870690e-03 1.44209645e-06 9.99997195e-01 -1.09484023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.13, Y:-7.07, Z:-0.11 [[ 9.41741636e-01 3.36329787e-01 2.22820795e-03 3.11313344e+01] [-3.36328827e-01 9.41744272e-01 -8.03656316e-04 -7.07191959e+00] [-2.36869563e-03 7.42604809e-06 9.99997195e-01 -1.09597474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799999999999997 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:31.16, Y:-7.08, Z:-0.11 [[ 9.42534308e-01 3.34101950e-01 2.22806905e-03 3.11622230e+01] [-3.34100983e-01 9.42536942e-01 -8.04041209e-04 -7.08357335e+00] [-2.36866913e-03 1.34363638e-05 9.99997195e-01 -1.09098163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.19, Y:-7.09, Z:-0.11 [[ 9.43737370e-01 3.30688394e-01 2.22784466e-03 3.11920078e+01] [-3.30687416e-01 9.43739999e-01 -8.04662470e-04 -7.09433853e+00] [-2.36859866e-03 2.26698487e-05 9.99997195e-01 -1.08745771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.22, Y:-7.11, Z:-0.11 [[ 9.44088345e-01 3.29685052e-01 2.22764672e-03 3.12226786e+01] [-3.29684070e-01 9.44090973e-01 -8.05210078e-04 -7.10523067e+00] [-2.36856689e-03 2.57698128e-05 9.99997195e-01 -1.08611484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:-7.12, Z:-0.11 [[ 9.44415370e-01 3.28747088e-01 2.22742195e-03 3.12531580e+01] [-3.28746102e-01 9.44417996e-01 -8.05831374e-04 -7.11583970e+00] [-2.36853209e-03 2.87832501e-05 9.99997195e-01 -1.07381085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:-7.13, Z:-0.11 [[ 9.44665078e-01 3.28028856e-01 2.22722030e-03 3.12835164e+01] [-3.28027867e-01 9.44667703e-01 -8.06388342e-04 -7.12680110e+00] [-2.36850173e-03 3.11765832e-05 9.99997195e-01 -1.07414959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:-7.14, Z:-0.11 [[ 9.44786735e-01 3.27678296e-01 2.22700517e-03 3.13142620e+01] [-3.27677304e-01 9.44789359e-01 -8.06982014e-04 -7.13847699e+00] [-2.36848128e-03 3.26868528e-05 9.99997195e-01 -1.06852886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:-7.15, Z:-0.11 [[ 9.44788795e-01 3.27672357e-01 2.22677853e-03 3.13443014e+01] [-3.27671364e-01 9.44791419e-01 -8.07606917e-04 -7.14975378e+00] [-2.36847171e-03 3.33664070e-05 9.99997195e-01 -1.07255816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:31.37, Y:-7.16, Z:-0.11 [[ 9.44448654e-01 3.28651461e-01 2.22663765e-03 3.13746108e+01] [-3.28650469e-01 9.44451278e-01 -8.07995149e-04 -7.15950574e+00] [-2.36849956e-03 3.13244211e-05 9.99997195e-01 -1.08205419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.41, Y:-7.17, Z:-0.11 [[ 9.43956300e-01 3.30062944e-01 2.22644413e-03 3.14055446e+01] [-3.30061955e-01 9.43958925e-01 -8.08528045e-04 -7.17025933e+00] [-2.36853696e-03 2.83506382e-05 9.99997195e-01 -1.08006200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-7.18, Z:-0.11 [[ 9.43415365e-01 3.31605930e-01 2.22622082e-03 3.14366981e+01] [-3.31604944e-01 9.43417991e-01 -8.09142459e-04 -7.18090902e+00] [-2.36857321e-03 2.51315995e-05 9.99997195e-01 -1.07360404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.1 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.47, Y:-7.19, Z:-0.11 [[ 9.42853149e-01 3.33201118e-01 2.22599288e-03 3.14679979e+01] [-3.33200135e-01 9.42855776e-01 -8.09769044e-04 -7.19005073e+00] [-2.36860619e-03 2.17921657e-05 9.99997195e-01 -1.07927567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:31.50, Y:-7.20, Z:-0.11 [[ 9.42634962e-01 3.33817876e-01 2.22576174e-03 3.14986181e+01] [-3.33816893e-01 9.42637590e-01 -8.10403870e-04 -7.20071859e+00] [-2.36861398e-03 2.09181541e-05 9.99997195e-01 -1.08255497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:-7.21, Z:-0.11 [[ 9.42631966e-01 3.33826337e-01 2.22561865e-03 3.15296426e+01] [-3.33825353e-01 9.42634593e-01 -8.10796633e-04 -7.21176697e+00] [-2.36861040e-03 2.13148905e-05 9.99997195e-01 -1.08382216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.56, Y:-7.22, Z:-0.11 [[ 9.42822237e-01 3.33288579e-01 2.22539554e-03 3.15606628e+01] [-3.33287592e-01 9.42824863e-01 -8.11408547e-04 -7.22297871e+00] [-2.36859145e-03 2.33172997e-05 9.99997195e-01 -1.08279674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:-7.23, Z:-0.11 [[ 9.43759283e-01 3.30625867e-01 2.22516510e-03 3.15899662e+01] [-3.30624871e-01 9.43761906e-01 -8.12039992e-04 -7.23428875e+00] [-2.36850749e-03 3.06753550e-05 9.99997195e-01 -1.06983732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:31.62, Y:-7.25, Z:-0.11 [[ 9.44110382e-01 3.29621960e-01 2.22497944e-03 3.16205539e+01] [-3.29620961e-01 9.44113003e-01 -8.12548379e-04 -7.24588500e+00] [-2.36846581e-03 3.37354981e-05 9.99997195e-01 -1.06763323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:31.65, Y:-7.26, Z:-0.11 [[ 9.44368074e-01 3.28882943e-01 2.22475323e-03 3.16516299e+01] [-3.28881940e-01 9.44370694e-01 -8.13167282e-04 -7.25778104e+00] [-2.36842860e-03 3.62480611e-05 9.99997195e-01 -1.06597383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:31.68, Y:-7.27, Z:-0.11 [[ 9.44604898e-01 3.28202129e-01 2.22452527e-03 3.16806734e+01] [-3.28201123e-01 9.44607517e-01 -8.13790411e-04 -7.26876921e+00] [-2.36839104e-03 3.86187165e-05 9.99997195e-01 -1.06218801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.71, Y:-7.28, Z:-0.11 [[ 9.44787641e-01 3.27675704e-01 2.22403924e-03 3.17110882e+01] [-3.27674693e-01 9.44790258e-01 -8.15118001e-04 -7.27964788e+00] [-2.36834498e-03 4.13520361e-05 9.99997195e-01 -1.06391042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:31.74, Y:-7.29, Z:-0.11 [[ 9.44861092e-01 3.27463844e-01 2.22424000e-03 3.17413149e+01] [-3.27462833e-01 9.44863709e-01 -8.14569828e-04 -7.29078186e+00] [-2.36834582e-03 4.12994057e-05 9.99997195e-01 -1.08508295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.4 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:31.77, Y:-7.30, Z:-0.11 [[ 9.44652380e-01 3.28065449e-01 2.22322892e-03 3.17716844e+01] [-3.28064434e-01 9.44654995e-01 -8.17328672e-04 -7.30235733e+00] [-2.36832160e-03 4.27291377e-05 9.99997195e-01 -1.07144639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:-7.31, Z:-0.11 [[ 9.44353681e-01 3.28924277e-01 2.22391118e-03 3.18010108e+01] [-3.28923268e-01 9.44356299e-01 -8.15468052e-04 -7.31385411e+00] [-2.36839177e-03 3.85941238e-05 9.99997195e-01 -1.07104136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.83, Y:-7.33, Z:-0.11 [[ 9.44206950e-01 3.29345247e-01 2.22370091e-03 3.18319725e+01] [-3.29344238e-01 9.44209567e-01 -8.16041025e-04 -7.32548243e+00] [-2.36839891e-03 3.81485246e-05 9.99997195e-01 -1.07721521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:-7.34, Z:-0.11 [[ 9.43961690e-01 3.30047551e-01 2.22311424e-03 3.18619746e+01] [-3.30046541e-01 9.43964307e-01 -8.17638436e-04 -7.33684614e+00] [-2.36840005e-03 3.80881965e-05 9.99997195e-01 -1.07932115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-7.35, Z:-0.11 [[ 9.43682173e-01 3.30845906e-01 2.22340154e-03 3.18930656e+01] [-3.30844900e-01 9.43684791e-01 -8.16856436e-04 -7.34874746e+00] [-2.36844382e-03 3.52517976e-05 9.99997195e-01 -1.08279137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:31.92, Y:-7.36, Z:-0.11 [[ 9.42964990e-01 3.32884491e-01 2.22317991e-03 3.19236313e+01] [-3.32883489e-01 9.42967611e-01 -8.17459182e-04 -7.36041064e+00] [-2.36850613e-03 3.07755056e-05 9.99997195e-01 -1.09050021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:31.95, Y:-7.37, Z:-0.11 [[ 9.42393683e-01 3.34498436e-01 2.22294952e-03 3.19547913e+01] [-3.34497437e-01 9.42396305e-01 -8.18085219e-04 -7.37173180e+00] [-2.36854764e-03 2.73874269e-05 9.99997195e-01 -1.09819781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:-7.38, Z:-0.11 [[ 9.41645055e-01 3.36600135e-01 2.22272029e-03 3.19859764e+01] [-3.36599140e-01 9.41647678e-01 -8.18707538e-04 -7.38351205e+00] [-2.36859647e-03 2.27661650e-05 9.99997195e-01 -1.09699192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.02, Y:-7.39, Z:-0.11 [[ 9.40909470e-01 3.38650897e-01 2.22248986e-03 3.20158912e+01] [-3.38649906e-01 9.40912095e-01 -8.19332605e-04 -7.39483862e+00] [-2.36863531e-03 1.82718246e-05 9.99997195e-01 -1.09860925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.05, Y:-7.41, Z:-0.11 [[ 9.39746335e-01 3.41865307e-01 2.22227579e-03 3.20469499e+01] [-3.41864324e-01 9.39748962e-01 -8.19912825e-04 -7.40653360e+00] [-2.36868111e-03 1.07932628e-05 9.99997195e-01 -1.10594428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.08, Y:-7.42, Z:-0.11 [[ 9.39649996e-01 3.42130015e-01 2.22204439e-03 3.20782486e+01] [-3.42129031e-01 9.39652623e-01 -8.20539450e-04 -7.41816722e+00] [-2.36868102e-03 1.07939963e-05 9.99997195e-01 -1.10673821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:32.11, Y:-7.43, Z:-0.11 [[ 9.39297367e-01 3.43096953e-01 2.22181307e-03 3.21077087e+01] [-3.43095971e-01 9.39299995e-01 -8.21165322e-04 -7.42894745e+00] [-2.36868833e-03 9.02331134e-06 9.99997195e-01 -1.12044977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:32.14, Y:-7.44, Z:-0.11 [[ 9.38927875e-01 3.44106829e-01 2.22162675e-03 3.21379162e+01] [-3.44105848e-01 9.38930503e-01 -8.21669093e-04 -7.44057293e+00] [-2.36869507e-03 7.01325772e-06 9.99997195e-01 -1.12182500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:-7.45, Z:-0.11 [[ 9.38658735e-01 3.44840318e-01 2.22141359e-03 3.21688254e+01] [-3.44839338e-01 9.38661363e-01 -8.22244991e-04 -7.45275881e+00] [-2.36869833e-03 5.77665266e-06 9.99997195e-01 -1.11573696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:-7.47, Z:-0.11 [[ 9.38416596e-01 3.45498709e-01 2.22119209e-03 3.21983191e+01] [-3.45497729e-01 9.38419225e-01 -8.22842902e-04 -7.46535845e+00] [-2.36870052e-03 4.75261084e-06 9.99997195e-01 -1.10594561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.23, Y:-7.48, Z:-0.11 [[ 9.38426268e-01 3.45472441e-01 2.22098562e-03 3.22287227e+01] [-3.45471460e-01 9.38428896e-01 -8.23399826e-04 -7.47711128e+00] [-2.36869903e-03 5.41288129e-06 9.99997195e-01 -1.10178683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:32.26, Y:-7.49, Z:-0.11 [[ 9.38669196e-01 3.44811847e-01 2.22075663e-03 3.22593594e+01] [-3.44810862e-01 9.38671822e-01 -8.24016947e-04 -7.48886629e+00] [-2.36869248e-03 7.73831494e-06 9.99997195e-01 -1.10029312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:32.29, Y:-7.50, Z:-0.11 [[ 9.38784805e-01 3.44496975e-01 2.21899132e-03 3.22879992e+01] [-3.44495978e-01 9.38787428e-01 -8.28770580e-04 -7.50006467e+00] [-2.36867011e-03 1.36036445e-05 9.99997195e-01 -1.10988943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.32, Y:-7.51, Z:-0.11 [[ 9.38727727e-01 3.44652467e-01 2.22049349e-03 3.23177001e+01] [-3.44651481e-01 9.38730354e-01 -8.24726114e-04 -7.51137653e+00] [-2.36868853e-03 8.89690107e-06 9.99997195e-01 -1.10520309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:-7.52, Z:-0.11 [[ 9.38823743e-01 3.44390840e-01 2.22028237e-03 3.23489318e+01] [-3.44389851e-01 9.38826368e-01 -8.25294088e-04 -7.52317431e+00] [-2.36868336e-03 1.01629679e-05 9.99997195e-01 -1.10731236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:-7.54, Z:-0.11 [[ 9.38893504e-01 3.44200609e-01 2.22005377e-03 3.23795882e+01] [-3.44199618e-01 9.38896129e-01 -8.25908568e-04 -7.53515794e+00] [-2.36867813e-03 1.12985287e-05 9.99997195e-01 -1.10841769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:-7.55, Z:-0.11 [[ 9.39526619e-01 3.42468692e-01 2.21981994e-03 3.24089496e+01] [-3.42467695e-01 9.39529241e-01 -8.26536567e-04 -7.54638311e+00] [-2.36864864e-03 1.63364874e-05 9.99997195e-01 -1.12632820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:32.44, Y:-7.56, Z:-0.11 [[ 9.39901753e-01 3.41437795e-01 2.21960225e-03 3.24396348e+01] [-3.41436794e-01 9.39904374e-01 -8.27120750e-04 -7.55796970e+00] [-2.36862415e-03 1.95583677e-05 9.99997195e-01 -1.13749933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089999999999996 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:32.47, Y:-7.57, Z:-0.12 [[ 9.40431525e-01 3.39975913e-01 2.21937742e-03 3.24692879e+01] [-3.39974907e-01 9.40434143e-01 -8.27723596e-04 -7.56904213e+00] [-2.36858438e-03 2.38847332e-05 9.99997195e-01 -1.15058405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:32.50, Y:-7.58, Z:-0.11 [[ 9.41610010e-01 3.36698180e-01 2.21916799e-03 3.25003139e+01] [-3.36697163e-01 9.41612625e-01 -8.28284705e-04 -7.58138669e+00] [-2.36847855e-03 3.27336048e-05 9.99997195e-01 -1.14581214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.53, Y:-7.59, Z:-0.11 [[ 9.41941958e-01 3.35768407e-01 2.21893506e-03 3.25300224e+01] [-3.35767386e-01 9.41944571e-01 -8.28908242e-04 -7.59247748e+00] [-2.36843503e-03 3.57374291e-05 9.99997195e-01 -1.14035585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:32.56, Y:-7.60, Z:-0.11 [[ 9.42344568e-01 3.34636807e-01 2.21871830e-03 3.25612178e+01] [-3.34635782e-01 9.42347179e-01 -8.29488035e-04 -7.60395649e+00] [-2.36838016e-03 3.92010117e-05 9.99997195e-01 -1.13097087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:-7.62, Z:-0.11 [[ 9.42666679e-01 3.33728348e-01 2.21848440e-03 3.25920446e+01] [-3.33727318e-01 9.42669289e-01 -8.30113122e-04 -7.61553811e+00] [-2.36832939e-03 4.21511314e-05 9.99997195e-01 -1.12236257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:32.62, Y:-7.63, Z:-0.11 [[ 9.43593658e-01 3.31098306e-01 2.21825102e-03 3.26227675e+01] [-3.31097267e-01 9.43596264e-01 -8.30736314e-04 -7.62658196e+00] [-2.36818876e-03 4.94206680e-05 9.99997195e-01 -1.12332123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:-7.64, Z:-0.11 [[ 9.43963315e-01 3.30042937e-01 2.21801896e-03 3.26536033e+01] [-3.30041894e-01 9.43965920e-01 -8.31355440e-04 -7.63794635e+00] [-2.36811729e-03 5.27298603e-05 9.99997195e-01 -1.12551661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.3 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:32.68, Y:-7.65, Z:-0.11 [[ 9.44251688e-01 3.29216998e-01 2.21778390e-03 3.26849099e+01] [-3.29215951e-01 9.44254290e-01 -8.31982016e-04 -7.64931123e+00] [-2.36805459e-03 5.54705857e-05 9.99997195e-01 -1.13043038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:-7.66, Z:-0.11 [[ 9.44260648e-01 3.29191299e-01 2.21754993e-03 3.27151848e+01] [-3.29190251e-01 9.44263250e-01 -8.32605164e-04 -7.66027999e+00] [-2.36803728e-03 5.62004727e-05 9.99997195e-01 -1.13727876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:-7.67, Z:-0.11 [[ 9.44092247e-01 3.29673948e-01 2.21733221e-03 3.27457651e+01] [-3.29672900e-01 9.44094849e-01 -8.33184594e-04 -7.67138433e+00] [-2.36805117e-03 5.56087770e-05 9.99997195e-01 -1.14035704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:-7.68, Z:-0.11 [[ 9.43745578e-01 3.30665039e-01 2.21709267e-03 3.27762064e+01] [-3.30663992e-01 9.43748181e-01 -8.33821516e-04 -7.68227848e+00] [-2.36809280e-03 5.38026563e-05 9.99997195e-01 -1.14230567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.81, Y:-7.69, Z:-0.12 [[ 9.42869461e-01 3.33155017e-01 2.21686855e-03 3.28070361e+01] [-3.33153975e-01 9.42872066e-01 -8.34416952e-04 -7.69120744e+00] [-2.36821362e-03 4.81876926e-05 9.99997195e-01 -1.15091222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.84, Y:-7.70, Z:-0.11 [[ 9.42190227e-01 3.35071130e-01 2.21672221e-03 3.28377036e+01] [-3.35070093e-01 9.42192834e-01 -8.34805526e-04 -7.70183856e+00] [-2.36829902e-03 4.37882894e-05 9.99997195e-01 -1.14891031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:32.87, Y:-7.71, Z:-0.12 [[ 9.41552057e-01 3.36860224e-01 2.21648624e-03 3.28689162e+01] [-3.36859190e-01 9.41554665e-01 -8.35431581e-04 -7.71291114e+00] [-2.36836663e-03 3.99585631e-05 9.99997195e-01 -1.15021302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:-7.72, Z:-0.12 [[ 9.40271841e-01 3.40417321e-01 2.21624778e-03 3.28991349e+01] [-3.40416296e-01 9.40274453e-01 -8.36063693e-04 -7.72312099e+00] [-2.36849174e-03 3.16802865e-05 9.99997195e-01 -1.15082623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:32.93, Y:-7.73, Z:-0.12 [[ 9.41108549e-01 3.38097307e-01 2.21602560e-03 3.29270454e+01] [-3.38096274e-01 9.41111157e-01 -8.36652181e-04 -7.72772330e+00] [-2.36839627e-03 3.81505211e-05 9.99997195e-01 -1.19650839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:-7.74, Z:-0.12 [[ 9.39067030e-01 3.43726869e-01 2.22553762e-03 3.29590419e+01] [-3.43725911e-01 9.39069667e-01 -8.11455354e-04 -7.74452272e+00] [-2.36885388e-03 -2.96397745e-06 9.99997194e-01 -1.16782090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:-7.76, Z:-0.12 [[ 9.38419972e-01 3.45489577e-01 2.21546373e-03 3.29894921e+01] [-3.45488561e-01 9.38422587e-01 -8.38085508e-04 -7.75559537e+00] [-2.36859101e-03 2.10588015e-05 9.99997195e-01 -1.17502317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629999999999995 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.02, Y:-7.76, Z:-0.12 [[ 9.38797449e-01 3.44462542e-01 2.21522637e-03 3.30171752e+01] [-3.44461522e-01 9.38800062e-01 -8.38712433e-04 -7.76001817e+00] [-2.36855967e-03 2.43208467e-05 9.99997195e-01 -1.22347212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:33.05, Y:-7.77, Z:-0.12 [[ 9.38471895e-01 3.45348443e-01 2.22604460e-03 3.30452291e+01] [-3.45347493e-01 9.38474535e-01 -8.10125216e-04 -7.76944399e+00] [-2.36886165e-03 -8.47917540e-06 9.99997194e-01 -1.23450388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.08, Y:-7.79, Z:-0.12 [[ 9.35580595e-01 3.53106190e-01 2.22913459e-03 3.30778060e+01] [-3.53105282e-01 9.35583250e-01 -8.01962226e-04 -7.78936051e+00] [-2.36871881e-03 -3.68189011e-05 9.99997194e-01 -1.18678984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:33.10, Y:-7.79, Z:-0.12 [[ 9.35508584e-01 3.53297020e-01 2.21457232e-03 3.31038523e+01] [-3.53296021e-01 9.35511205e-01 -8.40338664e-04 -7.79363675e+00] [-2.36864637e-03 3.74444490e-06 9.99997195e-01 -1.22734366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:33.13, Y:-7.80, Z:-0.12 [[ 9.34601936e-01 3.55688439e-01 2.22608685e-03 3.31327278e+01] [-3.55687518e-01 9.34604587e-01 -8.10046839e-04 -7.80456621e+00] [-2.36863528e-03 -3.47199621e-05 9.99997194e-01 -1.22826069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:33.16, Y:-7.82, Z:-0.12 [[ 9.33493801e-01 3.58586612e-01 2.22836688e-03 3.31638668e+01] [-3.58585714e-01 9.33496459e-01 -8.04045449e-04 -7.81799717e+00] [-2.36849252e-03 -4.84890853e-05 9.99997194e-01 -1.22163437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:-7.83, Z:-0.12 [[ 9.32187329e-01 3.61969392e-01 2.22302598e-03 3.31927182e+01] [-3.61968470e-01 9.32189979e-01 -8.18081410e-04 -7.83064201e+00] [-2.36840297e-03 -4.20601885e-05 9.99997194e-01 -1.20028417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.22, Y:-7.85, Z:-0.12 [[ 9.29496894e-01 3.68823232e-01 2.22411587e-03 3.32232456e+01] [-3.68822337e-01 9.29499553e-01 -8.15220139e-04 -7.84840826e+00] [-2.36798684e-03 -6.25590268e-05 9.99997194e-01 -1.15987461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:-7.86, Z:-0.12 [[ 9.28867420e-01 3.70405750e-01 2.21302475e-03 3.32538143e+01] [-3.70404789e-01 9.28870055e-01 -8.44291777e-04 -7.85999400e+00] [-2.36834295e-03 -3.54798404e-05 9.99997195e-01 -1.16080395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:-7.87, Z:-0.12 [[ 9.28553116e-01 3.71192960e-01 2.21278876e-03 3.32844154e+01] [-3.71192000e-01 9.28555752e-01 -8.44909814e-04 -7.87151046e+00] [-2.36832231e-03 -3.68258455e-05 9.99997195e-01 -1.16542597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.32, Y:-7.88, Z:-0.12 [[ 9.27933046e-01 3.72740348e-01 2.21255171e-03 3.33154200e+01] [-3.72739391e-01 9.27935683e-01 -8.45530115e-04 -7.88357089e+00] [-2.36826887e-03 -4.01098425e-05 9.99997195e-01 -1.18231590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.35, Y:-7.89, Z:-0.12 [[ 9.27708801e-01 3.73298120e-01 2.21231463e-03 3.33454395e+01] [-3.73297163e-01 9.27711438e-01 -8.46149976e-04 -7.89452228e+00] [-2.36825578e-03 -4.08699971e-05 9.99997195e-01 -1.19861828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:-7.91, Z:-0.12 [[ 9.27190134e-01 3.74584519e-01 2.21209459e-03 3.33766987e+01] [-3.74583564e-01 9.27192772e-01 -8.46724843e-04 -7.90618078e+00] [-2.36820813e-03 -4.35393556e-05 9.99997195e-01 -1.20882212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019999999999996 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:33.41, Y:-7.92, Z:-0.12 [[ 9.27191680e-01 3.74580694e-01 2.21185601e-03 3.34071955e+01] [-3.74579738e-01 9.27194317e-01 -8.47347603e-04 -7.91720839e+00] [-2.36822038e-03 -4.28627989e-05 9.99997195e-01 -1.23756479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:33.44, Y:-7.93, Z:-0.13 [[ 9.27137215e-01 3.74715483e-01 2.21161656e-03 3.34370758e+01] [-3.74714526e-01 9.27139852e-01 -8.47972128e-04 -7.92850699e+00] [-2.36822614e-03 -4.25383341e-05 9.99997195e-01 -1.25065513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:33.47, Y:-7.94, Z:-0.13 [[ 9.27552693e-01 3.73685847e-01 2.21139428e-03 3.34680823e+01] [-3.73684885e-01 9.27555328e-01 -8.48551414e-04 -7.94060520e+00] [-2.36828220e-03 -3.92884690e-05 9.99997195e-01 -1.25550264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:33.50, Y:-7.95, Z:-0.12 [[ 9.27719799e-01 3.73270793e-01 2.21116017e-03 3.34982782e+01] [-3.73269829e-01 9.27722433e-01 -8.49161015e-04 -7.95302726e+00] [-2.36830990e-03 -3.75758930e-05 9.99997195e-01 -1.24534018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:33.53, Y:-7.97, Z:-0.12 [[ 9.28098754e-01 3.72327564e-01 2.21091923e-03 3.35277367e+01] [-3.72326596e-01 9.28101387e-01 -8.49787879e-04 -7.96503652e+00] [-2.36835665e-03 -3.44969593e-05 9.99997195e-01 -1.23917601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.56, Y:-7.98, Z:-0.12 [[ 9.28443167e-01 3.71467898e-01 2.21069487e-03 3.35578632e+01] [-3.71466926e-01 9.28445798e-01 -8.50371145e-04 -7.97765845e+00] [-2.36839594e-03 -3.16787484e-05 9.99997195e-01 -1.22831155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-7.99, Z:-0.12 [[ 9.28994730e-01 3.70086349e-01 2.21046462e-03 3.35885160e+01] [-3.70085371e-01 9.28997359e-01 -8.50969243e-04 -7.98971168e+00] [-2.36844789e-03 -2.75146772e-05 9.99997195e-01 -1.21141319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-8.00, Z:-0.12 [[ 9.29501432e-01 3.68811881e-01 2.21022458e-03 3.36194903e+01] [-3.68810899e-01 9.29504059e-01 -8.51592227e-04 -8.00176218e+00] [-2.36849005e-03 -2.35987207e-05 9.99997195e-01 -1.21584789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:33.65, Y:-8.01, Z:-0.12 [[ 9.30356090e-01 3.66650599e-01 2.20997957e-03 3.36493882e+01] [-3.66649609e-01 9.30358715e-01 -8.52227584e-04 -8.01358557e+00] [-2.36854351e-03 -1.74130224e-05 9.99997195e-01 -1.23131026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.68, Y:-8.03, Z:-0.12 [[ 9.32131615e-01 3.62112924e-01 2.20975156e-03 3.36792405e+01] [-3.62111920e-01 9.32134234e-01 -8.52818402e-04 -8.02714737e+00] [-2.36860164e-03 -5.23838540e-06 9.99997195e-01 -1.23219794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:33.71, Y:-8.04, Z:-0.12 [[ 9.33316772e-01 3.59047240e-01 2.20951522e-03 3.37087885e+01] [-3.59046226e-01 9.33319388e-01 -8.53430261e-04 -8.03958921e+00] [-2.36860518e-03 3.20267330e-06 9.99997195e-01 -1.24249960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:33.74, Y:-8.05, Z:-0.12 [[ 9.34380705e-01 3.56269303e-01 2.20936831e-03 3.37389895e+01] [-3.56268280e-01 9.34383317e-01 -8.53810418e-04 -8.05199959e+00] [-2.36858334e-03 1.06561320e-05 9.99997195e-01 -1.24225052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.77, Y:-8.06, Z:-0.12 [[ 9.34994936e-01 3.54654182e-01 2.20912677e-03 3.37692868e+01] [-3.54653153e-01 9.34997546e-01 -8.54434928e-04 -8.06387524e+00] [-2.36855703e-03 1.54185566e-05 9.99997195e-01 -1.22620591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:33.80, Y:-8.07, Z:-0.12 [[ 9.35874262e-01 3.52327245e-01 2.20888412e-03 3.38000942e+01] [-3.52326208e-01 9.35876868e-01 -8.55061753e-04 -8.07491199e+00] [-2.36850511e-03 2.19825197e-05 9.99997195e-01 -1.23430465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:33.83, Y:-8.09, Z:-0.12 [[ 9.37214573e-01 3.48746276e-01 2.20864243e-03 3.38307327e+01] [-3.48745228e-01 9.37217175e-01 -8.55685592e-04 -8.08550802e+00] [-2.36839479e-03 3.17074995e-05 9.99997195e-01 -1.23837575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:33.86, Y:-8.10, Z:-0.12 [[ 9.37818695e-01 3.47118451e-01 2.20841772e-03 3.38602097e+01] [-3.47117397e-01 9.37821294e-01 -8.56265142e-04 -8.09679711e+00] [-2.36832660e-03 3.64412471e-05 9.99997195e-01 -1.23870721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.5 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:33.89, Y:-8.11, Z:-0.12 [[ 9.38064835e-01 3.46452723e-01 2.20819519e-03 3.38902426e+01] [-3.46451665e-01 9.38067433e-01 -8.56838635e-04 -8.10915576e+00] [-2.36829008e-03 3.87372909e-05 9.99997195e-01 -1.22423028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:33.92, Y:-8.12, Z:-0.12 [[ 9.39485364e-01 3.42581927e-01 2.20795880e-03 3.39218162e+01] [-3.42580857e-01 9.39487957e-01 -8.57447354e-04 -8.11997057e+00] [-2.36809667e-03 4.91548197e-05 9.99997195e-01 -1.22862083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:33.95, Y:-8.13, Z:-0.12 [[ 9.40302910e-01 3.40331549e-01 2.20771143e-03 3.39519240e+01] [-3.40330472e-01 9.40305500e-01 -8.58083806e-04 -8.13049280e+00] [-2.36795619e-03 5.55072274e-05 9.99997195e-01 -1.24466706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589999999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:33.98, Y:-8.14, Z:-0.12 [[ 9.40638386e-01 3.39403233e-01 2.20748153e-03 3.39822405e+01] [-3.39402152e-01 9.40640974e-01 -8.58674822e-04 -8.14243928e+00] [-2.36788459e-03 5.84785153e-05 9.99997195e-01 -1.24026467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:34.01, Y:-8.15, Z:-0.12 [[ 9.40581171e-01 3.39561766e-01 2.20634690e-03 3.40124485e+01] [-3.39560678e-01 9.40583757e-01 -8.61590201e-04 -8.15425487e+00] [-2.36781715e-03 6.12068696e-05 9.99997195e-01 -1.24104693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:34.04, Y:-8.17, Z:-0.12 [[ 9.40118422e-01 3.40840850e-01 2.20618542e-03 3.40426062e+01] [-3.40839765e-01 9.40121009e-01 -8.62004832e-04 -8.16800994e+00] [-2.36788772e-03 5.84309028e-05 9.99997195e-01 -1.24266885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:34.07, Y:-8.17, Z:-0.12 [[ 9.41078304e-01 3.38181589e-01 2.19951796e-03 3.40699174e+01] [-3.38180457e-01 9.41080871e-01 -8.79093262e-04 -8.17431937e+00] [-2.36721743e-03 8.34616077e-05 9.99997195e-01 -1.21138060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:34.10, Y:-8.19, Z:-0.12 [[ 9.41309873e-01 3.37536448e-01 2.20676711e-03 3.41011347e+01] [-3.37535357e-01 9.41312457e-01 -8.60502748e-04 -8.18547866e+00] [-2.36770841e-03 6.51378069e-05 9.99997195e-01 -1.22081315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:34.13, Y:-8.20, Z:-0.12 [[ 9.41062840e-01 3.38224575e-01 2.20652584e-03 3.41315877e+01] [-3.38223485e-01 9.41065424e-01 -8.61120987e-04 -8.19756253e+00] [-2.36773745e-03 6.40701041e-05 9.99997195e-01 -1.20402845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769999999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.16, Y:-8.21, Z:-0.12 [[ 9.40746161e-01 3.39104399e-01 2.20628183e-03 3.41617219e+01] [-3.39103310e-01 9.40748746e-01 -8.61745690e-04 -8.21073725e+00] [-2.36777862e-03 6.25264767e-05 9.99997195e-01 -1.20573407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.8 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.19, Y:-8.22, Z:-0.12 [[ 9.40607552e-01 3.39488698e-01 2.20380115e-03 3.41910628e+01] [-3.39487595e-01 9.40610131e-01 -8.68093306e-04 -8.22060889e+00] [-2.36762555e-03 6.83719678e-05 9.99997195e-01 -1.19870839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:34.22, Y:-8.23, Z:-0.12 [[ 9.40377830e-01 3.40124492e-01 2.20602956e-03 3.42220408e+01] [-3.40123404e-01 9.40380416e-01 -8.62392953e-04 -8.23194450e+00] [-2.36782796e-03 6.06529314e-05 9.99997195e-01 -1.20994689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:34.25, Y:-8.24, Z:-0.12 [[ 9.39403755e-01 3.42805659e-01 2.20578980e-03 3.42523327e+01] [-3.42804577e-01 9.39406343e-01 -8.63005766e-04 -8.24212685e+00] [-2.36797619e-03 5.45560178e-05 9.99997195e-01 -1.23356767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:34.28, Y:-8.25, Z:-0.12 [[ 9.38535588e-01 3.45175440e-01 2.20564085e-03 3.42832378e+01] [-3.45174364e-01 9.38538179e-01 -8.63386282e-04 -8.25373997e+00] [-2.36809788e-03 4.89880764e-05 9.99997195e-01 -1.22676876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:34.31, Y:-8.27, Z:-0.12 [[ 9.37817027e-01 3.47122974e-01 2.20540538e-03 3.43137087e+01] [-3.47121902e-01 9.37819620e-01 -8.63987321e-04 -8.26576571e+00] [-2.36818229e-03 4.47175092e-05 9.99997195e-01 -1.23067050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949999999999996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:34.34, Y:-8.28, Z:-0.12 [[ 9.36076200e-01 3.51790409e-01 2.20376145e-03 3.43438480e+01] [-3.51789340e-01 9.36078793e-01 -8.68179907e-04 -8.27621669e+00] [-2.36831173e-03 3.74227615e-05 9.99997195e-01 -1.22181986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:34.37, Y:-8.29, Z:-0.12 [[ 9.35240405e-01 3.54006388e-01 2.20496120e-03 3.43745133e+01] [-3.54005332e-01 9.35243004e-01 -8.65122091e-04 -8.28786384e+00] [-2.36843328e-03 2.85291140e-05 9.99997195e-01 -1.21812610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:34.40, Y:-8.30, Z:-0.12 [[ 9.34432773e-01 3.56132745e-01 2.20471161e-03 3.44041730e+01] [-3.56131693e-01 9.34435374e-01 -8.65757678e-04 -8.29904580e+00] [-2.36848518e-03 2.38246697e-05 9.99997195e-01 -1.22303399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:34.44, Y:-8.31, Z:-0.12 [[ 9.33700947e-01 3.58047037e-01 2.20447940e-03 3.44353225e+01] [-3.58045990e-01 9.33703550e-01 -8.66348555e-04 -8.31057058e+00] [-2.36852377e-03 1.96054578e-05 9.99997195e-01 -1.22349535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:34.47, Y:-8.32, Z:-0.12 [[ 9.33070777e-01 3.59686067e-01 2.20423437e-03 3.44664691e+01] [-3.59685022e-01 9.33073380e-01 -8.66971528e-04 -8.32220654e+00] [-2.36854999e-03 1.61157086e-05 9.99997195e-01 -1.22041068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.1 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:34.50, Y:-8.33, Z:-0.12 [[ 9.32618544e-01 3.60857026e-01 2.20398892e-03 3.44963447e+01] [-3.60855983e-01 9.32621148e-01 -8.67595048e-04 -8.33328809e+00] [-2.36856445e-03 1.38126403e-05 9.99997195e-01 -1.22561036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129999999999995 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:34.53, Y:-8.34, Z:-0.12 [[ 9.31800653e-01 3.62963754e-01 2.20375961e-03 3.45265430e+01] [-3.62962716e-01 9.31803259e-01 -8.68177129e-04 -8.34426951e+00] [-2.36858722e-03 9.08544237e-06 9.99997195e-01 -1.22502177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:34.56, Y:-8.36, Z:-0.12 [[ 9.31363066e-01 3.64085133e-01 2.20360857e-03 3.45560844e+01] [-3.64084097e-01 9.31365672e-01 -8.68560325e-04 -8.35577670e+00] [-2.36859528e-03 6.64616922e-06 9.99997195e-01 -1.21449619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:34.59, Y:-8.37, Z:-0.12 [[ 9.30596669e-01 3.66039583e-01 2.20532626e-03 3.45868220e+01] [-3.66038563e-01 9.30599282e-01 -8.64203836e-04 -8.36864694e+00] [-2.36860785e-03 -3.00924529e-06 9.99997195e-01 -1.21800993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:34.62, Y:-8.38, Z:-0.12 [[ 9.29138560e-01 3.69725143e-01 2.20328233e-03 3.46160460e+01] [-3.69724121e-01 9.29141172e-01 -8.69383785e-04 -8.38063624e+00] [-2.36859337e-03 -6.82862522e-06 9.99997195e-01 -1.21420766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:34.65, Y:-8.39, Z:-0.12 [[ 9.28831353e-01 3.70496242e-01 2.20307412e-03 3.46458168e+01] [-3.70495220e-01 9.28833965e-01 -8.69911088e-04 -8.39110083e+00] [-2.36858886e-03 -8.22773900e-06 9.99997195e-01 -1.21734791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:34.68, Y:-8.40, Z:-0.12 [[ 9.27738881e-01 3.73223391e-01 2.20638818e-03 3.46760398e+01] [-3.73222398e-01 9.27741505e-01 -8.61520940e-04 -8.40329693e+00] [-2.36849766e-03 -2.42070135e-05 9.99997195e-01 -1.20852057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309999999999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:34.71, Y:-8.42, Z:-0.12 [[ 9.26956433e-01 3.75162502e-01 2.20627106e-03 3.47051389e+01] [-3.75161514e-01 9.26959058e-01 -8.61817141e-04 -8.41501048e+00] [-2.36844442e-03 -2.88410465e-05 9.99997195e-01 -1.23723628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339999999999996 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:34.73, Y:-8.43, Z:-0.13 [[ 9.25331974e-01 3.79151515e-01 2.20610153e-03 3.47348549e+01] [-3.79150537e-01 9.25334603e-01 -8.62245966e-04 -8.42937311e+00] [-2.36830394e-03 -3.85808165e-05 9.99997195e-01 -1.26702414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:34.76, Y:-8.44, Z:-0.12 [[ 9.25221159e-01 3.79421872e-01 2.20244130e-03 3.47636110e+01] [-3.79420872e-01 9.25223780e-01 -8.71496070e-04 -8.44076713e+00] [-2.36841574e-03 -2.93255965e-05 9.99997195e-01 -1.21891636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.4 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:34.79, Y:-8.45, Z:-0.12 [[ 9.24793906e-01 3.80462038e-01 2.20654301e-03 3.47931248e+01] [-3.80461066e-01 9.24796538e-01 -8.61136405e-04 -8.45407436e+00] [-2.36823305e-03 -4.31300070e-05 9.99997195e-01 -1.21479549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:34.82, Y:-8.47, Z:-0.13 [[ 9.23915779e-01 3.82589547e-01 2.20718420e-03 3.48225155e+01] [-3.82588585e-01 9.23918414e-01 -8.59517845e-04 -8.46920336e+00] [-2.36810067e-03 -5.03213790e-05 9.99997195e-01 -1.26701216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:34.85, Y:-8.48, Z:-0.13 [[ 9.23301575e-01 3.84069464e-01 2.20178399e-03 3.48504277e+01] [-3.84068474e-01 9.23304200e-01 -8.73135545e-04 -8.48251469e+00] [-2.36826110e-03 -3.94683920e-05 9.99997195e-01 -1.29790393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:34.88, Y:-8.50, Z:-0.12 [[ 9.22873019e-01 3.85098085e-01 2.20372321e-03 3.48797409e+01] [-3.85097109e-01 9.22875649e-01 -8.68247374e-04 -8.49749533e+00] [-2.36812289e-03 -4.73653637e-05 9.99997195e-01 -1.21855701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519999999999996 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:34.91, Y:-8.51, Z:-0.13 [[ 9.22564126e-01 3.85837515e-01 2.20141895e-03 3.49094241e+01] [-3.85836527e-01 9.22566751e-01 -8.74050981e-04 -8.51102579e+00] [-2.36819759e-03 -4.30197642e-05 9.99997195e-01 -1.26994066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:34.94, Y:-8.52, Z:-0.12 [[ 9.21874029e-01 3.87483462e-01 2.20028601e-03 3.49390643e+01] [-3.87482473e-01 9.21876654e-01 -8.76904012e-04 -8.52427342e+00] [-2.36817811e-03 -4.41772288e-05 9.99997195e-01 -1.19819788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:-8.54, Z:-0.12 [[ 9.20730280e-01 3.90193421e-01 2.20120145e-03 3.49677204e+01] [-3.90192445e-01 9.20732910e-01 -8.74600031e-04 -8.53821013e+00] [-2.36798179e-03 -5.36214416e-05 9.99997195e-01 -1.17054133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:35.00, Y:-8.55, Z:-0.12 [[ 9.20593496e-01 3.90516031e-01 2.20098023e-03 3.49961668e+01] [-3.90515054e-01 9.20596126e-01 -8.75156385e-04 -8.55011460e+00] [-2.36797647e-03 -5.38526350e-05 9.99997195e-01 -1.19942283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:35.03, Y:-8.56, Z:-0.12 [[ 9.20790796e-01 3.90050595e-01 2.20077710e-03 3.50259416e+01] [-3.90049616e-01 9.20793424e-01 -8.75666889e-04 -8.56316583e+00] [-2.36801548e-03 -5.21062512e-05 9.99997195e-01 -1.19148622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:35.06, Y:-8.58, Z:-0.12 [[ 9.21007101e-01 3.89539571e-01 2.20052683e-03 3.50553869e+01] [-3.89538589e-01 9.21009728e-01 -8.76295373e-04 -8.57646066e+00] [-2.36805834e-03 -5.01158542e-05 9.99997195e-01 -1.19814449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:35.09, Y:-8.59, Z:-0.12 [[ 9.21768960e-01 3.87733341e-01 2.20029391e-03 3.50854073e+01] [-3.87732352e-01 9.21771585e-01 -8.76879821e-04 -8.59141648e+00] [-2.36816395e-03 -4.48445317e-05 9.99997195e-01 -1.17427946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.12, Y:-8.60, Z:-0.12 [[ 9.21827352e-01 3.87594494e-01 2.20012472e-03 3.51151380e+01] [-3.87593504e-01 9.21829977e-01 -8.77304106e-04 -8.60461865e+00] [-2.36817916e-03 -4.40311305e-05 9.99997195e-01 -1.15492846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:35.15, Y:-8.62, Z:-0.12 [[ 9.21816067e-01 3.87621335e-01 2.19991075e-03 3.51454600e+01] [-3.87620344e-01 9.21818691e-01 -8.77840341e-04 -8.61851734e+00] [-2.36818849e-03 -4.35228304e-05 9.99997195e-01 -1.19769204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:35.17, Y:-8.63, Z:-0.12 [[ 9.22397245e-01 3.86236326e-01 2.19594839e-03 3.51732335e+01] [-3.86235307e-01 9.22399859e-01 -8.87764419e-04 -8.62831283e+00] [-2.36842936e-03 -2.92813487e-05 9.99997195e-01 -1.16878777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:35.20, Y:-8.63, Z:-0.12 [[ 9.24560470e-01 3.81029000e-01 2.19979436e-03 3.51999044e+01] [-3.81027989e-01 9.24563086e-01 -8.78129938e-04 -8.63390886e+00] [-2.36844163e-03 -2.62989924e-05 9.99997195e-01 -1.22509924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:35.23, Y:-8.65, Z:-0.12 [[ 9.24685704e-01 3.80724916e-01 2.21060985e-03 3.52291601e+01] [-3.80723969e-01 9.24688345e-01 -8.51025974e-04 -8.64639085e+00] [-2.36813196e-03 -5.47006050e-05 9.99997194e-01 -1.20857898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:-8.66, Z:-0.12 [[ 9.23333438e-01 3.83992810e-01 2.21000013e-03 3.52595823e+01] [-3.83991869e-01 9.23336081e-01 -8.52553290e-04 -8.66492722e+00] [-2.36794719e-03 -6.14311210e-05 9.99997195e-01 -1.15251280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:35.29, Y:-8.68, Z:-0.11 [[ 9.24850194e-01 3.80325232e-01 2.19926708e-03 3.52889018e+01] [-3.80324217e-01 9.24852808e-01 -8.79395413e-04 -8.67713977e+00] [-2.36845460e-03 -2.31255133e-05 9.99997195e-01 -1.14035036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.32, Y:-8.69, Z:-0.11 [[ 9.25593708e-01 3.78512156e-01 2.19905024e-03 3.53188201e+01] [-3.78511133e-01 9.25596320e-01 -8.79937324e-04 -8.68926161e+00] [-2.36849979e-03 -1.79005491e-05 9.99997195e-01 -1.12195595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:35.35, Y:-8.70, Z:-0.11 [[ 9.26553867e-01 3.76155680e-01 2.19882915e-03 3.53486251e+01] [-3.76154650e-01 9.26556476e-01 -8.80489453e-04 -8.70092944e+00] [-2.36854050e-03 -1.12789013e-05 9.99997195e-01 -1.14928786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.0 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.38, Y:-8.71, Z:-0.12 [[ 9.27515157e-01 3.73779079e-01 2.19859314e-03 3.53792381e+01] [-3.73778040e-01 9.27517763e-01 -8.81078369e-04 -8.71319375e+00] [-2.36856286e-03 -4.57229419e-06 9.99997195e-01 -1.15161530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:35.41, Y:-8.72, Z:-0.12 [[ 9.32042035e-01 3.62343500e-01 2.19835539e-03 3.54050768e+01] [-3.62342428e-01 9.32044628e-01 -8.81671174e-04 -8.71668890e+00] [-2.36843315e-03 2.51971647e-05 9.99997195e-01 -1.18411535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:35.43, Y:-8.73, Z:-0.12 [[ 9.33601565e-01 3.58306040e-01 2.21350984e-03 3.54339568e+01] [-3.58305046e-01 9.33604189e-01 -8.43856149e-04 -8.72804662e+00] [-2.36890081e-03 -5.28632224e-06 9.99997194e-01 -1.20670190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-8.74, Z:-0.12 [[ 9.34736845e-01 3.55333821e-01 2.21489975e-03 3.54627902e+01] [-3.55332827e-01 9.34739469e-01 -8.40393097e-04 -8.74105480e+00] [-2.36897431e-03 -1.48019844e-06 9.99997194e-01 -1.19501932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:35.49, Y:-8.75, Z:-0.12 [[ 9.36134898e-01 3.51634108e-01 2.21499908e-03 3.54913948e+01] [-3.51633105e-01 9.36137519e-01 -8.40145833e-04 -8.75219029e+00] [-2.36896768e-03 7.62282986e-06 9.99997194e-01 -1.21841929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:-8.77, Z:-0.11 [[ 9.35416519e-01 3.53540699e-01 2.21603513e-03 3.55241878e+01] [-3.53539707e-01 9.35419143e-01 -8.37567351e-04 -8.77358935e+00] [-2.36903583e-03 1.79260167e-08 9.99997194e-01 -1.11398130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:35.55, Y:-8.77, Z:-0.12 [[ 9.38390601e-01 3.45569463e-01 2.19700798e-03 3.55495050e+01] [-3.45568338e-01 9.38393170e-01 -8.84812169e-04 -8.77421658e+00] [-2.36742135e-03 7.10830262e-05 9.99997195e-01 -1.23234473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.58, Y:-8.80, Z:-0.11 [[ 9.36834034e-01 3.49767189e-01 2.21512924e-03 3.55818227e+01] [-3.49766181e-01 9.36836652e-01 -8.39735447e-04 -8.79579259e+00] [-2.36892617e-03 1.19154521e-05 9.99997194e-01 -1.11919869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:35.61, Y:-8.81, Z:-0.11 [[ 9.37389970e-01 3.48274631e-01 2.19680212e-03 3.56122753e+01] [-3.48273512e-01 9.37392542e-01 -8.85217011e-04 -8.80730554e+00] [-2.36756455e-03 6.47055564e-05 9.99997195e-01 -1.12240942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:-8.81, Z:-0.12 [[ 9.40151292e-01 3.40750237e-01 2.19655320e-03 3.56370978e+01] [-3.40749096e-01 9.40153854e-01 -8.85834258e-04 -8.80720202e+00] [-2.36694619e-03 8.43447059e-05 9.99997195e-01 -1.24995020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.3 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:35.67, Y:-8.83, Z:-0.12 [[ 9.38650716e-01 3.44862181e-01 2.21564293e-03 3.56703080e+01] [-3.44861163e-01 9.38653331e-01 -8.38346074e-04 -8.82828464e+00] [-2.36883447e-03 2.28249449e-05 9.99997194e-01 -1.16731675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:-8.84, Z:-0.12 [[ 9.38527246e-01 3.45198179e-01 2.19681724e-03 3.57006487e+01] [-3.45197052e-01 9.38529814e-01 -8.85072863e-04 -8.83989177e+00] [-2.36730402e-03 7.23301621e-05 9.99997195e-01 -1.16565939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.73, Y:-8.85, Z:-0.12 [[ 9.38528429e-01 3.45194964e-01 2.19661001e-03 3.57308680e+01] [-3.45193836e-01 9.38530997e-01 -8.85586871e-04 -8.85032158e+00] [-2.36728671e-03 7.28922189e-05 9.99997195e-01 -1.18083923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:35.76, Y:-8.86, Z:-0.12 [[ 9.38361894e-01 3.45647409e-01 2.19652835e-03 3.57607908e+01] [-3.45646281e-01 9.38364462e-01 -8.85789365e-04 -8.86074027e+00] [-2.36731494e-03 7.19691299e-05 9.99997195e-01 -1.17646182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.79, Y:-8.87, Z:-0.12 [[ 9.37809966e-01 3.47142108e-01 2.19628307e-03 3.57910597e+01] [-3.47140983e-01 9.37812536e-01 -8.86397128e-04 -8.87092057e+00] [-2.36740756e-03 6.88521976e-05 9.99997195e-01 -1.16925747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:35.82, Y:-8.88, Z:-0.12 [[ 9.37459332e-01 3.48087888e-01 2.19607166e-03 3.58210450e+01] [-3.48086764e-01 9.37461902e-01 -8.86920590e-04 -8.88188716e+00] [-2.36745983e-03 6.70285069e-05 9.99997195e-01 -1.16511125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.85, Y:-8.89, Z:-0.12 [[ 9.36706152e-01 3.50109644e-01 2.19584629e-03 3.58511797e+01] [-3.50108525e-01 9.36708724e-01 -8.87478208e-04 -8.89328896e+00] [-2.36758305e-03 6.25217923e-05 9.99997195e-01 -1.16202358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.88, Y:-8.91, Z:-0.12 [[ 9.36611731e-01 3.50362163e-01 2.19563703e-03 3.58821052e+01] [-3.50361043e-01 9.36614302e-01 -8.87995620e-04 -8.90588571e+00] [-2.36758511e-03 6.24414358e-05 9.99997195e-01 -1.16281696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:35.91, Y:-8.92, Z:-0.12 [[ 9.35913914e-01 3.52221985e-01 2.19539747e-03 3.59119855e+01] [-3.52220869e-01 9.35916487e-01 -8.88587488e-04 -8.91637956e+00] [-2.36768873e-03 5.83765896e-05 9.99997195e-01 -1.15353284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:35.94, Y:-8.92, Z:-0.12 [[ 9.34200180e-01 3.56742491e-01 2.19518270e-03 3.59420927e+01] [-3.56741386e-01 9.34202758e-01 -8.89117749e-04 -8.92462999e+00] [-2.36793181e-03 4.75014434e-05 9.99997195e-01 -1.15218866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.6 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:35.97, Y:-8.94, Z:-0.12 [[ 9.32754292e-01 3.60506050e-01 2.19498449e-03 3.59720914e+01] [-3.60504954e-01 9.32756874e-01 -8.89606805e-04 -8.93579263e+00] [-2.36809550e-03 3.84817845e-05 9.99997195e-01 -1.18731634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:-8.94, Z:-0.12 [[ 9.33181402e-01 3.59399024e-01 2.19393448e-03 3.59965795e+01] [-3.59397919e-01 9.33183979e-01 -8.92197722e-04 -8.93835398e+00] [-2.36799950e-03 4.40868342e-05 9.99997195e-01 -1.24745662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:-8.95, Z:-0.13 [[ 9.31348584e-01 3.64122120e-01 2.21278436e-03 3.60281964e+01] [-3.64121137e-01 9.31351213e-01 -8.46253276e-04 -8.94616470e+00] [-2.36901894e-03 -1.75647661e-05 9.99997194e-01 -1.28441435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:36.06, Y:-8.97, Z:-0.12 [[ 9.27311064e-01 3.74284998e-01 2.22041277e-03 3.60642338e+01] [-3.74284089e-01 9.27313720e-01 -8.27490460e-04 -8.97246566e+00] [-2.36873649e-03 -6.37241107e-05 9.99997193e-01 -1.17165382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:36.09, Y:-8.98, Z:-0.12 [[ 9.26037534e-01 3.77425060e-01 2.19309497e-03 3.60948008e+01] [-3.77424000e-01 9.26040131e-01 -8.94469319e-04 -8.98439921e+00] [-2.36848909e-03 5.85485362e-07 9.99997195e-01 -1.16781107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:36.12, Y:-9.00, Z:-0.12 [[ 9.24923080e-01 3.80147980e-01 2.19285279e-03 3.61248751e+01] [-3.80146926e-01 9.24925680e-01 -8.95062652e-04 -8.99609380e+00] [-2.36848212e-03 -5.74214289e-06 9.99997195e-01 -1.17206679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:36.16, Y:-9.01, Z:-0.12 [[ 9.22951900e-01 3.84909057e-01 2.19262721e-03 3.61556300e+01] [-3.84908015e-01 9.22954505e-01 -8.95614916e-04 -9.00716358e+00] [-2.36842545e-03 -1.73502970e-05 9.99997195e-01 -1.16904284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809999999999995 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:36.18, Y:-9.01, Z:-0.13 [[ 9.25116045e-01 3.79678149e-01 2.19237894e-03 3.61800608e+01] [-3.79677091e-01 9.25118643e-01 -8.96222245e-04 -9.00602859e+00] [-2.36848663e-03 -3.28647977e-06 9.99997195e-01 -1.26590546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839999999999996 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:36.21, Y:-9.03, Z:-0.12 [[ 9.20963359e-01 3.89642902e-01 2.21353288e-03 3.62135277e+01] [-3.89641996e-01 9.20966016e-01 -8.44409560e-04 -9.02997433e+00] [-2.36760675e-03 -8.48151048e-05 9.99997194e-01 -1.17807925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:36.24, Y:-9.04, Z:-0.12 [[ 9.19425356e-01 3.93258452e-01 2.19188883e-03 3.62436925e+01] [-3.93257431e-01 9.19427968e-01 -8.97281870e-04 -9.04149021e+00] [-2.36814757e-03 -3.69928650e-05 9.99997195e-01 -1.20015537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.9 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:36.27, Y:-9.05, Z:-0.12 [[ 9.18856105e-01 3.94586688e-01 2.19165662e-03 3.62738263e+01] [-3.94585668e-01 9.18858718e-01 -8.97848688e-04 -9.05381099e+00] [-2.36810193e-03 -3.98025435e-05 9.99997195e-01 -1.21102523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:36.30, Y:-9.05, Z:-0.13 [[ 9.21387735e-01 3.88638443e-01 2.19141384e-03 3.62983138e+01] [-3.88637405e-01 9.21390341e-01 -8.98440866e-04 -9.05368628e+00] [-2.36831620e-03 -2.38529930e-05 9.99997195e-01 -1.30572773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:36.33, Y:-9.08, Z:-0.12 [[ 9.17938303e-01 3.96716996e-01 2.21272369e-03 3.63314049e+01] [-3.96716106e-01 9.17940965e-01 -8.46396477e-04 -9.07860779e+00] [-2.36692959e-03 -1.00883379e-04 9.99997194e-01 -1.22698442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:36.36, Y:-9.09, Z:-0.12 [[ 9.17810422e-01 3.97012882e-01 2.19094120e-03 3.63618054e+01] [-3.97011866e-01 9.17813036e-01 -8.99455435e-04 -9.09167720e+00] [-2.36796979e-03 -4.43000803e-05 9.99997195e-01 -1.22325971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019999999999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:36.39, Y:-9.10, Z:-0.12 [[ 9.17850986e-01 3.96919095e-01 2.19070169e-03 3.63918162e+01] [-3.96918077e-01 9.17853599e-01 -9.00038394e-04 -9.10477719e+00] [-2.36798586e-03 -4.34279751e-05 9.99997195e-01 -1.21424692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:36.42, Y:-9.11, Z:-0.13 [[ 9.20375274e-01 3.91030123e-01 2.19046189e-03 3.64172210e+01] [-3.91029087e-01 9.20377880e-01 -9.00621629e-04 -9.10787225e+00] [-2.36822286e-03 -2.76244344e-05 9.99997195e-01 -1.27025748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:36.45, Y:-9.12, Z:-0.13 [[ 9.20843061e-01 3.89927160e-01 2.20625636e-03 3.64461283e+01] [-3.89926212e-01 9.20845701e-01 -8.62196788e-04 -9.12011603e+00] [-2.36781563e-03 -6.63292575e-05 9.99997195e-01 -1.26470069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:36.48, Y:-9.14, Z:-0.12 [[ 9.19139533e-01 3.93925935e-01 2.20818309e-03 3.64780889e+01] [-3.93925010e-01 9.19142182e-01 -8.57511124e-04 -9.14441823e+00] [-2.36743010e-03 -8.16861731e-05 9.99997194e-01 -1.18735851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:36.50, Y:-9.15, Z:-0.12 [[ 9.21864773e-01 3.87505542e-01 2.18966237e-03 3.65030541e+01] [-3.87504491e-01 9.21867374e-01 -9.02449007e-04 -9.14786292e+00] [-2.36828229e-03 -1.65680519e-05 9.99997195e-01 -1.24283287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:36.53, Y:-9.17, Z:-0.12 [[ 9.20468276e-01 3.90811065e-01 2.20533602e-03 3.65339533e+01] [-3.90810115e-01 9.20470916e-01 -8.64378175e-04 -9.17150884e+00] [-2.36775622e-03 -6.62349348e-05 9.99997195e-01 -1.19110588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.199999999999996 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:36.56, Y:-9.18, Z:-0.12 [[ 9.20838388e-01 3.89938290e-01 2.18927091e-03 3.65628695e+01] [-3.89937245e-01 9.20840990e-01 -9.03313598e-04 -9.18460953e+00] [-2.36820695e-03 -2.18724277e-05 9.99997196e-01 -1.19867962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:36.59, Y:-9.20, Z:-0.12 [[ 9.21160526e-01 3.89176687e-01 2.18911998e-03 3.65930425e+01] [-3.89175638e-01 9.21163127e-01 -9.03679217e-04 -9.19811658e+00] [-2.36822749e-03 -1.95185418e-05 9.99997196e-01 -1.20634527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:36.62, Y:-9.21, Z:-0.12 [[ 9.21424367e-01 3.88551598e-01 2.18888040e-03 3.66233503e+01] [-3.88550546e-01 9.21426967e-01 -9.04259149e-04 -9.21181329e+00] [-2.36824476e-03 -1.72842606e-05 9.99997196e-01 -1.21227628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:36.65, Y:-9.23, Z:-0.12 [[ 9.22186930e-01 3.86738254e-01 2.18864133e-03 3.66535673e+01] [-3.86737195e-01 9.22189527e-01 -9.04837421e-04 -9.22614012e+00] [-2.36827735e-03 -1.19997652e-05 9.99997196e-01 -1.22445146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:36.68, Y:-9.23, Z:-0.13 [[ 9.24431531e-01 3.81341782e-01 2.18840409e-03 3.66792535e+01] [-3.81340707e-01 9.24434122e-01 -9.05410831e-04 -9.23063768e+00] [-2.36830639e-03 2.46275833e-06 9.99997196e-01 -1.27881520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:36.71, Y:-9.24, Z:-0.13 [[ 9.24706504e-01 3.80674447e-01 2.20145882e-03 3.67094629e+01] [-3.80673446e-01 9.24709124e-01 -8.73845418e-04 -9.24475197e+00] [-2.36835968e-03 -2.99863739e-05 9.99997195e-01 -1.28003015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379999999999995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:36.74, Y:-9.26, Z:-0.13 [[ 9.25152542e-01 3.79589168e-01 2.19970393e-03 3.67375826e+01] [-3.79588153e-01 9.25155156e-01 -8.78084259e-04 -9.25724570e+00] [-2.36837871e-03 -2.26196673e-05 9.99997195e-01 -1.28035428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:-9.28, Z:-0.12 [[ 9.24969919e-01 3.80033958e-01 2.19977687e-03 3.67693030e+01] [-3.80032945e-01 9.24972535e-01 -8.77908142e-04 -9.27881396e+00] [-2.36836809e-03 -2.39490577e-05 9.99997195e-01 -1.22935180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:36.80, Y:-9.29, Z:-0.12 [[ 9.25918653e-01 3.77716644e-01 2.18746051e-03 3.67981274e+01] [-3.77715554e-01 9.25921237e-01 -9.07592758e-04 -9.29295659e+00] [-2.36822903e-03 1.41192035e-05 9.99997196e-01 -1.23446115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.83, Y:-9.31, Z:-0.12 [[ 9.26882141e-01 3.75346124e-01 2.18724427e-03 3.68279278e+01] [-3.75345026e-01 9.26884722e-01 -9.08113599e-04 -9.30653757e+00] [-2.36818021e-03 2.07430217e-05 9.99997196e-01 -1.21912805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.5 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.86, Y:-9.32, Z:-0.12 [[ 9.27929050e-01 3.72750445e-01 2.18701317e-03 3.68566814e+01] [-3.72749339e-01 9.27931627e-01 -9.08669816e-04 -9.32045282e+00] [-2.36810577e-03 2.79734075e-05 9.99997196e-01 -1.21597607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:36.89, Y:-9.34, Z:-0.12 [[ 9.30164279e-01 3.67137076e-01 2.18679861e-03 3.68853124e+01] [-3.67135953e-01 9.30166848e-01 -9.09185872e-04 -9.33529158e+00] [-2.36788342e-03 4.28398285e-05 9.99997196e-01 -1.19886322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559999999999995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:36.91, Y:-9.34, Z:-0.12 [[ 9.32793542e-01 3.60404531e-01 2.18665684e-03 3.69112565e+01] [-3.60403389e-01 9.32796103e-01 -9.09526724e-04 -9.34207959e+00] [-2.36750253e-03 6.03221210e-05 9.99997196e-01 -1.21169098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.94, Y:-9.35, Z:-0.12 [[ 9.33853842e-01 3.57648116e-01 2.19721021e-03 3.69386656e+01] [-3.57647025e-01 9.33856426e-01 -8.84200962e-04 -9.35307876e+00] [-2.36811168e-03 3.98887697e-05 9.99997195e-01 -1.22526748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.97, Y:-9.37, Z:-0.12 [[ 9.33056400e-01 3.59723370e-01 2.20240857e-03 3.69695797e+01] [-3.59722315e-01 9.33058999e-01 -8.71729365e-04 -9.37497073e+00] [-2.36855856e-03 2.11171554e-05 9.99997195e-01 -1.21408934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:36.99, Y:-9.38, Z:-0.13 [[ 9.35561397e-01 3.53157325e-01 2.18532378e-03 3.69939188e+01] [-3.53156155e-01 9.35563946e-01 -9.12639066e-04 -9.37911252e+00] [-2.36681531e-03 8.20693355e-05 9.99997196e-01 -1.25163536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:37.03, Y:-9.40, Z:-0.12 [[ 9.33591142e-01 3.58333262e-01 2.20302923e-03 3.70265789e+01] [-3.58332206e-01 9.33593741e-01 -8.70209898e-04 -9.40126384e+00] [-2.36855945e-03 2.30039305e-05 9.99997195e-01 -1.22347305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:37.06, Y:-9.41, Z:-0.12 [[ 9.33624201e-01 3.58247230e-01 2.18480163e-03 3.70566204e+01] [-3.58246071e-01 9.33626755e-01 -9.13790662e-04 -9.41463935e+00] [-2.36715223e-03 7.04404774e-05 9.99997196e-01 -1.23628042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:37.09, Y:-9.43, Z:-0.13 [[ 9.33681759e-01 3.58097195e-01 2.18455856e-03 3.70862197e+01] [-3.58096035e-01 9.33684312e-01 -9.14371384e-04 -9.42775624e+00] [-2.36712188e-03 7.14501232e-05 9.99997196e-01 -1.25791129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769999999999996 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:37.12, Y:-9.44, Z:-0.13 [[ 9.33545208e-01 3.58453028e-01 2.18433698e-03 3.71167708e+01] [-3.58451867e-01 9.33547761e-01 -9.14900421e-04 -9.44097344e+00] [-2.36713172e-03 7.11212370e-05 9.99997196e-01 -1.26363279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.8 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:37.14, Y:-9.45, Z:-0.13 [[ 9.35194016e-01 3.54129047e-01 2.18408512e-03 3.71437683e+01] [-3.54127873e-01 9.35196563e-01 -9.15501266e-04 -9.44701753e+00] [-2.36675449e-03 8.27258876e-05 9.99997196e-01 -1.29125090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:37.17, Y:-9.45, Z:-0.13 [[ 9.36284605e-01 3.51235408e-01 2.19718818e-03 3.71692662e+01] [-3.51234299e-01 9.36287181e-01 -8.84278288e-04 -9.45394657e+00] [-2.36778897e-03 5.62082958e-05 9.99997195e-01 -1.30977012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:37.20, Y:-9.48, Z:-0.12 [[ 9.33628429e-01 3.58236063e-01 2.20924516e-03 3.72028267e+01] [-3.58235041e-01 9.33631042e-01 -8.55545761e-04 -9.47947467e+00] [-2.36910721e-03 7.33281369e-06 9.99997194e-01 -1.24464135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:37.23, Y:-9.48, Z:-0.13 [[ 9.36549927e-01 3.50527417e-01 2.18268357e-03 3.72266897e+01] [-3.50526226e-01 9.36552466e-01 -9.18654945e-04 -9.48061497e+00] [-2.36621142e-03 9.52783881e-05 9.99997196e-01 -1.28574812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:37.26, Y:-9.49, Z:-0.13 [[ 9.36956666e-01 3.49438615e-01 2.20472183e-03 3.72564018e+01] [-3.49437544e-01 9.36959259e-01 -8.66229199e-04 -9.49231772e+00] [-2.36842846e-03 4.12066411e-05 9.99997194e-01 -1.28288083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949999999999996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:37.29, Y:-9.51, Z:-0.13 [[ 9.36262690e-01 3.51293757e-01 2.20710883e-03 3.72868912e+01] [-3.51292705e-01 9.36265291e-01 -8.60539976e-04 -9.50804819e+00] [-2.36874172e-03 3.03502408e-05 9.99997194e-01 -1.28639422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:37.32, Y:-9.53, Z:-0.12 [[ 9.33859814e-01 3.57632505e-01 2.19975743e-03 3.73190164e+01] [-3.57631428e-01 9.33862405e-01 -8.78017404e-04 -9.52950845e+00] [-2.36827833e-03 3.32427764e-05 9.99997195e-01 -1.22882279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:37.34, Y:-9.53, Z:-0.13 [[ 9.36580844e-01 3.50444805e-01 2.18208294e-03 3.73436825e+01] [-3.50443611e-01 9.36583381e-01 -9.19940980e-04 -9.52878296e+00] [-2.36609116e-03 9.69020737e-05 9.99997196e-01 -1.30921244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:-9.54, Z:-0.13 [[ 9.35917018e-01 3.52213682e-01 2.20400278e-03 3.73730365e+01] [-3.52212614e-01 9.35919612e-01 -8.67979536e-04 -9.54057018e+00] [-2.36848370e-03 3.60792362e-05 9.99997194e-01 -1.29791445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:37.40, Y:-9.55, Z:-0.13 [[ 9.35835722e-01 3.52429624e-01 2.20493277e-03 3.74022501e+01] [-3.52428562e-01 9.35838319e-01 -8.65778229e-04 -9.55106786e+00] [-2.36858647e-03 3.31449094e-05 9.99997194e-01 -1.32799939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.1 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:37.43, Y:-9.56, Z:-0.13 [[ 9.35590556e-01 3.53079931e-01 2.20742319e-03 3.74325480e+01] [-3.53078885e-01 9.35593160e-01 -8.59890572e-04 -9.55953506e+00] [-2.36886014e-03 2.51109810e-05 9.99997194e-01 -1.34803414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129999999999995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:37.47, Y:-9.59, Z:-0.13 [[ 9.31244021e-01 3.64389460e-01 2.21267229e-03 3.74678650e+01] [-3.64388475e-01 9.31246649e-01 -8.47432431e-04 -9.58802525e+00] [-2.36933910e-03 -1.71058957e-05 9.99997193e-01 -1.26436286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:37.50, Y:-9.60, Z:-0.13 [[ 9.30534480e-01 3.66197793e-01 2.18107644e-03 3.74967082e+01] [-3.66196637e-01 9.30537035e-01 -9.22162215e-04 -9.59925486e+00] [-2.36726617e-03 5.94008800e-05 9.99997196e-01 -1.26091865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:37.53, Y:-9.61, Z:-0.12 [[ 9.29730303e-01 3.68234719e-01 2.18086722e-03 3.75264635e+01] [-3.68233567e-01 9.29732859e-01 -9.22656744e-04 -9.61096024e+00] [-2.36737816e-03 5.47534181e-05 9.99997196e-01 -1.24993526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:37.56, Y:-9.62, Z:-0.13 [[ 9.28764062e-01 3.70665027e-01 2.18064274e-03 3.75574024e+01] [-3.70663881e-01 9.28766620e-01 -9.23186988e-04 -9.62228106e+00] [-2.36750132e-03 4.91373976e-05 9.99997196e-01 -1.26887379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:37.59, Y:-9.63, Z:-0.12 [[ 9.27817383e-01 3.73028350e-01 2.18038314e-03 3.75880155e+01] [-3.73027208e-01 9.27819944e-01 -9.23799692e-04 -9.63412827e+00] [-2.36760644e-03 4.37751753e-05 9.99997196e-01 -1.24464669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:37.62, Y:-9.65, Z:-0.13 [[ 9.27163186e-01 3.74651403e-01 2.18012363e-03 3.76172483e+01] [-3.74650264e-01 9.27165748e-01 -9.24411721e-04 -9.64567432e+00] [-2.36766811e-03 4.02966216e-05 9.99997196e-01 -1.26443902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309999999999995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:37.65, Y:-9.66, Z:-0.13 [[ 9.25344676e-01 3.79120666e-01 2.17988186e-03 3.76477109e+01] [-3.79119538e-01 9.25347243e-01 -9.24981497e-04 -9.65761296e+00] [-2.36782727e-03 2.94908994e-05 9.99997196e-01 -1.25370627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339999999999996 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:37.68, Y:-9.67, Z:-0.12 [[ 9.24399667e-01 3.81419068e-01 2.17962499e-03 3.76765541e+01] [-3.81417946e-01 9.24402236e-01 -9.25586386e-04 -9.66945634e+00] [-2.36788651e-03 2.42636602e-05 9.99997196e-01 -1.24197476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.71, Y:-9.68, Z:-0.13 [[ 9.22707236e-01 3.85495274e-01 2.17950177e-03 3.77060404e+01] [-3.85494162e-01 9.22709810e-01 -9.25876442e-04 -9.68497925e+00] [-2.36796866e-03 1.41276821e-05 9.99997196e-01 -1.28958477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.4 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.73, Y:-9.69, Z:-0.12 [[ 9.22495536e-01 3.86001632e-01 2.17399522e-03 3.77348406e+01] [-3.86000491e-01 9.22498097e-01 -9.38832323e-04 -9.69349116e+00] [-2.36789726e-03 2.69054062e-05 9.99997196e-01 -1.23004240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.77, Y:-9.71, Z:-0.12 [[ 9.22385880e-01 3.86263561e-01 2.17936188e-03 3.77655382e+01] [-3.86262451e-01 9.22388455e-01 -9.26204554e-04 -9.70662353e+00] [-2.36797730e-03 1.25123420e-05 9.99997196e-01 -1.23077129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:37.80, Y:-9.72, Z:-0.12 [[ 9.20451605e-01 3.90850476e-01 2.17909867e-03 3.77955913e+01] [-3.90849377e-01 9.20454184e-01 -9.26823388e-04 -9.71788417e+00] [-2.36800985e-03 1.39671606e-06 9.99997196e-01 -1.21908667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:37.82, Y:-9.73, Z:-0.12 [[ 9.19506955e-01 3.93067695e-01 2.17885366e-03 3.78240699e+01] [-3.93066601e-01 9.19509536e-01 -9.27399026e-04 -9.72983442e+00] [-2.36800732e-03 -3.68474826e-06 9.99997196e-01 -1.22799759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519999999999996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:37.85, Y:-9.74, Z:-0.12 [[ 9.18563267e-01 3.95267982e-01 2.17872621e-03 3.78532686e+01] [-3.95266894e-01 9.18565851e-01 -9.27698336e-04 -9.74205086e+00] [-2.36799295e-03 -9.02872860e-06 9.99997196e-01 -1.23980131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:37.88, Y:-9.75, Z:-0.12 [[ 9.17022797e-01 3.98828840e-01 2.17849834e-03 3.78821308e+01] [-3.98827761e-01 9.17025384e-01 -9.28233145e-04 -9.75466816e+00] [-2.36794443e-03 -1.76346596e-05 9.99997196e-01 -1.24511170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:37.91, Y:-9.77, Z:-0.13 [[ 9.16460279e-01 4.00119747e-01 2.17828854e-03 3.79113255e+01] [-4.00118669e-01 9.16462868e-01 -9.28725223e-04 -9.76762019e+00] [-2.36792186e-03 -2.04341344e-05 9.99997196e-01 -1.25232784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.94, Y:-9.78, Z:-0.13 [[ 9.16105028e-01 4.00932455e-01 2.17806637e-03 3.79404803e+01] [-4.00931379e-01 9.16107617e-01 -9.29245973e-04 -9.78051586e+00] [-2.36790806e-03 -2.19682433e-05 9.99997196e-01 -1.25541330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:37.97, Y:-9.79, Z:-0.13 [[ 9.15971037e-01 4.01238479e-01 2.17784271e-03 3.79698368e+01] [-4.01237402e-01 9.15973626e-01 -9.29769860e-04 -9.79335300e+00] [-2.36790593e-03 -2.21896875e-05 9.99997196e-01 -1.25434499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:38.00, Y:-9.81, Z:-0.13 [[ 9.16164597e-01 4.00796319e-01 2.17761350e-03 3.79989583e+01] [-4.00795240e-01 9.16167185e-01 -9.30306369e-04 -9.80737631e+00] [-2.36792140e-03 -2.04633679e-05 9.99997196e-01 -1.25293894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699999999999996 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:38.03, Y:-9.82, Z:-0.12 [[ 9.16329600e-01 4.00418935e-01 2.17736916e-03 3.80289397e+01] [-4.00417853e-01 9.16332187e-01 -9.30877904e-04 -9.82167277e+00] [-2.36793458e-03 -1.88665066e-05 9.99997196e-01 -1.22981483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:38.06, Y:-9.84, Z:-0.12 [[ 9.16561110e-01 3.99888723e-01 2.17710384e-03 3.80579356e+01] [-3.99887639e-01 9.16563696e-01 -9.31498007e-04 -9.83563773e+00] [-2.36794989e-03 -1.68220666e-05 9.99997196e-01 -1.21748269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:38.09, Y:-9.85, Z:-0.12 [[ 9.17397797e-01 3.97965504e-01 2.17687297e-03 3.80864984e+01] [-3.97964413e-01 9.17400380e-01 -9.32037234e-04 -9.85129320e+00] [-2.36798276e-03 -1.12690677e-05 9.99997196e-01 -1.20898423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:38.11, Y:-9.86, Z:-0.12 [[ 9.17632872e-01 3.97423169e-01 2.17660918e-03 3.81142731e+01] [-3.97422075e-01 9.17635453e-01 -9.32652856e-04 -9.86493029e+00] [-2.36799161e-03 -9.19961944e-06 9.99997196e-01 -1.20176878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:38.14, Y:-9.88, Z:-0.12 [[ 9.17748706e-01 3.97155607e-01 2.17639669e-03 3.81423950e+01] [-3.97154511e-01 9.17751286e-01 -9.33148455e-04 -9.87906984e+00] [-2.36799600e-03 -7.96997677e-06 9.99997196e-01 -1.18497419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:38.17, Y:-9.89, Z:-0.12 [[ 9.18697713e-01 3.94955397e-01 2.17861694e-03 3.81708918e+01] [-3.94954307e-01 9.18700296e-01 -9.27971605e-04 -9.89391299e+00] [-2.36800342e-03 -7.92875018e-06 9.99997196e-01 -1.20685611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879999999999995 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:38.20, Y:-9.90, Z:-0.12 [[ 9.19605625e-01 3.92836810e-01 2.17609323e-03 3.81977676e+01] [-3.92835700e-01 9.19608200e-01 -9.33852432e-04 -9.90466048e+00] [-2.36800478e-03 3.92884394e-06 9.99997196e-01 -1.17399306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:38.23, Y:-9.92, Z:-0.12 [[ 9.19210886e-01 3.93759546e-01 2.18344277e-03 3.82273210e+01] [-3.93758480e-01 9.19213479e-01 -9.16727709e-04 -9.92092906e+00] [-2.36802031e-03 -1.70830166e-05 9.99997196e-01 -1.20836696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:38.26, Y:-9.94, Z:-0.12 [[ 9.19490290e-01 3.93106693e-01 2.17572896e-03 3.82558967e+01] [-3.93105582e-01 9.19492864e-01 -9.34683694e-04 -9.93518760e+00] [-2.36799767e-03 4.14138257e-06 9.99997196e-01 -1.20873844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.28, Y:-9.95, Z:-0.12 [[ 9.19211505e-01 3.93758144e-01 2.17549662e-03 3.82843842e+01] [-3.93757034e-01 9.19214079e-01 -9.35224162e-04 -9.94714752e+00] [-2.36799925e-03 3.05171482e-06 9.99997196e-01 -1.21283376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.0 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:38.31, Y:-9.95, Z:-0.12 [[ 9.20597988e-01 3.90505587e-01 2.17528244e-03 3.83108779e+01] [-3.90504466e-01 9.20600558e-01 -9.35722070e-04 -9.95229539e+00] [-2.36797092e-03 1.19663478e-05 9.99997196e-01 -1.23537028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:38.34, Y:-9.97, Z:-0.12 [[ 9.18451686e-01 3.95527127e-01 2.18902726e-03 3.83422440e+01] [-3.95526096e-01 9.18454294e-01 -9.03755965e-04 -9.97042958e+00] [-2.36798148e-03 -3.57612140e-05 9.99997196e-01 -1.21282801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:38.37, Y:-9.98, Z:-0.12 [[ 9.20094236e-01 3.91691034e-01 2.17487094e-03 3.83686685e+01] [-3.91689915e-01 9.20096807e-01 -9.36627275e-04 -9.97526116e+00] [-2.36796031e-03 9.91034448e-06 9.99997196e-01 -1.23616990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.089999999999996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:38.40, Y:-9.99, Z:-0.12 [[ 9.18240526e-01 3.96017098e-01 2.18951404e-03 3.83998159e+01] [-3.96016071e-01 9.18243136e-01 -9.02598086e-04 -9.99453279e+00] [-2.36795052e-03 -3.82806073e-05 9.99997196e-01 -1.19897312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:38.43, Y:-10.01, Z:-0.12 [[ 9.18271106e-01 3.95946269e-01 2.17448556e-03 3.84301257e+01] [-3.95945159e-01 9.18273680e-01 -9.37457503e-04 -1.00078541e+01] [-2.36795566e-03 -1.36893174e-07 9.99997196e-01 -1.19313952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:38.46, Y:-10.02, Z:-0.12 [[ 9.18445539e-01 3.95541483e-01 2.17422180e-03 3.84591057e+01] [-3.95540370e-01 9.18448113e-01 -9.38068845e-04 -1.00207080e+01] [-2.36795505e-03 1.57265063e-06 9.99997196e-01 -1.18784865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:38.49, Y:-10.03, Z:-0.12 [[ 9.18736661e-01 3.94864813e-01 2.17399301e-03 3.84874557e+01] [-3.94863698e-01 9.18739233e-01 -9.38598762e-04 -1.00333525e+01] [-2.36795230e-03 3.89417368e-06 9.99997196e-01 -1.18729148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:38.52, Y:-10.05, Z:-0.12 [[ 9.18958397e-01 3.94348501e-01 2.17378208e-03 3.85173642e+01] [-3.94347383e-01 9.18960968e-01 -9.39087029e-04 -1.00465046e+01] [-2.36794844e-03 5.75663774e-06 9.99997196e-01 -1.18461856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:38.55, Y:-10.06, Z:-0.12 [[ 9.18782387e-01 3.94758408e-01 2.17369904e-03 3.85461809e+01] [-3.94757290e-01 9.18784958e-01 -9.39279194e-04 -1.00591504e+01] [-2.36795034e-03 4.90963762e-06 9.99997196e-01 -1.18954635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:-10.07, Z:-0.12 [[ 9.18399851e-01 3.95647557e-01 2.17345201e-03 3.85760256e+01] [-3.95646441e-01 9.18402423e-01 -9.39850465e-04 -1.00718102e+01] [-2.36795313e-03 3.23997621e-06 9.99997196e-01 -1.18357526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.3 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:38.60, Y:-10.08, Z:-0.12 [[ 9.17756037e-01 3.97138683e-01 2.17321759e-03 3.86047724e+01] [-3.97137569e-01 9.17758610e-01 -9.40392205e-04 -1.00829672e+01] [-2.36795527e-03 -1.57272154e-08 9.99997196e-01 -1.19676280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:-10.10, Z:-0.12 [[ 9.16915021e-01 3.99076587e-01 2.17300189e-03 3.86340643e+01] [-3.99075478e-01 9.16917596e-01 -9.40890364e-04 -1.00950324e+01] [-2.36795098e-03 -4.47525947e-06 9.99997196e-01 -1.19679125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:38.66, Y:-10.11, Z:-0.12 [[ 9.16390633e-01 4.00279260e-01 2.17278932e-03 3.86640989e+01] [-4.00278154e-01 9.16393209e-01 -9.41380999e-04 -1.01071231e+01] [-2.36794467e-03 -7.04736640e-06 9.99997196e-01 -1.19969794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:38.69, Y:-10.12, Z:-0.12 [[ 9.15026667e-01 4.03387505e-01 2.17256023e-03 3.86927063e+01] [-4.03386406e-01 9.15029246e-01 -9.41909394e-04 -1.01182399e+01] [-2.36791063e-03 -1.45090505e-05 9.99997196e-01 -1.20994911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:38.72, Y:-10.13, Z:-0.12 [[ 9.14288381e-01 4.05058066e-01 2.17234907e-03 3.87227417e+01] [-4.05056970e-01 9.14290962e-01 -9.42396154e-04 -1.01305584e+01] [-2.36788428e-03 -1.83032776e-05 9.99997196e-01 -1.21308984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449999999999996 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:38.75, Y:-10.14, Z:-0.12 [[ 9.13608944e-01 4.06588218e-01 2.17209039e-03 3.87532035e+01] [-4.06587125e-01 9.13611526e-01 -9.42991990e-04 -1.01431390e+01] [-2.36785625e-03 -2.16180708e-05 9.99997196e-01 -1.21715716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:38.78, Y:-10.15, Z:-0.13 [[ 9.15508570e-01 4.02292607e-01 2.17183309e-03 3.87784552e+01] [-4.02291501e-01 9.15511146e-01 -9.43584226e-04 -1.01450668e+01] [-2.36793436e-03 -9.85054736e-06 9.99997196e-01 -1.26760475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:38.81, Y:-10.17, Z:-0.12 [[ 9.12418459e-01 4.09252676e-01 2.19154806e-03 3.88115084e+01] [-4.09251698e-01 9.12421087e-01 -8.98163066e-04 -1.01660269e+01] [-2.36719030e-03 -7.73942061e-05 9.99997195e-01 -1.22462761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:38.84, Y:-10.18, Z:-0.12 [[ 9.12399525e-01 4.09294994e-01 2.17135655e-03 3.88415027e+01] [-4.09293905e-01 9.12402108e-01 -9.44578457e-04 -1.01784869e+01] [-2.36776153e-03 -2.68900669e-05 9.99997196e-01 -1.22410653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:38.87, Y:-10.19, Z:-0.12 [[ 9.12507219e-01 4.09054839e-01 2.17110416e-03 3.88706430e+01] [-4.09053748e-01 9.12509801e-01 -9.45158215e-04 -1.01913664e+01] [-2.36777537e-03 -2.56346014e-05 9.99997196e-01 -1.24575459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.6 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:38.90, Y:-10.20, Z:-0.12 [[ 9.13233877e-01 4.07429964e-01 2.17037945e-03 3.88996057e+01] [-4.07428865e-01 9.13236456e-01 -9.46822688e-04 -1.02046440e+01] [-2.36783357e-03 -1.96046832e-05 9.99997196e-01 -1.18953560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629999999999995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:38.93, Y:-10.22, Z:-0.12 [[ 9.13616639e-01 4.06570933e-01 2.17092240e-03 3.89300693e+01] [-4.06569833e-01 9.13619219e-01 -9.45576160e-04 -1.02182426e+01] [-2.36784021e-03 -1.87374438e-05 9.99997196e-01 -1.18754057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:38.95, Y:-10.23, Z:-0.12 [[ 9.12829037e-01 4.08336181e-01 2.17065593e-03 3.89545695e+01] [-4.08335086e-01 9.12831618e-01 -9.46187470e-04 -1.02304167e+01] [-2.36780594e-03 -2.26475772e-05 9.99997196e-01 -1.23628682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:38.99, Y:-10.24, Z:-0.12 [[ 9.14802406e-01 4.03895768e-01 2.18311524e-03 3.89877390e+01] [-4.03894728e-01 9.14805010e-01 -9.17514972e-04 -1.02436817e+01] [-2.36770517e-03 -4.24038313e-05 9.99997196e-01 -1.21898829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:39.02, Y:-10.26, Z:-0.12 [[ 9.15812707e-01 4.01599766e-01 2.17110076e-03 3.90180853e+01] [-4.01598654e-01 9.15815280e-01 -9.45114425e-04 -1.02561470e+01] [-2.36788498e-03 -6.36334271e-06 9.99997197e-01 -1.21006938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.04, Y:-10.25, Z:-0.13 [[ 9.19703657e-01 3.92607272e-01 2.17083872e-03 3.90422001e+01] [-3.92606133e-01 9.19706219e-01 -9.45715932e-04 -1.02548626e+01] [-2.36782882e-03 1.74938074e-05 9.99997197e-01 -1.33641409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:39.07, Y:-10.28, Z:-0.12 [[ 9.16631081e-01 3.99728214e-01 2.19452849e-03 3.90744759e+01] [-3.99727225e-01 9.16633706e-01 -8.91248693e-04 -1.02817852e+01] [-2.36783603e-03 -6.02665298e-05 9.99997195e-01 -1.21918070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809999999999995 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:39.10, Y:-10.29, Z:-0.13 [[ 9.18769021e-01 3.94789533e-01 2.17034214e-03 3.91016207e+01] [-3.94788398e-01 9.18771585e-01 -9.46696923e-04 -1.02919107e+01] [-2.36779472e-03 1.29699096e-05 9.99997197e-01 -1.29363298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:39.13, Y:-10.31, Z:-0.12 [[ 9.18728808e-01 3.94883062e-01 2.17818948e-03 3.91303172e+01] [-3.94881970e-01 9.18731390e-01 -9.28698921e-04 -1.03087751e+01] [-2.36789852e-03 -6.90530038e-06 9.99997196e-01 -1.22437280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.16, Y:-10.32, Z:-0.12 [[ 9.19338416e-01 3.93461774e-01 2.17012023e-03 3.91595343e+01] [-3.93460635e-01 9.19340977e-01 -9.47186558e-04 -1.03225682e+01] [-2.36776216e-03 1.69281062e-05 9.99997197e-01 -1.23045246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.9 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:39.19, Y:-10.33, Z:-0.13 [[ 9.22070072e-01 3.87016892e-01 2.16987257e-03 3.91855498e+01] [-3.87015733e-01 9.22072624e-01 -9.47753567e-04 -1.03254769e+01] [-2.36757674e-03 3.41203761e-05 9.99997197e-01 -1.31725098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.22, Y:-10.35, Z:-0.12 [[ 9.19178712e-01 3.93834627e-01 2.18670895e-03 3.92168980e+01] [-3.93833579e-01 9.19181313e-01 -9.09154581e-04 -1.03461257e+01] [-2.36803855e-03 -2.55238732e-05 9.99997196e-01 -1.21878681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:39.25, Y:-10.36, Z:-0.13 [[ 9.19701846e-01 3.92611522e-01 2.16951948e-03 3.92469451e+01] [-3.92610377e-01 9.19704405e-01 -9.48473434e-04 -1.03562086e+01] [-2.36769822e-03 2.05369072e-05 9.99997197e-01 -1.27646888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:39.28, Y:-10.37, Z:-0.12 [[ 9.18287313e-01 3.95908696e-01 2.17130043e-03 3.92753054e+01] [-3.95907570e-01 9.18289880e-01 -9.44400430e-04 -1.03710544e+01] [-2.36777955e-03 7.59665730e-06 9.99997197e-01 -1.21691836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.019999999999996 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:39.31, Y:-10.38, Z:-0.13 [[ 9.18894871e-01 3.94496529e-01 2.16908628e-03 3.93050877e+01] [-3.94495386e-01 9.18897431e-01 -9.49458753e-04 -1.03819932e+01] [-2.36772600e-03 1.67582468e-05 9.99997197e-01 -1.28699058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:39.33, Y:-10.40, Z:-0.13 [[ 9.18316816e-01 3.95840271e-01 2.16923518e-03 3.93347763e+01] [-3.95839133e-01 9.18319378e-01 -9.49118729e-04 -1.03958173e+01] [-2.36775012e-03 1.29235161e-05 9.99997197e-01 -1.25447477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:39.36, Y:-10.40, Z:-0.13 [[ 9.19331788e-01 3.93477271e-01 2.16816703e-03 3.93598618e+01] [-3.93476121e-01 9.19334344e-01 -9.51555990e-04 -1.04043482e+01] [-2.36768607e-03 2.16737144e-05 9.99997197e-01 -1.29633409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:39.39, Y:-10.42, Z:-0.13 [[ 9.18193604e-01 3.96125929e-01 2.18020612e-03 3.93922703e+01] [-3.96124851e-01 9.18196193e-01 -9.24118526e-04 -1.04217375e+01] [-2.36792427e-03 -1.51141056e-05 9.99997196e-01 -1.25617930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:39.42, Y:-10.44, Z:-0.12 [[ 9.17051634e-01 3.98762590e-01 2.16717177e-03 3.94195394e+01] [-3.98761449e-01 9.17054195e-01 -9.53767943e-04 -1.04362368e+01] [-2.36774094e-03 1.04698940e-05 9.99997197e-01 -1.20135655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:39.45, Y:-10.45, Z:-0.12 [[ 9.17120864e-01 3.98603342e-01 2.16741747e-03 3.94484290e+01] [-3.98602202e-01 9.17123425e-01 -9.53209257e-04 -1.04488628e+01] [-2.36774172e-03 1.02707220e-05 9.99997197e-01 -1.18974611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:39.48, Y:-10.46, Z:-0.12 [[ 9.16554542e-01 3.99903832e-01 2.16717007e-03 3.94787581e+01] [-3.99902695e-01 9.16557104e-01 -9.53771393e-04 -1.04628122e+01] [-2.36775196e-03 7.52635148e-06 9.99997197e-01 -1.18111415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:39.51, Y:-10.48, Z:-0.12 [[ 9.16941958e-01 3.99014724e-01 2.16689860e-03 3.95101422e+01] [-3.99013582e-01 9.16944519e-01 -9.54387751e-04 -1.04756986e+01] [-2.36774056e-03 1.04961995e-05 9.99997197e-01 -1.22444150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:39.54, Y:-10.49, Z:-0.12 [[ 9.15125662e-01 4.03162928e-01 2.16241177e-03 3.95374115e+01] [-4.03161774e-01 9.15128217e-01 -9.64564273e-04 -1.04891381e+01] [-2.36776059e-03 1.08957518e-05 9.99997197e-01 -1.17460619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.57, Y:-10.50, Z:-0.12 [[ 9.14624223e-01 4.04299191e-01 2.16647773e-03 3.95678220e+01] [-4.04298063e-01 9.14626789e-01 -9.55343704e-04 -1.05018447e+01] [-2.36776326e-03 -2.12225809e-06 9.99997197e-01 -1.18931313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.60, Y:-10.52, Z:-0.12 [[ 9.14510076e-01 4.04557324e-01 2.16620809e-03 3.95983386e+01] [-4.04556194e-01 9.14512642e-01 -9.55954733e-04 -1.05153939e+01] [-2.36776317e-03 -2.12266342e-06 9.99997197e-01 -1.19010677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:39.63, Y:-10.53, Z:-0.12 [[ 9.13655500e-01 4.06483622e-01 2.16593810e-03 3.96277676e+01] [-4.06482497e-01 9.13658068e-01 -9.56566058e-04 -1.05281324e+01] [-2.36775526e-03 -6.44408627e-06 9.99997197e-01 -1.20542836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379999999999995 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.66, Y:-10.54, Z:-0.12 [[ 9.11827564e-01 4.10567664e-01 2.16504390e-03 3.96572392e+01] [-4.10566546e-01 9.11830134e-01 -9.58589473e-04 -1.05402888e+01] [-2.36771811e-03 -1.48262898e-05 9.99997197e-01 -1.22178682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:39.69, Y:-10.55, Z:-0.12 [[ 9.10877874e-01 4.12670338e-01 2.16556665e-03 3.96870415e+01] [-4.12669228e-01 9.10880448e-01 -9.57407050e-04 -1.05532258e+01] [-2.36766581e-03 -2.15818200e-05 9.99997197e-01 -1.23472712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:39.72, Y:-10.57, Z:-0.12 [[ 9.09851545e-01 4.14928280e-01 2.16529368e-03 3.97158783e+01] [-4.14927175e-01 9.09854121e-01 -9.58024013e-04 -1.05662994e+01] [-2.36761263e-03 -2.67795616e-05 9.99997197e-01 -1.23438862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:39.74, Y:-10.58, Z:-0.13 [[ 9.10507690e-01 4.13486467e-01 2.16512386e-03 3.97445404e+01] [-4.13485357e-01 9.10510264e-01 -9.58407652e-04 -1.05753640e+01] [-2.36765609e-03 -2.26094746e-05 9.99997197e-01 -1.28545529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.5 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:39.77, Y:-10.59, Z:-0.13 [[ 9.09305410e-01 4.16123734e-01 2.17032817e-03 3.97738241e+01] [-4.16122659e-01 9.09307999e-01 -9.46650116e-04 -1.05888246e+01] [-2.36742035e-03 -4.23286570e-05 9.99997197e-01 -1.30298952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:39.80, Y:-10.60, Z:-0.13 [[ 9.09110583e-01 4.16549210e-01 2.16897760e-03 3.98036115e+01] [-4.16548129e-01 9.09113169e-01 -9.49699149e-04 -1.06024954e+01] [-2.36744253e-03 -4.01020163e-05 9.99997197e-01 -1.29848128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:39.83, Y:-10.62, Z:-0.13 [[ 9.08176755e-01 4.18581268e-01 2.16865691e-03 3.98328682e+01] [-4.18580192e-01 9.08179343e-01 -9.50422533e-04 -1.06189864e+01] [-2.36735848e-03 -4.46051752e-05 9.99997197e-01 -1.25755094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589999999999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:39.86, Y:-10.63, Z:-0.13 [[ 9.09016306e-01 4.16754930e-01 2.16428539e-03 3.98615923e+01] [-4.16753824e-01 9.09018882e-01 -9.60275162e-04 -1.06319862e+01] [-2.36757569e-03 -2.90684312e-05 9.99997197e-01 -1.26800629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:39.89, Y:-10.65, Z:-0.13 [[ 9.10323358e-01 4.13892136e-01 2.16403016e-03 3.98927293e+01] [-4.13891021e-01 9.10325930e-01 -9.60849978e-04 -1.06492608e+01] [-2.36766102e-03 -2.09884749e-05 9.99997197e-01 -1.27255679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:39.92, Y:-10.66, Z:-0.12 [[ 9.10504357e-01 4.13493861e-01 2.15471949e-03 3.99180562e+01] [-4.13492696e-01 9.10506906e-01 -9.81790983e-04 -1.06607882e+01] [-2.36785152e-03 2.96419884e-06 9.99997197e-01 -1.23104615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:39.95, Y:-10.67, Z:-0.12 [[ 9.10844355e-01 4.12744328e-01 2.16365241e-03 3.99476197e+01] [-4.12743208e-01 9.10846924e-01 -9.61693369e-04 -1.06745393e+01] [-2.36768963e-03 -1.70798607e-05 9.99997197e-01 -1.23233892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:39.98, Y:-10.69, Z:-0.12 [[ 9.11416308e-01 4.11479810e-01 2.16337719e-03 3.99761528e+01] [-4.11478685e-01 9.11418875e-01 -9.62312086e-04 -1.06881662e+01] [-2.36771480e-03 -1.31166736e-05 9.99997197e-01 -1.23990331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:40.01, Y:-10.70, Z:-0.12 [[ 9.11619921e-01 4.11028516e-01 2.16312120e-03 4.00056761e+01] [-4.11027388e-01 9.11622487e-01 -9.62887167e-04 -1.07018014e+01] [-2.36772401e-03 -1.13149362e-05 9.99997197e-01 -1.24334670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769999999999996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:40.03, Y:-10.72, Z:-0.13 [[ 9.11699851e-01 4.10851194e-01 2.16285233e-03 4.00340837e+01] [-4.10850064e-01 9.11702417e-01 -9.63490746e-04 -1.07152183e+01] [-2.36772902e-03 -1.01936470e-05 9.99997197e-01 -1.25018132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.8 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:40.06, Y:-10.73, Z:-0.12 [[ 9.11629756e-01 4.11006703e-01 2.16260179e-03 4.00637221e+01] [-4.11005573e-01 9.11632322e-01 -9.64052752e-04 -1.07303356e+01] [-2.36772984e-03 -9.98221350e-06 9.99997197e-01 -1.24879427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:40.09, Y:-10.74, Z:-0.12 [[ 9.11344542e-01 4.11638738e-01 2.16232814e-03 4.00921940e+01] [-4.11637607e-01 9.11347107e-01 -9.64666143e-04 -1.07441780e+01] [-2.36772545e-03 -1.09523597e-05 9.99997197e-01 -1.24423506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:40.12, Y:-10.76, Z:-0.12 [[ 9.11100643e-01 4.12178292e-01 2.16207257e-03 4.01223329e+01] [-4.12177161e-01 9.11103208e-01 -9.65238619e-04 -1.07584017e+01] [-2.36772166e-03 -1.17274072e-05 9.99997197e-01 -1.24597422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:40.15, Y:-10.77, Z:-0.13 [[ 9.11043827e-01 4.12303859e-01 2.16179953e-03 4.01510439e+01] [-4.12302728e-01 9.11046392e-01 -9.65849750e-04 -1.07713691e+01] [-2.36772324e-03 -1.13843888e-05 9.99997197e-01 -1.25692470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:40.18, Y:-10.79, Z:-0.13 [[ 9.10858024e-01 4.12714172e-01 2.16154557e-03 4.01810802e+01] [-4.12713041e-01 9.10860589e-01 -9.66417759e-04 -1.07853349e+01] [-2.36772098e-03 -1.18286768e-05 9.99997197e-01 -1.26532243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949999999999996 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:40.21, Y:-10.80, Z:-0.13 [[ 9.10676238e-01 4.13115139e-01 2.16127763e-03 4.02113780e+01] [-4.13114007e-01 9.10678803e-01 -9.67016616e-04 -1.07991085e+01] [-2.36771892e-03 -1.22150060e-05 9.99997197e-01 -1.25521199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:40.24, Y:-10.81, Z:-0.12 [[ 9.10434409e-01 4.13647819e-01 2.16101029e-03 4.02406224e+01] [-4.13646687e-01 9.10436973e-01 -9.67613675e-04 -1.08125530e+01] [-2.36771495e-03 -1.29459615e-05 9.99997197e-01 -1.24925412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:40.27, Y:-10.83, Z:-0.13 [[ 9.10403389e-01 4.13716087e-01 2.16076159e-03 4.02710388e+01] [-4.13714954e-01 9.10405953e-01 -9.68168719e-04 -1.08260940e+01] [-2.36771719e-03 -1.25152995e-05 9.99997197e-01 -1.25146988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:40.30, Y:-10.84, Z:-0.12 [[ 9.11543000e-01 4.11199090e-01 2.16049894e-03 4.02991981e+01] [-4.11197949e-01 9.11545560e-01 -9.68754470e-04 -1.08354646e+01] [-2.36774418e-03 -5.33137852e-06 9.99997197e-01 -1.24997964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:-10.85, Z:-0.12 [[ 9.10247985e-01 4.14057857e-01 2.16710235e-03 4.03286037e+01] [-4.14056759e-01 9.10250565e-01 -9.54033711e-04 -1.08527561e+01] [-2.36763129e-03 -2.88961115e-05 9.99997197e-01 -1.19636224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.1 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:40.36, Y:-10.87, Z:-0.12 [[ 9.10475833e-01 4.13556636e-01 2.15998257e-03 4.03585818e+01] [-4.13555499e-01 9.10478395e-01 -9.69889747e-04 -1.08656812e+01] [-2.36772180e-03 -1.02114940e-05 9.99997197e-01 -1.22304846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129999999999995 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:40.39, Y:-10.88, Z:-0.12 [[ 9.10483344e-01 4.13540103e-01 2.15970932e-03 4.03885632e+01] [-4.13538964e-01 9.10485905e-01 -9.70497824e-04 -1.08800756e+01] [-2.36772466e-03 -9.50185152e-06 9.99997197e-01 -1.21238468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:40.41, Y:-10.89, Z:-0.12 [[ 9.12527966e-01 4.09008617e-01 2.15943773e-03 4.04139285e+01] [-4.09007464e-01 9.12530521e-01 -9.71101765e-04 -1.08859652e+01] [-2.36774182e-03 2.93137043e-06 9.99997197e-01 -1.23873633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:40.45, Y:-10.91, Z:-0.12 [[ 9.10183942e-01 4.14198580e-01 2.17436590e-03 4.04457623e+01] [-4.14197521e-01 9.10186538e-01 -9.37881269e-04 -1.09066233e+01] [-2.36754767e-03 -4.69724969e-05 9.99997196e-01 -1.22925555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:40.48, Y:-10.92, Z:-0.12 [[ 9.09678086e-01 4.15308461e-01 2.15904494e-03 4.04758721e+01] [-4.15307324e-01 9.09680648e-01 -9.71915749e-04 -1.09203538e+01] [-2.36768624e-03 -1.25367192e-05 9.99997197e-01 -1.21317753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:40.51, Y:-10.93, Z:-0.13 [[ 9.08628715e-01 4.17599328e-01 2.15877266e-03 4.05052677e+01] [-4.17598196e-01 9.08631279e-01 -9.72520164e-04 -1.09320647e+01] [-2.36765213e-03 -1.78398199e-05 9.99997197e-01 -1.25334425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:40.54, Y:-10.95, Z:-0.13 [[ 9.07808553e-01 4.19379270e-01 2.15851944e-03 4.05358486e+01] [-4.19378141e-01 9.07811119e-01 -9.73081852e-04 -1.09451095e+01] [-2.36761831e-03 -2.18638434e-05 9.99997197e-01 -1.25529561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309999999999995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:40.57, Y:-10.96, Z:-0.13 [[ 9.06959599e-01 4.21212095e-01 2.15823982e-03 4.05653584e+01] [-4.21210970e-01 9.06962166e-01 -9.73701639e-04 -1.09578546e+01] [-2.36757677e-03 -2.59662412e-05 9.99997197e-01 -1.26514080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339999999999996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:40.60, Y:-10.97, Z:-0.13 [[ 9.06051320e-01 4.23162320e-01 2.15798068e-03 4.05960453e+01] [-4.23161199e-01 9.06053889e-01 -9.74275625e-04 -1.09709456e+01] [-2.36752352e-03 -3.04299778e-05 9.99997197e-01 -1.27846281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:40.63, Y:-10.98, Z:-0.13 [[ 9.05145653e-01 4.25096096e-01 2.15770509e-03 4.06258019e+01] [-4.25094980e-01 9.05148224e-01 -9.74885598e-04 -1.09837511e+01] [-2.36746299e-03 -3.48161389e-05 9.99997197e-01 -1.28244828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.4 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:40.66, Y:-11.00, Z:-0.13 [[ 9.04215886e-01 4.27070224e-01 2.15744888e-03 4.06561135e+01] [-4.27069112e-01 9.04218459e-01 -9.75452265e-04 -1.09968011e+01] [-2.36739172e-03 -3.93603413e-05 9.99997197e-01 -1.28268626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:40.69, Y:-11.01, Z:-0.13 [[ 9.02805175e-01 4.30044373e-01 2.15717406e-03 4.06866817e+01] [-4.30043267e-01 9.02807751e-01 -9.76059629e-04 -1.10089940e+01] [-2.36726242e-03 -4.64864984e-05 9.99997197e-01 -1.28021465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:40.72, Y:-11.02, Z:-0.13 [[ 9.02145849e-01 4.31425792e-01 2.15689722e-03 4.07157681e+01] [-4.31424690e-01 9.02148426e-01 -9.76671024e-04 -1.10213373e+01] [-2.36720250e-03 -4.94390010e-05 9.99997197e-01 -1.27967055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:40.75, Y:-11.03, Z:-0.13 [[ 9.01635398e-01 4.32491571e-01 2.15663985e-03 4.07454036e+01] [-4.32490470e-01 9.01637975e-01 -9.77238998e-04 -1.10344144e+01] [-2.36715602e-03 -5.16129088e-05 9.99997197e-01 -1.28641855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519999999999996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:40.77, Y:-11.05, Z:-0.13 [[ 9.01248189e-01 4.33297879e-01 2.15636311e-03 4.07744341e+01] [-4.33296779e-01 9.01250767e-01 -9.77849265e-04 -1.10481350e+01] [-2.36712392e-03 -5.30603107e-05 9.99997197e-01 -1.28767257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:40.80, Y:-11.06, Z:-0.13 [[ 9.01327248e-01 4.33133401e-01 2.15610606e-03 4.08039563e+01] [-4.33132299e-01 9.01329825e-01 -9.78415712e-04 -1.10624983e+01] [-2.36714723e-03 -5.20064361e-05 9.99997197e-01 -1.27481021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:40.83, Y:-11.08, Z:-0.13 [[ 9.01546030e-01 4.32677835e-01 2.15582923e-03 4.08334035e+01] [-4.32676730e-01 9.01548606e-01 -9.79025305e-04 -1.10760403e+01] [-2.36718739e-03 -5.01407654e-05 9.99997197e-01 -1.27427251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:40.86, Y:-11.09, Z:-0.13 [[ 9.01871245e-01 4.31999549e-01 2.15554906e-03 4.08623015e+01] [-4.31998441e-01 9.01873820e-01 -9.79641784e-04 -1.10895320e+01] [-2.36723807e-03 -4.76830751e-05 9.99997197e-01 -1.27997002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:40.89, Y:-11.10, Z:-0.13 [[ 9.02850996e-01 4.29948176e-01 2.15528910e-03 4.08916538e+01] [-4.29947061e-01 9.02853567e-01 -9.80213369e-04 -1.11037020e+01] [-2.36735140e-03 -4.16735982e-05 9.99997197e-01 -1.28319610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:40.92, Y:-11.12, Z:-0.13 [[ 9.03520612e-01 4.28539215e-01 2.15501325e-03 4.09209996e+01] [-4.28538094e-01 9.03523182e-01 -9.80819459e-04 -1.11178827e+01] [-2.36742403e-03 -3.73146728e-05 9.99997197e-01 -1.30043925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:40.95, Y:-11.13, Z:-0.13 [[ 9.04360116e-01 4.26764733e-01 2.15473820e-03 4.09503827e+01] [-4.26763606e-01 9.04362683e-01 -9.81423336e-04 -1.11322930e+01] [-2.36750169e-03 -3.20037214e-05 9.99997197e-01 -1.29400319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:40.98, Y:-11.15, Z:-0.13 [[ 9.06441819e-01 4.22325216e-01 2.15446082e-03 4.09787494e+01] [-4.22324075e-01 9.06444379e-01 -9.82031872e-04 -1.11484962e+01] [-2.36763572e-03 -1.97259170e-05 9.99997197e-01 -1.29546361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:41.01, Y:-11.16, Z:-0.13 [[ 9.07498599e-01 4.20049584e-01 2.15418459e-03 4.10071336e+01] [-4.20048434e-01 9.07501155e-01 -9.82637430e-04 -1.11631344e+01] [-2.36768145e-03 -1.31197752e-05 9.99997197e-01 -1.30209838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:41.04, Y:-11.18, Z:-0.13 [[ 9.08542693e-01 4.17786471e-01 2.15401297e-03 4.10362467e+01] [-4.17785315e-01 9.08545246e-01 -9.83013501e-04 -1.11777496e+01] [-2.36770799e-03 -6.80525341e-06 9.99997197e-01 -1.28898087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:41.07, Y:-11.19, Z:-0.13 [[ 9.09592632e-01 4.15495614e-01 2.15374049e-03 4.10656290e+01] [-4.15494450e-01 9.09595182e-01 -9.83610125e-04 -1.11919899e+01] [-2.36771767e-03 -1.82698138e-07 9.99997197e-01 -1.27836824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:41.09, Y:-11.21, Z:-0.13 [[ 9.11145370e-01 4.12079455e-01 2.15346902e-03 4.10945380e+01] [-4.12078280e-01 9.11147915e-01 -9.84204108e-04 -1.12064301e+01] [-2.36769910e-03 9.35520562e-06 9.99997197e-01 -1.31886267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879999999999995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:41.12, Y:-11.22, Z:-0.13 [[ 9.11792203e-01 4.10646250e-01 2.15321609e-03 4.11237946e+01] [-4.10645070e-01 9.11794745e-01 -9.84757156e-04 -1.12205365e+01] [-2.36767795e-03 1.36863250e-05 9.99997197e-01 -1.30445436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:41.15, Y:-11.23, Z:-0.13 [[ 9.12248799e-01 4.09630924e-01 2.15293396e-03 4.11527672e+01] [-4.09629740e-01 9.12251339e-01 -9.85373575e-04 -1.12349586e+01] [-2.36765638e-03 1.70000812e-05 9.99997197e-01 -1.30091550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:41.18, Y:-11.25, Z:-0.13 [[ 9.12556751e-01 4.08944424e-01 2.15267113e-03 4.11816409e+01] [-4.08943236e-01 9.12559290e-01 -9.85947431e-04 -1.12492814e+01] [-2.36763774e-03 1.94126875e-05 9.99997197e-01 -1.28963372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:41.21, Y:-11.26, Z:-0.13 [[ 9.12763882e-01 4.08481900e-01 2.15241794e-03 4.12116780e+01] [-4.08480709e-01 9.12766420e-01 -9.86499862e-04 -1.12632858e+01] [-2.36762215e-03 2.12202366e-05 9.99997197e-01 -1.28727937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.0 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:41.24, Y:-11.28, Z:-0.13 [[ 9.12378625e-01 4.09341685e-01 2.15147798e-03 4.12397274e+01] [-4.09340492e-01 9.12381162e-01 -9.88549884e-04 -1.12757366e+01] [-2.36762265e-03 2.12447304e-05 9.99997197e-01 -1.28077382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:41.27, Y:-11.29, Z:-0.13 [[ 9.11887554e-01 4.10434474e-01 2.15216958e-03 4.12686789e+01] [-4.10433288e-01 9.11890093e-01 -9.87041904e-04 -1.12882459e+01] [-2.36765814e-03 1.67491907e-05 9.99997197e-01 -1.30350796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059999999999995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:41.30, Y:-11.30, Z:-0.13 [[ 9.10965191e-01 4.12477625e-01 2.15191562e-03 4.12989364e+01] [-4.12476443e-01 9.10967732e-01 -9.87595272e-04 -1.13002285e+01] [-2.36768664e-03 1.20504171e-05 9.99997197e-01 -1.31099940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:-11.30, Z:-0.13 [[ 9.12562231e-01 4.08932200e-01 2.15164694e-03 4.13242325e+01] [-4.08931007e-01 9.12564768e-01 -9.88180277e-04 -1.13029377e+01] [-2.36761593e-03 2.19008477e-05 9.99997197e-01 -1.32183773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:41.36, Y:-11.33, Z:-0.13 [[ 9.09481125e-01 4.15739541e-01 2.17173338e-03 4.13570567e+01] [-4.15738471e-01 9.09483717e-01 -9.44419772e-04 -1.13264385e+01] [-2.36778879e-03 -4.39411565e-05 9.99997196e-01 -1.28234761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:41.39, Y:-11.34, Z:-0.13 [[ 9.08179745e-01 4.18574874e-01 2.15089969e-03 4.13870224e+01] [-4.18573704e-01 9.08182292e-01 -9.89697437e-04 -1.13388196e+01] [-2.36767148e-03 -1.48688169e-06 9.99997197e-01 -1.29363912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:41.42, Y:-11.35, Z:-0.13 [[ 9.07517379e-01 4.20009026e-01 2.15061966e-03 4.14161679e+01] [-4.20007858e-01 9.07519927e-01 -9.90305558e-04 -1.13514423e+01] [-2.36766747e-03 -4.55765316e-06 9.99997197e-01 -1.30117960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:41.45, Y:-11.36, Z:-0.13 [[ 9.06874535e-01 4.21395247e-01 2.15035887e-03 4.14466292e+01] [-4.21394082e-01 9.06877084e-01 -9.90871516e-04 -1.13649718e+01] [-2.36765973e-03 -7.55235694e-06 9.99997197e-01 -1.30707633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:41.48, Y:-11.38, Z:-0.13 [[ 9.06753711e-01 4.21655173e-01 2.15007699e-03 4.14769117e+01] [-4.21654007e-01 9.06756260e-01 -9.91482785e-04 -1.13790222e+01] [-2.36765962e-03 -7.55788434e-06 9.99997197e-01 -1.30786988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269999999999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:41.51, Y:-11.39, Z:-0.13 [[ 9.06150606e-01 4.22949711e-01 2.14979262e-03 4.15057552e+01] [-4.22948547e-01 9.06153156e-01 -9.92098992e-04 -1.13920731e+01] [-2.36764935e-03 -1.02605633e-05 9.99997197e-01 -1.30691811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.3 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:41.53, Y:-11.41, Z:-0.13 [[ 9.06065455e-01 4.23132096e-01 2.14949980e-03 4.15345774e+01] [-4.23130932e-01 9.06068005e-01 -9.92733020e-04 -1.14050586e+01] [-2.36765020e-03 -1.00387567e-05 9.99997197e-01 -1.32009403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:-11.42, Z:-0.13 [[ 9.05938350e-01 4.23404166e-01 2.14924449e-03 4.15633941e+01] [-4.23403001e-01 9.05940899e-01 -9.93285441e-04 -1.14180101e+01] [-2.36764968e-03 -1.01411947e-05 9.99997197e-01 -1.26554170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:41.59, Y:-11.43, Z:-0.13 [[ 9.06077142e-01 4.23107073e-01 2.14901486e-03 4.15924418e+01] [-4.23105906e-01 9.06079690e-01 -9.93782012e-04 -1.14315092e+01] [-2.36765492e-03 -8.81771475e-06 9.99997197e-01 -1.28681174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:41.62, Y:-11.45, Z:-0.13 [[ 9.06330621e-01 4.22563827e-01 2.14883989e-03 4.16221655e+01] [-4.22562657e-01 9.06333168e-01 -9.94160206e-04 -1.14453945e+01] [-2.36766101e-03 -6.98165780e-06 9.99997197e-01 -1.29404832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:41.65, Y:-11.46, Z:-0.13 [[ 9.07103928e-01 4.20901232e-01 2.14856222e-03 4.16509994e+01] [-4.20900057e-01 9.07106473e-01 -9.94759944e-04 -1.14592181e+01] [-2.36767038e-03 -1.97930700e-06 9.99997197e-01 -1.28586422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:41.68, Y:-11.47, Z:-0.13 [[ 9.07588905e-01 4.19854457e-01 2.14830372e-03 4.16810707e+01] [-4.19853277e-01 9.07591447e-01 -9.95317883e-04 -1.14734987e+01] [-2.36767073e-03 1.36710919e-06 9.99997197e-01 -1.30262131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:41.71, Y:-11.49, Z:-0.13 [[ 9.08138196e-01 4.18665025e-01 2.14802873e-03 4.17100798e+01] [-4.18663841e-01 9.08140736e-01 -9.95911003e-04 -1.14873573e+01] [-2.36766550e-03 5.12286359e-06 9.99997197e-01 -1.30545954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:-11.50, Z:-0.13 [[ 9.09232864e-01 4.16282339e-01 2.14777343e-03 4.17396769e+01] [-4.16281147e-01 9.09235401e-01 -9.96461270e-04 -1.15022095e+01] [-2.36764087e-03 1.19377474e-05 9.99997197e-01 -1.25693250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:41.77, Y:-11.52, Z:-0.13 [[ 9.09833545e-01 4.14967841e-01 2.14749073e-03 4.17679106e+01] [-4.14966643e-01 9.09836079e-01 -9.97070150e-04 -1.15154198e+01] [-2.36761660e-03 1.60308489e-05 9.99997197e-01 -1.31508574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.80, Y:-11.53, Z:-0.13 [[ 9.10041711e-01 4.14511126e-01 2.14726336e-03 4.17972173e+01] [-4.14509926e-01 9.10044244e-01 -9.97559567e-04 -1.15295935e+01] [-2.36760420e-03 1.77588382e-05 9.99997197e-01 -1.27477333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:-11.54, Z:-0.13 [[ 9.10259526e-01 4.14032590e-01 2.14698362e-03 4.18261140e+01] [-4.14031388e-01 9.10262058e-01 -9.98161271e-04 -1.15434423e+01] [-2.36758903e-03 1.96671970e-05 9.99997197e-01 -1.26845824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:-11.56, Z:-0.13 [[ 9.10273272e-01 4.14002370e-01 2.14672321e-03 4.18553265e+01] [-4.14001166e-01 9.10275803e-01 -9.98721020e-04 -1.15573370e+01] [-2.36758306e-03 2.03631381e-05 9.99997197e-01 -1.26955803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:41.88, Y:-11.57, Z:-0.13 [[ 9.10134522e-01 4.14307306e-01 2.14646539e-03 4.18849877e+01] [-4.14306102e-01 9.10137053e-01 -9.99274819e-04 -1.15706804e+01] [-2.36758455e-03 2.01808010e-05 9.99997197e-01 -1.29249824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:41.91, Y:-11.58, Z:-0.13 [[ 9.09873632e-01 4.14879944e-01 2.14619147e-03 4.19146010e+01] [-4.14878739e-01 9.09876163e-01 -9.99862780e-04 -1.15840126e+01] [-2.36759148e-03 1.93395663e-05 9.99997197e-01 -1.30741745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:41.94, Y:-11.60, Z:-0.13 [[ 9.08860996e-01 4.17093616e-01 2.14591847e-03 4.19432925e+01] [-4.17092417e-01 9.08863529e-01 -1.00044837e-03 -1.15971841e+01] [-2.36762766e-03 1.42221819e-05 9.99997197e-01 -1.32465584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.97, Y:-11.61, Z:-0.13 [[ 9.08039473e-01 4.18879112e-01 2.14568223e-03 4.19731558e+01] [-4.18877917e-01 9.08042008e-01 -1.00095477e-03 -1.16115805e+01] [-2.36764865e-03 1.01275375e-05 9.99997197e-01 -1.29014465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.00, Y:-11.62, Z:-0.13 [[ 9.07443935e-01 4.20167706e-01 2.14541464e-03 4.20011378e+01] [-4.20166513e-01 9.07446471e-01 -1.00152800e-03 -1.16244498e+01] [-2.36765866e-03 7.39911862e-06 9.99997197e-01 -1.32832142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809999999999995 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:42.03, Y:-11.64, Z:-0.13 [[ 9.06583894e-01 4.22020191e-01 2.14519874e-03 4.20311493e+01] [-4.22019001e-01 9.06586432e-01 -1.00199022e-03 -1.16386748e+01] [-2.36766817e-03 3.07356861e-06 9.99997197e-01 -1.29849956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839999999999996 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.06, Y:-11.65, Z:-0.13 [[ 9.05701085e-01 4.23911481e-01 2.14493339e-03 4.20595716e+01] [-4.23910296e-01 9.05703625e-01 -1.00255792e-03 -1.16517541e+01] [-2.36766976e-03 -1.24154771e-06 9.99997197e-01 -1.32152017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.09, Y:-11.67, Z:-0.13 [[ 9.05115495e-01 4.25160371e-01 2.14471958e-03 4.20896402e+01] [-4.25159188e-01 9.05118036e-01 -1.00301511e-03 -1.16657033e+01] [-2.36766665e-03 -4.00271946e-06 9.99997197e-01 -1.32006692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.9 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:42.12, Y:-11.68, Z:-0.13 [[ 9.04528993e-01 4.26406732e-01 2.14445941e-03 4.21191460e+01] [-4.26405551e-01 9.04531536e-01 -1.00357106e-03 -1.16793095e+01] [-2.36766061e-03 -6.65027838e-06 9.99997197e-01 -1.30150128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.15, Y:-11.69, Z:-0.13 [[ 9.04028312e-01 4.27467207e-01 2.14419364e-03 4.21479278e+01] [-4.27466028e-01 9.04030855e-01 -1.00413856e-03 -1.16924870e+01] [-2.36765352e-03 -8.80024819e-06 9.99997197e-01 -1.31889215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.18, Y:-11.71, Z:-0.13 [[ 9.03125028e-01 4.29372318e-01 2.14402840e-03 4.21776310e+01] [-4.29371143e-01 9.03127573e-01 -1.00449125e-03 -1.17067342e+01] [-2.36763190e-03 -1.34027383e-05 9.99997197e-01 -1.29784627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:-11.72, Z:-0.13 [[ 9.02573163e-01 4.30531172e-01 2.14374381e-03 4.22064775e+01] [-4.30529999e-01 9.02575708e-01 -1.00509825e-03 -1.17212081e+01] [-2.36761722e-03 -1.57713195e-05 9.99997197e-01 -1.25311516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019999999999996 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:42.24, Y:-11.73, Z:-0.13 [[ 9.02733218e-01 4.30195471e-01 2.14349072e-03 4.22350566e+01] [-4.30194296e-01 9.02735762e-01 -1.00563771e-03 -1.17344850e+01] [-2.36762652e-03 -1.42949122e-05 9.99997197e-01 -1.29537435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:42.26, Y:-11.75, Z:-0.13 [[ 9.02695668e-01 4.30274258e-01 2.14325674e-03 4.22648516e+01] [-4.30273082e-01 9.02698212e-01 -1.00613613e-03 -1.17493957e+01] [-2.36762850e-03 -1.39509596e-05 9.99997197e-01 -1.29172176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.29, Y:-11.75, Z:-0.14 [[ 9.05542560e-01 4.24250021e-01 2.14297473e-03 4.22893497e+01] [-4.24248826e-01 9.05545095e-01 -1.00673641e-03 -1.17519668e+01] [-2.36766820e-03 2.48815208e-06 9.99997197e-01 -1.36216819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:42.32, Y:-11.78, Z:-0.13 [[ 9.02572474e-01 4.30532512e-01 2.16463341e-03 4.23211998e+01] [-4.30531446e-01 9.02575067e-01 -9.60589268e-04 -1.17764607e+01] [-2.36730906e-03 -6.49413194e-05 9.99997196e-01 -1.29788214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:42.35, Y:-11.79, Z:-0.13 [[ 9.02557031e-01 4.30564995e-01 2.14241919e-03 4.23508592e+01] [-4.30563816e-01 9.02559574e-01 -1.00781251e-03 -1.17900232e+01] [-2.36758974e-03 -1.28399154e-05 9.99997197e-01 -1.30045218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:42.38, Y:-11.80, Z:-0.13 [[ 9.02869556e-01 4.29909266e-01 2.14213799e-03 4.23807996e+01] [-4.29908083e-01 9.02872097e-01 -1.00840987e-03 -1.18038389e+01] [-2.36760136e-03 -1.04598622e-05 9.99997197e-01 -1.29373238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199999999999996 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:42.41, Y:-11.82, Z:-0.13 [[ 9.03104859e-01 4.29414748e-01 2.14185176e-03 4.24096849e+01] [-4.29413562e-01 9.03107399e-01 -1.00901746e-03 -1.18175710e+01] [-2.36760914e-03 -8.49162588e-06 9.99997197e-01 -1.29651716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.44, Y:-11.83, Z:-0.13 [[ 9.03331998e-01 4.28936727e-01 2.14158461e-03 4.24386962e+01] [-4.28935539e-01 9.03334536e-01 -1.00958414e-03 -1.18315476e+01] [-2.36761506e-03 -6.61208681e-06 9.99997197e-01 -1.30028303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.47, Y:-11.85, Z:-0.13 [[ 9.04163952e-01 4.27180246e-01 2.14132238e-03 4.24681844e+01] [-4.27179052e-01 9.04166488e-01 -1.01014001e-03 -1.18459987e+01] [-2.36762380e-03 -1.39588147e-06 9.99997197e-01 -1.29655120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:42.50, Y:-11.86, Z:-0.13 [[ 9.04323800e-01 4.26841752e-01 2.14104403e-03 4.24973216e+01] [-4.26840556e-01 9.04326334e-01 -1.01072965e-03 -1.18605704e+01] [-2.36762412e-03 1.42450933e-07 9.99997197e-01 -1.27681619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.53, Y:-11.87, Z:-0.13 [[ 9.04810424e-01 4.25809245e-01 2.14076472e-03 4.25275731e+01] [-4.25808044e-01 9.04812957e-01 -1.01132091e-03 -1.18746335e+01] [-2.36762144e-03 3.49886050e-06 9.99997197e-01 -1.30464593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.56, Y:-11.89, Z:-0.13 [[ 9.05004709e-01 4.25396163e-01 2.14048352e-03 4.25571842e+01] [-4.25394959e-01 9.05007240e-01 -1.01191572e-03 -1.18888419e+01] [-2.36761814e-03 5.23759229e-06 9.99997197e-01 -1.31487508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379999999999995 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.59, Y:-11.90, Z:-0.13 [[ 9.05669101e-01 4.23979834e-01 2.14020140e-03 4.25857992e+01] [-4.23978625e-01 9.05671629e-01 -1.01251204e-03 -1.19031427e+01] [-2.36760438e-03 9.60121773e-06 9.99997197e-01 -1.31913637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:-11.92, Z:-0.13 [[ 9.05731526e-01 4.23846463e-01 2.13993981e-03 4.26154927e+01] [-4.23845252e-01 9.05734054e-01 -1.01306462e-03 -1.19178062e+01] [-2.36760021e-03 1.05612413e-05 9.99997197e-01 -1.28283085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.64, Y:-11.93, Z:-0.13 [[ 9.06012151e-01 4.23246268e-01 2.13966290e-03 4.26447120e+01] [-4.23245055e-01 9.06014678e-01 -1.01364913e-03 -1.19322108e+01] [-2.36758920e-03 1.27766857e-05 9.99997197e-01 -1.31730922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:42.67, Y:-11.95, Z:-0.13 [[ 9.06043559e-01 4.23179030e-01 2.13937681e-03 4.26732206e+01] [-4.23177815e-01 9.06046085e-01 -1.01425259e-03 -1.19465074e+01] [-2.36758441e-03 1.36202241e-05 9.99997197e-01 -1.30884793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.5 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:42.70, Y:-11.96, Z:-0.13 [[ 9.05828428e-01 4.23639331e-01 2.13911062e-03 4.27032835e+01] [-4.23638115e-01 9.05830954e-01 -1.01481369e-03 -1.19609160e+01] [-2.36758760e-03 1.30382986e-05 9.99997197e-01 -1.30376099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:42.73, Y:-11.97, Z:-0.13 [[ 9.05515537e-01 4.24307717e-01 2.13884200e-03 4.27330862e+01] [-4.24306502e-01 9.05518062e-01 -1.01537952e-03 -1.19748977e+01] [-2.36759343e-03 1.19173611e-05 9.99997197e-01 -1.30200542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559999999999995 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.76, Y:-11.98, Z:-0.13 [[ 9.06362012e-01 4.22496544e-01 2.13855479e-03 4.27598551e+01] [-4.22495323e-01 9.06364535e-01 -1.01598408e-03 -1.19802788e+01] [-2.36755997e-03 1.73199764e-05 9.99997197e-01 -1.34358784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589999999999996 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.79, Y:-12.00, Z:-0.13 [[ 9.03623664e-01 4.28321889e-01 2.15237485e-03 4.27905634e+01] [-4.28320753e-01 9.03626227e-01 -9.86878200e-04 -1.20009627e+01] [-2.36764390e-03 -3.01403207e-05 9.99997197e-01 -1.29856853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.82, Y:-12.01, Z:-0.14 [[ 9.04827630e-01 4.25772695e-01 2.13818387e-03 4.28180753e+01] [-4.25771481e-01 9.04830157e-01 -1.01672208e-03 -1.20082010e+01] [-2.36758574e-03 9.58051606e-06 9.99997197e-01 -1.35457004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:42.85, Y:-12.03, Z:-0.13 [[ 9.01539569e-01 4.32691318e-01 2.15151176e-03 4.28482081e+01] [-4.32690190e-01 9.01542135e-01 -9.88680523e-04 -1.20295688e+01] [-2.36747198e-03 -3.96034202e-05 9.99997197e-01 -1.28724178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:42.88, Y:-12.04, Z:-0.13 [[ 9.01105199e-01 4.33595262e-01 2.13776032e-03 4.28778178e+01] [-4.33594068e-01 9.01107734e-01 -1.01757021e-03 -1.20439032e+01] [-2.36756598e-03 -9.98238583e-06 9.99997197e-01 -1.30736866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:42.90, Y:-12.05, Z:-0.14 [[ 9.02978684e-01 4.29680029e-01 2.13747326e-03 4.29039226e+01] [-4.29678823e-01 9.02981214e-01 -1.01817284e-03 -1.20492506e+01] [-2.36758674e-03 9.61374483e-07 9.99997197e-01 -1.35450384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739999999999995 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:42.93, Y:-12.06, Z:-0.14 [[ 9.02685888e-01 4.30294723e-01 2.15385342e-03 4.29330563e+01] [-4.30293601e-01 9.02688457e-01 -9.83783982e-04 -1.20624742e+01] [-2.36757567e-03 -3.87414256e-05 9.99997197e-01 -1.37774813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769999999999996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:42.96, Y:-12.09, Z:-0.13 [[ 8.99697674e-01 4.36508242e-01 2.15636055e-03 4.29642458e+01] [-4.36507150e-01 8.99700256e-01 -9.78523772e-04 -1.20866925e+01] [-2.36721183e-03 -6.08912359e-05 9.99997196e-01 -1.32512347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.8 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.99, Y:-12.10, Z:-0.13 [[ 8.99652104e-01 4.36602253e-01 2.13643900e-03 4.29929754e+01] [-4.36601061e-01 8.99654641e-01 -1.02024057e-03 -1.21010088e+01] [-2.36749660e-03 -1.49099541e-05 9.99997197e-01 -1.31920811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:43.02, Y:-12.12, Z:-0.13 [[ 8.99744442e-01 4.36411934e-01 2.13626293e-03 4.30212974e+01] [-4.36410741e-01 8.99746978e-01 -1.02060912e-03 -1.21154291e+01] [-2.36750211e-03 -1.40007015e-05 9.99997197e-01 -1.31662951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:43.05, Y:-12.13, Z:-0.13 [[ 9.00420400e-01 4.35015564e-01 2.13600422e-03 4.30497175e+01] [-4.35014365e-01 9.00422933e-01 -1.02115027e-03 -1.21313028e+01] [-2.36752345e-03 -9.72799090e-06 9.99997197e-01 -1.29687919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:-12.14, Z:-0.13 [[ 9.03622948e-01 4.28323484e-01 2.13572335e-03 4.30751831e+01] [-4.28322265e-01 9.03625472e-01 -1.02173738e-03 -1.21363532e+01] [-2.36752813e-03 8.48748486e-06 9.99997197e-01 -1.34413817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:43.11, Y:-12.16, Z:-0.13 [[ 9.01127313e-01 4.33549213e-01 2.15568844e-03 4.31067109e+01] [-4.33548108e-01 9.01129889e-01 -9.79976958e-04 -1.21605135e+01] [-2.36742352e-03 -5.15106419e-05 9.99997196e-01 -1.31860234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:-12.17, Z:-0.13 [[ 9.00883878e-01 4.34054926e-01 2.13514645e-03 4.31352671e+01] [-4.34053721e-01 9.00886408e-01 -1.02285701e-03 -1.21740445e+01] [-2.36750054e-03 -5.29287286e-06 9.99997197e-01 -1.28034862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.17, Y:-12.19, Z:-0.13 [[ 9.00836857e-01 4.34152506e-01 2.13496196e-03 4.31652471e+01] [-4.34151300e-01 9.00839387e-01 -1.02324193e-03 -1.21880608e+01] [-2.36750088e-03 -5.12246501e-06 9.99997197e-01 -1.31540893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:43.19, Y:-12.20, Z:-0.13 [[ 9.00401012e-01 4.35055699e-01 2.13467426e-03 4.31946213e+01] [-4.35054494e-01 9.00403542e-01 -1.02384179e-03 -1.22017477e+01] [-2.36749647e-03 -6.83144335e-06 9.99997197e-01 -1.29156854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:43.22, Y:-12.21, Z:-0.13 [[ 8.99989648e-01 4.35906042e-01 2.13438433e-03 4.32244034e+01] [-4.35904838e-01 8.99992179e-01 -1.02444584e-03 -1.22142770e+01] [-2.36749134e-03 -8.39780480e-06 9.99997197e-01 -1.33686505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.25, Y:-12.23, Z:-0.13 [[ 8.99765819e-01 4.36367867e-01 2.13413226e-03 4.32545428e+01] [-4.36366664e-01 8.99768350e-01 -1.02497070e-03 -1.22281803e+01] [-2.36748894e-03 -9.03057359e-06 9.99997197e-01 -1.32964666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.1 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.28, Y:-12.24, Z:-0.13 [[ 8.99604475e-01 4.36700395e-01 2.13384219e-03 4.32836321e+01] [-4.36699191e-01 8.99607006e-01 -1.02557422e-03 -1.22420366e+01] [-2.36748805e-03 -9.23599550e-06 9.99997197e-01 -1.33572778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129999999999995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.31, Y:-12.26, Z:-0.13 [[ 8.99482632e-01 4.36951305e-01 2.13357224e-03 4.33136845e+01] [-4.36950101e-01 8.99485162e-01 -1.02613550e-03 -1.22565785e+01] [-2.36748782e-03 -9.27354559e-06 9.99997197e-01 -1.33652113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:43.34, Y:-12.27, Z:-0.13 [[ 8.99325636e-01 4.37274342e-01 2.13328586e-03 4.33429825e+01] [-4.37273136e-01 8.99328166e-01 -1.02673054e-03 -1.22704558e+01] [-2.36748698e-03 -9.46350311e-06 9.99997197e-01 -1.33433384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:43.37, Y:-12.28, Z:-0.13 [[ 8.99179912e-01 4.37573920e-01 2.13299699e-03 4.33726413e+01] [-4.37572714e-01 8.99182442e-01 -1.02733029e-03 -1.22846722e+01] [-2.36748639e-03 -9.58652605e-06 9.99997197e-01 -1.30487103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.40, Y:-12.30, Z:-0.13 [[ 8.99337919e-01 4.37249081e-01 2.13269893e-03 4.34009664e+01] [-4.37247873e-01 8.99340448e-01 -1.02794868e-03 -1.22988130e+01] [-2.36749203e-03 -8.04484879e-06 9.99997197e-01 -1.33149937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:43.43, Y:-12.31, Z:-0.13 [[ 8.99394769e-01 4.37132133e-01 2.13242154e-03 4.34300323e+01] [-4.37130923e-01 8.99397297e-01 -1.02852379e-03 -1.23132022e+01] [-2.36749497e-03 -7.09847873e-06 9.99997197e-01 -1.32035821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-12.33, Z:-0.13 [[ 8.99910822e-01 4.36068764e-01 2.13224612e-03 4.34598088e+01] [-4.36067550e-01 8.99913348e-01 -1.02888733e-03 -1.23281278e+01] [-2.36750237e-03 -3.89649562e-06 9.99997197e-01 -1.28430920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309999999999995 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:43.49, Y:-12.34, Z:-0.13 [[ 9.00521690e-01 4.34805866e-01 2.13195423e-03 4.34884075e+01] [-4.34804647e-01 9.00524213e-01 -1.02949181e-03 -1.23424458e+01] [-2.36750548e-03 9.60976632e-08 9.99997197e-01 -1.32169040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339999999999996 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.52, Y:-12.36, Z:-0.13 [[ 9.01128142e-01 4.33547608e-01 2.13168289e-03 4.35174976e+01] [-4.33546384e-01 9.01130663e-01 -1.03005334e-03 -1.23572362e+01] [-2.36750198e-03 4.02664572e-06 9.99997197e-01 -1.31766913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:-12.37, Z:-0.13 [[ 9.01502786e-01 4.32768049e-01 2.13139074e-03 4.35458091e+01] [-4.32766822e-01 9.01505305e-01 -1.03065751e-03 -1.23720015e+01] [-2.36749570e-03 6.74541754e-06 9.99997197e-01 -1.27924094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.4 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:43.58, Y:-12.39, Z:-0.13 [[ 9.02967073e-01 4.29704460e-01 2.13111873e-03 4.35750046e+01] [-4.29703223e-01 9.02969588e-01 -1.03121965e-03 -1.23869927e+01] [-2.36745508e-03 1.54088012e-05 9.99997197e-01 -1.31370270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:-12.40, Z:-0.13 [[ 9.03043181e-01 4.29544495e-01 2.13082523e-03 4.36040900e+01] [-4.29543256e-01 9.03045694e-01 -1.03182574e-03 -1.24018263e+01] [-2.36744762e-03 1.65015916e-05 9.99997197e-01 -1.26361350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:43.63, Y:-12.42, Z:-0.13 [[ 9.03627016e-01 4.28314928e-01 2.13053218e-03 4.36327825e+01] [-4.28313684e-01 9.03629527e-01 -1.03243048e-03 -1.24150333e+01] [-2.36741717e-03 2.03959886e-05 9.99997197e-01 -1.30117086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:-12.43, Z:-0.13 [[ 9.03655761e-01 4.28254280e-01 2.13025994e-03 4.36629133e+01] [-4.28253034e-01 9.03658271e-01 -1.03299190e-03 -1.24288925e+01] [-2.36741022e-03 2.11788022e-05 9.99997197e-01 -1.26043813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519999999999996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:43.69, Y:-12.44, Z:-0.13 [[ 9.04161933e-01 4.27184576e-01 2.12997424e-03 4.36929082e+01] [-4.27183327e-01 9.04164441e-01 -1.03358067e-03 -1.24426196e+01] [-2.36737669e-03 2.46348193e-05 9.99997197e-01 -1.30314869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.72, Y:-12.46, Z:-0.13 [[ 9.04225333e-01 4.27050361e-01 2.12968440e-03 4.37216962e+01] [-4.27049110e-01 9.04227841e-01 -1.03417753e-03 -1.24560411e+01] [-2.36736582e-03 2.56496914e-05 9.99997197e-01 -1.30715673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:-12.47, Z:-0.13 [[ 9.03826803e-01 4.27893182e-01 2.12941473e-03 4.37513642e+01] [-4.27891931e-01 9.03829312e-01 -1.03473251e-03 -1.24708012e+01] [-2.36738243e-03 2.40595944e-05 9.99997197e-01 -1.27296003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:43.78, Y:-12.48, Z:-0.13 [[ 9.03862531e-01 4.27817710e-01 2.12913817e-03 4.37802990e+01] [-4.27816458e-01 9.03865038e-01 -1.03530125e-03 -1.24836254e+01] [-2.36737376e-03 2.48896591e-05 9.99997197e-01 -1.30851197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.81, Y:-12.50, Z:-0.13 [[ 9.03655143e-01 4.28255589e-01 2.12889074e-03 4.38090275e+01] [-4.28254337e-01 9.03657651e-01 -1.03580980e-03 -1.24969107e+01] [-2.36737974e-03 2.43081661e-05 9.99997197e-01 -1.32791773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:-12.51, Z:-0.13 [[ 9.02915353e-01 4.29813139e-01 2.12863779e-03 4.38383655e+01] [-4.29811890e-01 9.02917862e-01 -1.03632936e-03 -1.25107511e+01] [-2.36741306e-03 2.08038557e-05 9.99997197e-01 -1.29681957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699999999999996 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.87, Y:-12.52, Z:-0.13 [[ 9.02297054e-01 4.31109610e-01 2.12834444e-03 4.38671551e+01] [-4.31108363e-01 9.02299564e-01 -1.03693148e-03 -1.25232473e+01] [-2.36743538e-03 1.80731306e-05 9.99997197e-01 -1.34433278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.90, Y:-12.54, Z:-0.13 [[ 9.01913167e-01 4.31912156e-01 2.12810793e-03 4.38959231e+01] [-4.31910910e-01 9.01915677e-01 -1.03741663e-03 -1.25370868e+01] [-2.36744676e-03 1.65066815e-05 9.99997197e-01 -1.34593364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:43.93, Y:-12.55, Z:-0.13 [[ 9.01363376e-01 4.33058352e-01 2.12785688e-03 4.39250056e+01] [-4.33057108e-01 9.01365888e-01 -1.03793131e-03 -1.25514237e+01] [-2.36746243e-03 1.40697177e-05 9.99997197e-01 -1.34374564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:-12.56, Z:-0.13 [[ 9.01698997e-01 4.32359100e-01 2.12756982e-03 4.39521716e+01] [-4.32357853e-01 9.01701507e-01 -1.03851941e-03 -1.25604624e+01] [-2.36744623e-03 1.65603923e-05 9.99997197e-01 -1.31880889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-12.58, Z:-0.13 [[ 8.99393191e-01 4.37135354e-01 2.13784855e-03 4.39820990e+01] [-4.37134171e-01 8.99395731e-01 -1.01746293e-03 -1.25797634e+01] [-2.36754088e-03 -1.94274243e-05 9.99997197e-01 -1.27897207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:44.01, Y:-12.59, Z:-0.13 [[ 8.99142914e-01 4.37649970e-01 2.12692482e-03 4.40108263e+01] [-4.37648735e-01 8.99145429e-01 -1.03980741e-03 -1.25933559e+01] [-2.36748641e-03 4.08950814e-06 9.99997197e-01 -1.32729570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:-12.60, Z:-0.13 [[ 8.99647006e-01 4.36612806e-01 2.12665033e-03 4.40372811e+01] [-4.36611566e-01 8.99649520e-01 -1.04036850e-03 -1.26008510e+01] [-2.36747816e-03 7.44427723e-06 9.99997197e-01 -1.30884236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:44.07, Y:-12.62, Z:-0.13 [[ 8.97412999e-01 4.41186270e-01 2.14097643e-03 4.40683498e+01] [-4.41185113e-01 8.97415552e-01 -1.01106767e-03 -1.26206786e+01] [-2.36741472e-03 -3.72216588e-05 9.99997197e-01 -1.30217207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:44.10, Y:-12.63, Z:-0.13 [[ 8.96009890e-01 4.44029003e-01 2.12625171e-03 4.40975841e+01] [-4.44027783e-01 8.96012413e-01 -1.04113904e-03 -1.26349969e+01] [-2.36744386e-03 -1.12439604e-05 9.99997198e-01 -1.28341741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:44.13, Y:-12.65, Z:-0.13 [[ 8.95469570e-01 4.45117657e-01 2.12595898e-03 4.41259087e+01] [-4.45116439e-01 8.95472094e-01 -1.04173645e-03 -1.26485741e+01] [-2.36743222e-03 -1.34560011e-05 9.99997198e-01 -1.30565670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.0 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:44.15, Y:-12.66, Z:-0.13 [[ 8.94895339e-01 4.46271009e-01 2.12568618e-03 4.41536394e+01] [-4.46269792e-01 8.94897864e-01 -1.04229280e-03 -1.26617915e+01] [-2.36741708e-03 -1.58865629e-05 9.99997198e-01 -1.32640595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:44.18, Y:-12.68, Z:-0.13 [[ 8.94075647e-01 4.47910951e-01 2.12554436e-03 4.41833188e+01] [-4.47909738e-01 8.94078173e-01 -1.04258193e-03 -1.26764956e+01] [-2.36738668e-03 -1.99048993e-05 9.99997198e-01 -1.31801396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:-12.68, Z:-0.14 [[ 8.96414680e-01 4.43211242e-01 2.12525878e-03 4.42076224e+01] [-4.43210014e-01 8.96417199e-01 -1.04316374e-03 -1.26796577e+01] [-2.36746042e-03 -6.82868202e-06 9.99997198e-01 -1.35034235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:44.24, Y:-12.70, Z:-0.13 [[ 8.92462827e-01 4.51115821e-01 2.14918329e-03 4.42393077e+01] [-4.51114732e-01 8.92465411e-01 -9.94375520e-04 -1.27048690e+01] [-2.36665028e-03 -8.20850563e-05 9.99997196e-01 -1.31057584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:44.27, Y:-12.72, Z:-0.13 [[ 8.92372311e-01 4.51294964e-01 2.12468555e-03 4.42688677e+01] [-4.51293757e-01 8.92374840e-01 -1.04422127e-03 -1.27197444e+01] [-2.36726773e-03 -2.70231721e-05 9.99997198e-01 -1.31560602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:44.30, Y:-12.73, Z:-0.13 [[ 8.92190304e-01 4.51654678e-01 2.12438133e-03 4.42970299e+01] [-4.51653470e-01 8.92192833e-01 -1.04483982e-03 -1.27343952e+01] [-2.36726459e-03 -2.72882437e-05 9.99997198e-01 -1.31736341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:44.32, Y:-12.75, Z:-0.14 [[ 8.93447757e-01 4.49162101e-01 2.12409906e-03 4.43245460e+01] [-4.49160885e-01 8.93450282e-01 -1.04541334e-03 -1.27469499e+01] [-2.36733696e-03 -2.00400101e-05 9.99997198e-01 -1.36547134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:44.35, Y:-12.76, Z:-0.14 [[ 8.94463596e-01 4.47135703e-01 2.13039686e-03 4.43487658e+01] [-4.47134512e-01 8.94466133e-01 -1.03261844e-03 -1.27567306e+01] [-2.36728841e-03 -2.89343519e-05 9.99997198e-01 -1.39669532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:44.38, Y:-12.78, Z:-0.13 [[ 8.91364704e-01 4.53281773e-01 2.14454708e-03 4.43795307e+01] [-4.53280667e-01 8.91367280e-01 -1.00403652e-03 -1.27812648e+01] [-2.36669055e-03 -7.71190143e-05 9.99997196e-01 -1.32416750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.269999999999996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:44.41, Y:-12.79, Z:-0.14 [[ 8.91885401e-01 4.52256492e-01 2.12060279e-03 4.44079196e+01] [-4.52255268e-01 8.91887922e-01 -1.05228971e-03 -1.27936076e+01] [-2.36724487e-03 -2.05319474e-05 9.99997198e-01 -1.37415766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.3 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:44.44, Y:-12.81, Z:-0.13 [[ 8.90989631e-01 4.54018679e-01 2.12513725e-03 4.44362607e+01] [-4.54017482e-01 8.90992165e-01 -1.04315209e-03 -1.28097702e+01] [-2.36709117e-03 -3.54117704e-05 9.99997198e-01 -1.33201616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:44.47, Y:-12.82, Z:-0.13 [[ 8.90709986e-01 4.54567075e-01 2.12030701e-03 4.44661120e+01] [-4.54565857e-01 8.90712509e-01 -1.05287930e-03 -1.28245996e+01] [-2.36718824e-03 -2.60090669e-05 9.99997198e-01 -1.32900008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:44.49, Y:-12.84, Z:-0.14 [[ 8.90434356e-01 4.55106760e-01 2.12001167e-03 4.44949963e+01] [-4.55105541e-01 8.90436879e-01 -1.05347366e-03 -1.28391367e+01] [-2.36717956e-03 -2.67799188e-05 9.99997198e-01 -1.35643292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:44.52, Y:-12.85, Z:-0.14 [[ 8.90474953e-01 4.55027325e-01 2.11951632e-03 4.45235236e+01] [-4.55026104e-01 8.90477475e-01 -1.05446978e-03 -1.28534417e+01] [-2.36719410e-03 -2.54563272e-05 9.99997198e-01 -1.35051784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:44.55, Y:-12.87, Z:-0.14 [[ 8.90694928e-01 4.54596581e-01 2.11961567e-03 4.45541973e+01] [-4.54595360e-01 8.90697450e-01 -1.05427004e-03 -1.28689538e+01] [-2.36720383e-03 -2.45344721e-05 9.99997198e-01 -1.39466671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449999999999996 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:44.58, Y:-12.88, Z:-0.13 [[ 8.90281488e-01 4.55405749e-01 2.11565489e-03 4.45814476e+01] [-4.55404510e-01 8.90284002e-01 -1.06222928e-03 -1.28829991e+01] [-2.36727902e-03 -1.77957160e-05 9.99997198e-01 -1.34848566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:44.61, Y:-12.90, Z:-0.14 [[ 8.90321941e-01 4.55326641e-01 2.11924959e-03 4.46095293e+01] [-4.55325420e-01 8.90324463e-01 -1.05500841e-03 -1.28969741e+01] [-2.36719319e-03 -2.56510763e-05 9.99997198e-01 -1.37463275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:44.64, Y:-12.91, Z:-0.14 [[ 8.90202500e-01 4.55560116e-01 2.11901278e-03 4.46387618e+01] [-4.55558894e-01 8.90205021e-01 -1.05548384e-03 -1.29119133e+01] [-2.36719216e-03 -2.57407620e-05 9.99997198e-01 -1.36299844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.67, Y:-12.93, Z:-0.14 [[ 8.90338822e-01 4.55293635e-01 2.11872079e-03 4.46681644e+01] [-4.55292410e-01 8.90341342e-01 -1.05606964e-03 -1.29269045e+01] [-2.36720650e-03 -2.43776928e-05 9.99997198e-01 -1.37453425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:44.70, Y:-12.94, Z:-0.14 [[ 8.90485240e-01 4.55007198e-01 2.11842346e-03 4.46968040e+01] [-4.55005972e-01 8.90487759e-01 -1.05666573e-03 -1.29415514e+01] [-2.36722067e-03 -2.29500831e-05 9.99997198e-01 -1.38963196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.6 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:44.73, Y:-12.96, Z:-0.14 [[ 8.90763440e-01 4.54462328e-01 2.11814645e-03 4.47258405e+01] [-4.54461099e-01 8.90765958e-01 -1.05722072e-03 -1.29566450e+01] [-2.36723974e-03 -2.08815941e-05 9.99997198e-01 -1.37498913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629999999999995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.75, Y:-12.97, Z:-0.14 [[ 8.91072845e-01 4.53855373e-01 2.11785443e-03 4.47545877e+01] [-4.53854141e-01 8.91075361e-01 -1.05780537e-03 -1.29718125e+01] [-2.36725856e-03 -1.86153639e-05 9.99997198e-01 -1.36407990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.78, Y:-12.99, Z:-0.13 [[ 8.92234430e-01 4.51567534e-01 2.11755741e-03 4.47819407e+01] [-4.51566294e-01 8.92236943e-01 -1.05839962e-03 -1.29870887e+01] [-2.36730186e-03 -1.18769701e-05 9.99997198e-01 -1.34664217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:44.81, Y:-13.00, Z:-0.13 [[ 8.92851375e-01 4.50346466e-01 2.11731772e-03 4.48106170e+01] [-4.50345221e-01 8.92853885e-01 -1.05887890e-03 -1.30020324e+01] [-2.36731773e-03 -8.10243269e-06 9.99997198e-01 -1.32638392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.84, Y:-13.02, Z:-0.13 [[ 8.93360923e-01 4.49334818e-01 2.11705589e-03 4.48392904e+01] [-4.49333569e-01 8.93363432e-01 -1.05940213e-03 -1.30170039e+01] [-2.36732658e-03 -4.83581221e-06 9.99997198e-01 -1.32503760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:44.86, Y:-13.02, Z:-0.14 [[ 8.97007848e-01 4.42009547e-01 2.11677699e-03 4.48636509e+01] [-4.42008277e-01 8.97010345e-01 -1.05995912e-03 -1.30207118e+01] [-2.36728291e-03 1.51587050e-05 9.99997198e-01 -1.37989663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:44.89, Y:-13.04, Z:-0.14 [[ 8.96802310e-01 4.42426327e-01 2.13602554e-03 4.48917444e+01] [-4.42425148e-01 8.96804853e-01 -1.02159840e-03 -1.30352089e+01] [-2.36758010e-03 -2.88596064e-05 9.99997197e-01 -1.37397911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809999999999995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.92, Y:-13.05, Z:-0.14 [[ 8.96889658e-01 4.42249228e-01 2.13570616e-03 4.49196159e+01] [-4.42248047e-01 8.96892201e-01 -1.02223309e-03 -1.30486081e+01] [-2.36758000e-03 -2.76815940e-05 9.99997197e-01 -1.38291752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:44.95, Y:-13.07, Z:-0.13 [[ 8.93491505e-01 4.49075001e-01 2.13851341e-03 4.49506827e+01] [-4.49073853e-01 8.93494063e-01 -1.01665903e-03 -1.30735606e+01] [-2.36730519e-03 -5.19742497e-05 9.99997197e-01 -1.30570312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:44.98, Y:-13.09, Z:-0.13 [[ 8.93921258e-01 4.48219051e-01 2.11326310e-03 4.49791387e+01] [-4.48217782e-01 8.93923756e-01 -1.06668375e-03 -1.30875962e+01] [-2.36720407e-03 6.32917708e-06 9.99997198e-01 -1.33556611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.9 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:45.01, Y:-13.10, Z:-0.14 [[ 8.94035108e-01 4.47991921e-01 2.11299671e-03 4.50086325e+01] [-4.47990650e-01 8.94037605e-01 -1.06721119e-03 -1.31021571e+01] [-2.36720051e-03 7.52150671e-06 9.99997198e-01 -1.35514467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:45.04, Y:-13.12, Z:-0.13 [[ 8.93890731e-01 4.48279932e-01 2.11269173e-03 4.50379114e+01] [-4.48278660e-01 8.93893228e-01 -1.06781459e-03 -1.31168089e+01] [-2.36720068e-03 7.43494655e-06 9.99997198e-01 -1.34190041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:45.06, Y:-13.12, Z:-0.14 [[ 8.98157796e-01 4.39668182e-01 2.11238464e-03 4.50618845e+01] [-4.39666885e-01 8.98160280e-01 -1.06842174e-03 -1.31173917e+01] [-2.36701103e-03 3.08657365e-05 9.99997198e-01 -1.43273570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989999999999995 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:45.09, Y:-13.14, Z:-0.13 [[ 8.94476893e-01 4.47109055e-01 2.14029783e-03 4.50938675e+01] [-4.47107910e-01 8.94479452e-01 -1.01316155e-03 -1.31441748e+01] [-2.36744613e-03 -5.06944973e-05 9.99997196e-01 -1.34578233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.019999999999996 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:45.12, Y:-13.16, Z:-0.13 [[ 8.94520751e-01 4.47021439e-01 2.11179202e-03 4.51230342e+01] [-4.47020160e-01 8.94523243e-01 -1.06945060e-03 -1.31587253e+01] [-2.36711439e-03 1.26321465e-05 9.99997198e-01 -1.34942694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:45.15, Y:-13.17, Z:-0.14 [[ 8.94394854e-01 4.47273279e-01 2.11149147e-03 4.51527798e+01] [-4.47271999e-01 8.94397347e-01 -1.07004365e-03 -1.31738823e+01] [-2.36711430e-03 1.26305221e-05 9.99997198e-01 -1.35022035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:45.18, Y:-13.19, Z:-0.13 [[ 8.94830754e-01 4.46400564e-01 2.11119003e-03 4.51820005e+01] [-4.46399281e-01 8.94833245e-01 -1.07063807e-03 -1.31884227e+01] [-2.36709646e-03 1.56061581e-05 9.99997198e-01 -1.33272387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:45.21, Y:-13.20, Z:-0.13 [[ 8.95147076e-01 4.45765920e-01 2.11088671e-03 4.52110293e+01] [-4.45764633e-01 8.95149565e-01 -1.07123576e-03 -1.32032967e+01] [-2.36707972e-03 1.79549166e-05 9.99997198e-01 -1.34325896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.24, Y:-13.22, Z:-0.14 [[ 8.95207496e-01 4.45644570e-01 2.11079203e-03 4.52388709e+01] [-4.45643283e-01 8.95209985e-01 -1.07142229e-03 -1.32179536e+01] [-2.36707563e-03 1.84849710e-05 9.99997198e-01 -1.35402723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:45.26, Y:-13.22, Z:-0.14 [[ 8.97774726e-01 4.40449869e-01 2.11051027e-03 4.52646144e+01] [-4.40448566e-01 8.97777206e-01 -1.07197701e-03 -1.32238766e+01] [-2.36692015e-03 3.28226457e-05 9.99997198e-01 -1.42679312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199999999999996 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:45.30, Y:-13.25, Z:-0.14 [[ 8.94967402e-01 4.46126456e-01 2.12943745e-03 4.52953254e+01] [-4.46125256e-01 8.94969935e-01 -1.03468372e-03 -1.32465099e+01] [-2.36738228e-03 -2.39876249e-05 9.99997197e-01 -1.37880766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:45.32, Y:-13.25, Z:-0.15 [[ 8.97510392e-01 4.40988258e-01 2.10997498e-03 4.53204976e+01] [-4.40986954e-01 8.97512872e-01 -1.07295677e-03 -1.32508828e+01] [-2.36689104e-03 3.25184121e-05 9.99997198e-01 -1.46460970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:45.35, Y:-13.26, Z:-0.15 [[ 8.97155236e-01 4.41710247e-01 2.13054572e-03 4.53476395e+01] [-4.41709041e-01 8.97157766e-01 -1.03248492e-03 -1.32629840e+01] [-2.36749481e-03 -1.47820524e-05 9.99997197e-01 -1.47668987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:45.38, Y:-13.29, Z:-0.14 [[ 8.93348410e-01 4.49359608e-01 2.13557571e-03 4.53793846e+01] [-4.49358447e-01 8.93350961e-01 -1.02258508e-03 -1.32890779e+01] [-2.36732705e-03 -4.61142247e-05 9.99997197e-01 -1.40465446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:45.40, Y:-13.29, Z:-0.15 [[ 8.96066556e-01 4.43914719e-01 2.10930874e-03 4.54043839e+01] [-4.43913420e-01 8.96069039e-01 -1.07416483e-03 -1.32913503e+01] [-2.36692384e-03 2.61727233e-05 9.99997198e-01 -1.47586510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.43, Y:-13.30, Z:-0.15 [[ 8.95327796e-01 4.45402734e-01 2.13105397e-03 4.54298127e+01] [-4.45401540e-01 8.95330332e-01 -1.03156964e-03 -1.33008341e+01] [-2.36746119e-03 -2.55817455e-05 9.99997197e-01 -1.47843571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379999999999995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:45.46, Y:-13.32, Z:-0.15 [[ 8.94359030e-01 4.47344764e-01 2.14175740e-03 4.54607600e+01] [-4.47343626e-01 8.94361593e-01 -1.01060368e-03 -1.33178664e+01] [-2.36759382e-03 -5.42589969e-05 9.99997196e-01 -1.48883022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:45.49, Y:-13.33, Z:-0.15 [[ 8.93617751e-01 4.48823763e-01 2.13216279e-03 4.54866924e+01] [-4.48822584e-01 8.93620293e-01 -1.02939475e-03 -1.33293072e+01] [-2.36736076e-03 -3.70773887e-05 9.99997197e-01 -1.47031792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:45.52, Y:-13.36, Z:-0.14 [[ 8.89046859e-01 4.57811213e-01 2.13911176e-03 4.55187980e+01] [-4.57810093e-01 8.89049429e-01 -1.01578491e-03 -1.33577658e+01] [-2.36681381e-03 -7.62265733e-05 9.99997196e-01 -1.39376459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:45.54, Y:-13.36, Z:-0.15 [[ 8.92173087e-01 4.51688769e-01 2.10690118e-03 4.55428436e+01] [-4.51687481e-01 8.92175575e-01 -1.07869825e-03 -1.33576608e+01] [-2.36696166e-03 1.07246642e-05 9.99997199e-01 -1.48659315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.5 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:45.57, Y:-13.39, Z:-0.14 [[ 8.87800626e-01 4.60223300e-01 2.13616993e-03 4.55748062e+01] [-4.60222173e-01 8.87803192e-01 -1.02145755e-03 -1.33859352e+01] [-2.36659704e-03 -7.62621167e-05 9.99997197e-01 -1.39550567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:45.60, Y:-13.39, Z:-0.15 [[ 8.91383118e-01 4.53245739e-01 2.10628245e-03 4.55978387e+01] [-4.53244453e-01 8.91385607e-01 -1.07975897e-03 -1.33858013e+01] [-2.36690601e-03 7.81808674e-06 9.99997199e-01 -1.48549850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.559999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:45.63, Y:-13.40, Z:-0.15 [[ 8.90722103e-01 4.54543251e-01 2.13723164e-03 4.56263078e+01] [-4.54542113e-01 8.90724665e-01 -1.01934679e-03 -1.34017258e+01] [-2.36702214e-03 -6.35070643e-05 9.99997197e-01 -1.48912240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:45.65, Y:-13.42, Z:-0.15 [[ 8.89049729e-01 4.57805676e-01 2.13118880e-03 4.56538469e+01] [-4.57804518e-01 8.89052282e-01 -1.03108984e-03 -1.34170182e+01] [-2.36677705e-03 -5.89777159e-05 9.99997197e-01 -1.48112173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:45.69, Y:-13.44, Z:-0.14 [[ 8.84788856e-01 4.65987271e-01 2.13153706e-03 4.56856373e+01] [-4.65986139e-01 8.84791420e-01 -1.03041350e-03 -1.34435419e+01] [-2.36612528e-03 -8.15683463e-05 9.99997197e-01 -1.40541409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:45.71, Y:-13.46, Z:-0.14 [[ 8.83400418e-01 4.68614211e-01 2.10298917e-03 4.57146826e+01] [-4.68612954e-01 8.83402921e-01 -1.08570995e-03 -1.34579915e+01] [-2.36656589e-03 -2.63713421e-05 9.99997199e-01 -1.39363180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:45.74, Y:-13.46, Z:-0.15 [[ 8.87233602e-01 4.61315635e-01 2.10267880e-03 4.57380437e+01] [-4.61314356e-01 8.87236093e-01 -1.08631071e-03 -1.34589455e+01] [-2.36670464e-03 -6.18455435e-06 9.99997199e-01 -1.49345249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:45.77, Y:-13.49, Z:-0.14 [[ 8.82831169e-01 4.69685614e-01 2.13310349e-03 4.57697588e+01] [-4.69684500e-01 8.82833741e-01 -1.02734077e-03 -1.34869940e+01] [-2.36570291e-03 -9.49171892e-05 9.99997197e-01 -1.42672711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739999999999995 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:45.80, Y:-13.50, Z:-0.14 [[ 8.82379104e-01 4.70534482e-01 2.10197733e-03 4.57983192e+01] [-4.70533226e-01 8.82381607e-01 -1.08750290e-03 -1.35023590e+01] [-2.36645375e-03 -2.94603365e-05 9.99997200e-01 -1.40332267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769999999999996 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:45.82, Y:-13.50, Z:-0.15 [[ 8.87279226e-01 4.61227882e-01 2.10167187e-03 4.58209076e+01] [-4.61226598e-01 8.87281715e-01 -1.08809291e-03 -1.35033020e+01] [-2.36663381e-03 -3.90473382e-06 9.99997200e-01 -1.48898091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.8 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:45.85, Y:-13.52, Z:-0.15 [[ 8.87882948e-01 4.60064465e-01 2.13483478e-03 4.58484221e+01] [-4.60063332e-01 8.87885512e-01 -1.02395439e-03 -1.35177176e+01] [-2.36657390e-03 -7.30075572e-05 9.99997197e-01 -1.50671148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:-13.53, Z:-0.15 [[ 8.87331598e-01 4.61126955e-01 2.13691445e-03 4.58766175e+01] [-4.61125834e-01 8.87334168e-01 -1.01993801e-03 -1.35342102e+01] [-2.36647811e-03 -8.03632287e-05 9.99997197e-01 -1.47062520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:45.91, Y:-13.56, Z:-0.14 [[ 8.83439546e-01 4.68540292e-01 2.13642461e-03 4.59086977e+01] [-4.68539190e-01 8.83442123e-01 -1.02088272e-03 -1.35646969e+01] [-2.36573218e-03 -9.91104891e-05 9.99997197e-01 -1.41254103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.93, Y:-13.56, Z:-0.15 [[ 8.88860674e-01 4.58172778e-01 2.09939018e-03 4.59311510e+01] [-4.58171477e-01 8.88863153e-01 -1.09207708e-03 -1.35649543e+01] [-2.36643057e-03 8.82366998e-06 9.99997200e-01 -1.49335606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:45.96, Y:-13.60, Z:-0.14 [[ 8.84457748e-01 4.66615411e-01 2.13313025e-03 4.59631036e+01] [-4.66614288e-01 8.84460316e-01 -1.02712417e-03 -1.35953633e+01] [-2.36594102e-03 -8.69011183e-05 9.99997197e-01 -1.40141693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:-13.61, Z:-0.14 [[ 8.84415449e-01 4.66695736e-01 2.09860916e-03 4.59919753e+01] [-4.66694456e-01 8.84417938e-01 -1.09338301e-03 -1.36109856e+01] [-2.36632477e-03 -1.24044340e-05 9.99997200e-01 -1.38579602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:-13.63, Z:-0.14 [[ 8.84916687e-01 4.65744623e-01 2.09830379e-03 4.60216928e+01] [-4.65743339e-01 8.84919175e-01 -1.09396872e-03 -1.36260665e+01] [-2.36633931e-03 -9.19984071e-06 9.99997200e-01 -1.38507491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:46.05, Y:-13.64, Z:-0.14 [[ 8.85341301e-01 4.64936963e-01 2.09799882e-03 4.60506855e+01] [-4.64935674e-01 8.85343787e-01 -1.09455328e-03 -1.36406000e+01] [-2.36634850e-03 -6.38127328e-06 9.99997200e-01 -1.40442014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:46.07, Y:-13.64, Z:-0.15 [[ 8.89182425e-01 4.57548047e-01 2.09768942e-03 4.60741277e+01] [-4.57546736e-01 8.89184899e-01 -1.09514592e-03 -1.36418182e+01] [-2.36631563e-03 1.39935626e-05 9.99997200e-01 -1.47858992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:46.11, Y:-13.67, Z:-0.14 [[ 8.85678741e-01 4.64293710e-01 2.12570662e-03 4.61052741e+01] [-4.64292547e-01 8.85681290e-01 -1.04142988e-03 -1.36685116e+01] [-2.36622792e-03 -6.45774380e-05 9.99997198e-01 -1.41263747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.1 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:46.13, Y:-13.68, Z:-0.14 [[ 8.85735590e-01 4.64185381e-01 2.09681408e-03 4.61347563e+01] [-4.64184086e-01 8.85738072e-01 -1.09667183e-03 -1.36833465e+01] [-2.36628709e-03 -1.94645812e-06 9.99997200e-01 -1.41319426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129999999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:46.16, Y:-13.70, Z:-0.14 [[ 8.85914460e-01 4.63843911e-01 2.09651023e-03 4.61631483e+01] [-4.63842613e-01 8.85916941e-01 -1.09725240e-03 -1.36979028e+01] [-2.36628777e-03 -3.79020668e-07 9.99997200e-01 -1.43153376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:46.19, Y:-13.71, Z:-0.14 [[ 8.86241134e-01 4.63219448e-01 2.09632112e-03 4.61919132e+01] [-4.63218148e-01 8.86243614e-01 -1.09761358e-03 -1.37129207e+01] [-2.36628716e-03 1.69631373e-06 9.99997200e-01 -1.43735166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:46.22, Y:-13.73, Z:-0.14 [[ 8.86500436e-01 4.62723011e-01 2.09601506e-03 4.62212151e+01] [-4.62721707e-01 8.86502913e-01 -1.09819773e-03 -1.37284287e+01] [-2.36628481e-03 3.68109505e-06 9.99997200e-01 -1.43979450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:46.25, Y:-13.74, Z:-0.14 [[ 8.86946605e-01 4.61867219e-01 2.09570768e-03 4.62492761e+01] [-4.61865912e-01 8.86949081e-01 -1.09878399e-03 -1.37436308e+01] [-2.36627831e-03 6.62678630e-06 9.99997200e-01 -1.44224657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:46.27, Y:-13.75, Z:-0.15 [[ 8.92139124e-01 4.51755898e-01 2.09551680e-03 4.62729282e+01] [-4.51754562e-01 8.92141585e-01 -1.09914790e-03 -1.37451239e+01] [-2.36604423e-03 3.39335733e-05 9.99997200e-01 -1.50938354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:-13.76, Z:-0.15 [[ 8.92188073e-01 4.51659080e-01 2.12567218e-03 4.63020840e+01] [-4.51657880e-01 8.92190604e-01 -1.04161266e-03 -1.37621088e+01] [-2.36695856e-03 -3.07622017e-05 9.99997198e-01 -1.48838604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309999999999995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:46.33, Y:-13.79, Z:-0.14 [[ 8.89375426e-01 4.57172661e-01 2.12360639e-03 4.63335206e+01] [-4.57171467e-01 8.89377960e-01 -1.04555884e-03 -1.37901955e+01] [-2.36668964e-03 -4.09579059e-05 9.99997199e-01 -1.42447323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.339999999999996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:46.36, Y:-13.80, Z:-0.14 [[ 8.90365552e-01 4.55241467e-01 2.09526487e-03 4.63621654e+01] [-4.55240140e-01 8.90368017e-01 -1.09956477e-03 -1.38048007e+01] [-2.36612430e-03 2.51659195e-05 9.99997200e-01 -1.42261517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:46.39, Y:-13.81, Z:-0.15 [[ 8.94748137e-01 4.46566214e-01 2.09497546e-03 4.63856967e+01] [-4.46564861e-01 8.94750588e-01 -1.10011589e-03 -1.38050040e+01] [-2.36575511e-03 4.87842166e-05 9.99997200e-01 -1.48514872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.4 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:46.41, Y:-13.82, Z:-0.15 [[ 8.94217241e-01 4.47628214e-01 2.12304571e-03 4.64137744e+01] [-4.47626991e-01 8.94219761e-01 -1.04676280e-03 -1.38212070e+01] [-2.36702999e-03 -1.42992171e-05 9.99997198e-01 -1.47913523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:46.44, Y:-13.84, Z:-0.15 [[ 8.94462646e-01 4.47137647e-01 2.12130347e-03 4.64419444e+01] [-4.47136414e-01 8.94465161e-01 -1.05007003e-03 -1.38356640e+01] [-2.36695789e-03 -9.26360856e-06 9.99997199e-01 -1.47140039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:46.47, Y:-13.86, Z:-0.14 [[ 8.90943864e-01 4.54108500e-01 2.12171415e-03 4.64730931e+01] [-4.54107289e-01 8.90946390e-01 -1.04929021e-03 -1.38626626e+01] [-2.36682516e-03 -2.86271865e-05 9.99997199e-01 -1.40251636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489999999999995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:46.50, Y:-13.88, Z:-0.14 [[ 8.91007515e-01 4.53983732e-01 2.09253783e-03 4.65021383e+01] [-4.53982389e-01 8.91009972e-01 -1.10456323e-03 -1.38773879e+01] [-2.36592581e-03 3.41988156e-05 9.99997201e-01 -1.41223814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519999999999996 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:46.53, Y:-13.89, Z:-0.14 [[ 8.90785965e-01 4.54418296e-01 2.09222364e-03 4.65310327e+01] [-4.54416953e-01 8.90788421e-01 -1.10515805e-03 -1.38924185e+01] [-2.36593263e-03 3.37173911e-05 9.99997201e-01 -1.40651611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:46.56, Y:-13.91, Z:-0.14 [[ 8.90624679e-01 4.54734323e-01 2.09191223e-03 4.65598721e+01] [-4.54732979e-01 8.90627136e-01 -1.10574719e-03 -1.39066787e+01] [-2.36593500e-03 3.35442522e-05 9.99997201e-01 -1.42671839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:46.59, Y:-13.91, Z:-0.15 [[ 8.93566318e-01 4.48926343e-01 2.09162223e-03 4.65852100e+01] [-4.48924982e-01 8.93568764e-01 -1.10629548e-03 -1.39099664e+01] [-2.36565347e-03 4.95669076e-05 9.99997201e-01 -1.49332364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:46.62, Y:-13.93, Z:-0.14 [[ 8.90136228e-01 4.55689615e-01 2.11423389e-03 4.66155360e+01] [-4.55688374e-01 8.90138739e-01 -1.06351362e-03 -1.39349301e+01] [-2.36659360e-03 -1.67597986e-05 9.99997199e-01 -1.43575775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:46.65, Y:-13.95, Z:-0.14 [[ 8.89786047e-01 4.56373114e-01 2.09095842e-03 4.66454617e+01] [-4.56371771e-01 8.89788503e-01 -1.10745929e-03 -1.39497439e+01] [-2.36592541e-03 3.11474229e-05 9.99997201e-01 -1.42646802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:46.67, Y:-13.96, Z:-0.14 [[ 8.89392939e-01 4.57138742e-01 2.09064282e-03 4.66747604e+01] [-4.57137400e-01 8.89395396e-01 -1.10805476e-03 -1.39636093e+01] [-2.36594285e-03 2.97850605e-05 9.99997201e-01 -1.44615872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699999999999996 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:46.70, Y:-13.98, Z:-0.15 [[ 8.89304094e-01 4.57311556e-01 2.09034928e-03 4.67039324e+01] [-4.57310214e-01 8.89306550e-01 -1.10860825e-03 -1.39785355e+01] [-2.36594067e-03 2.99517788e-05 9.99997201e-01 -1.46262444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:46.73, Y:-13.98, Z:-0.15 [[ 8.91741798e-01 4.52539719e-01 2.09003789e-03 4.67302138e+01] [-4.52538362e-01 8.91744246e-01 -1.10919499e-03 -1.39847820e+01] [-2.36573405e-03 4.32932093e-05 9.99997201e-01 -1.52495779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:-14.01, Z:-0.14 [[ 8.88542846e-01 4.58788802e-01 2.10867124e-03 4.67596265e+01] [-4.58787545e-01 8.88545348e-01 -1.07406056e-03 -1.40080381e+01] [-2.36641698e-03 -1.30832765e-05 9.99997200e-01 -1.43212331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:46.79, Y:-14.02, Z:-0.14 [[ 8.88064605e-01 4.59713923e-01 2.08956207e-03 4.67888386e+01] [-4.59712584e-01 8.88067063e-01 -1.11003231e-03 -1.40226238e+01] [-2.36596856e-03 2.51824275e-05 9.99997201e-01 -1.43260807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:46.82, Y:-14.04, Z:-0.14 [[ 8.87710463e-01 4.60397402e-01 2.08924929e-03 4.68181149e+01] [-4.60396064e-01 8.87712922e-01 -1.11062069e-03 -1.40374123e+01] [-2.36598047e-03 2.40274615e-05 9.99997201e-01 -1.44859227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:46.85, Y:-14.05, Z:-0.15 [[ 8.87281669e-01 4.61223239e-01 2.08893627e-03 4.68465391e+01] [-4.61221901e-01 8.87284128e-01 -1.11120913e-03 -1.40517840e+01] [-2.36599547e-03 2.24923390e-05 9.99997201e-01 -1.45269515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879999999999995 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:46.88, Y:-14.07, Z:-0.15 [[ 8.86730197e-01 4.62282593e-01 2.08864497e-03 4.68759430e+01] [-4.62281257e-01 8.86732656e-01 -1.11175639e-03 -1.40667771e+01] [-2.36601533e-03 2.02865424e-05 9.99997201e-01 -1.46486964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:46.90, Y:-14.08, Z:-0.15 [[ 8.86404312e-01 4.62907155e-01 2.08833545e-03 4.69043391e+01] [-4.62905819e-01 8.86406772e-01 -1.11233749e-03 -1.40820640e+01] [-2.36602367e-03 1.92781109e-05 9.99997201e-01 -1.47578668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:46.93, Y:-14.10, Z:-0.15 [[ 8.86277358e-01 4.63150175e-01 2.08804764e-03 4.69337685e+01] [-4.63148839e-01 8.86279817e-01 -1.11287751e-03 -1.40978426e+01] [-2.36602389e-03 1.92413001e-05 9.99997201e-01 -1.47657959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:46.96, Y:-14.11, Z:-0.15 [[ 8.85715415e-01 4.64223916e-01 2.08774235e-03 4.69622906e+01] [-4.64222581e-01 8.85717876e-01 -1.11344993e-03 -1.41135708e+01] [-2.36604080e-03 1.70226271e-05 9.99997201e-01 -1.46139659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.0 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:46.99, Y:-14.13, Z:-0.15 [[ 8.85445200e-01 4.64739111e-01 2.08743180e-03 4.69907436e+01] [-4.64737776e-01 8.85447660e-01 -1.11403183e-03 -1.41291574e+01] [-2.36604576e-03 1.63057256e-05 9.99997201e-01 -1.47050960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:47.02, Y:-14.15, Z:-0.15 [[ 8.84639541e-01 4.66270873e-01 2.08712116e-03 4.70196969e+01] [-4.66269541e-01 8.84642002e-01 -1.11461350e-03 -1.41452762e+01] [-2.36606685e-03 1.28701498e-05 9.99997201e-01 -1.47373709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059999999999995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:47.05, Y:-14.16, Z:-0.15 [[ 8.83994218e-01 4.67493173e-01 2.08680911e-03 4.70480108e+01] [-4.67491843e-01 8.83996681e-01 -1.11519742e-03 -1.41608602e+01] [-2.36607951e-03 1.02618284e-05 9.99997201e-01 -1.47661285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089999999999996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:47.08, Y:-14.18, Z:-0.15 [[ 8.83376215e-01 4.68659907e-01 2.08651800e-03 4.70765896e+01] [-4.68658579e-01 8.83378679e-01 -1.11574181e-03 -1.41763131e+01] [-2.36608897e-03 7.75521387e-06 9.99997201e-01 -1.47939464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:47.11, Y:-14.19, Z:-0.15 [[ 8.82534442e-01 4.70243136e-01 2.08619890e-03 4.71055478e+01] [-4.70241811e-01 8.82536907e-01 -1.11633816e-03 -1.41922369e+01] [-2.36609788e-03 4.18892513e-06 9.99997201e-01 -1.47135347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:47.13, Y:-14.19, Z:-0.15 [[ 8.85068151e-01 4.65456783e-01 2.08588013e-03 4.71288112e+01] [-4.65455443e-01 8.85070609e-01 -1.11693345e-03 -1.41936136e+01] [-2.36603545e-03 1.76779624e-05 9.99997201e-01 -1.54891247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:47.16, Y:-14.22, Z:-0.15 [[ 8.80186306e-01 4.74623631e-01 2.11540429e-03 4.71594667e+01] [-4.74622449e-01 8.80188846e-01 -1.06173642e-03 -1.42219968e+01] [-2.36588046e-03 -6.94925044e-05 9.99997199e-01 -1.47774622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:47.18, Y:-14.22, Z:-0.15 [[ 8.82266599e-01 4.70745473e-01 2.08519869e-03 4.71830117e+01] [-4.70744146e-01 8.82269063e-01 -1.11806984e-03 -1.42235659e+01] [-2.36603261e-03 4.84059996e-06 9.99997201e-01 -1.54037364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.239999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:47.21, Y:-14.24, Z:-0.16 [[ 8.81368375e-01 4.72424937e-01 2.11343444e-03 4.72107730e+01] [-4.72423739e-01 8.81370907e-01 -1.06534831e-03 -1.42386595e+01] [-2.36601674e-03 -5.94722927e-05 9.99997199e-01 -1.55126510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:47.24, Y:-14.27, Z:-0.15 [[ 8.76504004e-01 4.81389926e-01 2.11401231e-03 4.72427050e+01] [-4.81388757e-01 8.76506550e-01 -1.06426975e-03 -1.42679005e+01] [-2.36527437e-03 -8.48250588e-05 9.99997199e-01 -1.48072002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.3 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:47.27, Y:-14.27, Z:-0.16 [[ 8.79627445e-01 4.75658715e-01 2.08434108e-03 4.72665312e+01] [-4.75657398e-01 8.79629915e-01 -1.11951252e-03 -1.42687541e+01] [-2.36595465e-03 -6.67832189e-06 9.99997201e-01 -1.56989565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:47.30, Y:-14.30, Z:-0.15 [[ 8.74599513e-01 4.84841444e-01 2.11314605e-03 4.72972523e+01] [-4.84840282e-01 8.74602061e-01 -1.06582433e-03 -1.42980166e+01] [-2.36491770e-03 -9.23688877e-05 9.99997199e-01 -1.50876335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:47.33, Y:-14.31, Z:-0.15 [[ 8.74203088e-01 4.85555989e-01 2.08371140e-03 4.73262697e+01] [-4.85554697e-01 8.74205571e-01 -1.12055892e-03 -1.43137600e+01] [-2.36568620e-03 -3.21597898e-05 9.99997201e-01 -1.50073676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:47.36, Y:-14.33, Z:-0.15 [[ 8.73795029e-01 4.86289941e-01 2.08340837e-03 4.73556579e+01] [-4.86288650e-01 8.73797512e-01 -1.12112204e-03 -1.43292874e+01] [-2.36566742e-03 -3.35069750e-05 9.99997201e-01 -1.51529792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:-14.34, Z:-0.15 [[ 8.73241751e-01 4.87282778e-01 2.08310730e-03 4.73841727e+01] [-4.87281488e-01 8.73244235e-01 -1.12168115e-03 -1.43447453e+01] [-2.36563735e-03 -3.55608137e-05 9.99997201e-01 -1.49434902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.41, Y:-14.36, Z:-0.15 [[ 8.73048839e-01 4.87628328e-01 2.08280365e-03 4.74124499e+01] [-4.87627038e-01 8.73051323e-01 -1.12224471e-03 -1.43597368e+01] [-2.36563280e-03 -3.58569347e-05 9.99997201e-01 -1.52853418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:47.44, Y:-14.38, Z:-0.15 [[ 8.72989515e-01 4.87734527e-01 2.08252145e-03 4.74415745e+01] [-4.87733236e-01 8.72991999e-01 -1.12276813e-03 -1.43757588e+01] [-2.36563735e-03 -3.55501205e-05 9.99997201e-01 -1.53269592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:47.47, Y:-14.39, Z:-0.15 [[ 8.72908189e-01 4.87880066e-01 2.08220937e-03 4.74703705e+01] [-4.87878774e-01 8.72910671e-01 -1.12334661e-03 -1.43916589e+01] [-2.36564119e-03 -3.52872959e-05 9.99997201e-01 -1.53914173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:47.50, Y:-14.41, Z:-0.15 [[ 8.72892246e-01 4.87908591e-01 2.08188975e-03 4.74980245e+01] [-4.87907298e-01 8.72894728e-01 -1.12393864e-03 -1.44075082e+01] [-2.36564991e-03 -3.46918762e-05 9.99997201e-01 -1.52946871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:47.53, Y:-14.42, Z:-0.15 [[ 8.72940799e-01 4.87821718e-01 2.08159300e-03 4.75266185e+01] [-4.87820423e-01 8.72943280e-01 -1.12448798e-03 -1.44236726e+01] [-2.36566228e-03 -3.38321439e-05 9.99997201e-01 -1.53515234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.6 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:47.56, Y:-14.44, Z:-0.15 [[ 8.73142858e-01 4.87459966e-01 2.08130114e-03 4.75555991e+01] [-4.87458669e-01 8.73145338e-01 -1.12502792e-03 -1.44397981e+01] [-2.36568445e-03 -3.22381903e-05 9.99997201e-01 -1.53322193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629999999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:47.58, Y:-14.46, Z:-0.15 [[ 8.73901214e-01 4.86099103e-01 2.08099097e-03 4.75841488e+01] [-4.86097801e-01 8.73903691e-01 -1.12560136e-03 -1.44560277e+01] [-2.36573950e-03 -2.79007405e-05 9.99997201e-01 -1.53218389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:-14.47, Z:-0.15 [[ 8.73267373e-01 4.87236895e-01 2.07437850e-03 4.76091199e+01] [-4.87235566e-01 8.73269837e-01 -1.13780331e-03 -1.44709130e+01] [-2.36587192e-03 -1.71044739e-05 9.99997201e-01 -1.49188149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:47.64, Y:-14.49, Z:-0.15 [[ 8.73673031e-01 4.86509100e-01 2.08108539e-03 4.76368951e+01] [-4.86507800e-01 8.73675509e-01 -1.12542849e-03 -1.44859761e+01] [-2.36572454e-03 -2.92077520e-05 9.99997201e-01 -1.50542893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:47.67, Y:-14.50, Z:-0.15 [[ 8.74160477e-01 4.85632716e-01 2.07986515e-03 4.76659936e+01] [-4.85631408e-01 8.74162951e-01 -1.12767907e-03 -1.45017449e+01] [-2.36577891e-03 -2.42753685e-05 9.99997201e-01 -1.51645608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:-14.52, Z:-0.15 [[ 8.73957392e-01 4.85998100e-01 2.07954291e-03 4.76936329e+01] [-4.85996791e-01 8.73959866e-01 -1.12827300e-03 -1.45169766e+01] [-2.36577557e-03 -2.45886524e-05 9.99997201e-01 -1.48475466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:47.72, Y:-14.53, Z:-0.15 [[ 8.74573675e-01 4.84888185e-01 2.08209574e-03 4.77224353e+01] [-4.84886884e-01 8.74576153e-01 -1.12356907e-03 -1.45323105e+01] [-2.36575665e-03 -2.69369843e-05 9.99997201e-01 -1.51210740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:-14.55, Z:-0.15 [[ 8.74302544e-01 4.85376904e-01 2.07912898e-03 4.77507716e+01] [-4.85375591e-01 8.74305016e-01 -1.12903240e-03 -1.45476930e+01] [-2.36579915e-03 -2.20425540e-05 9.99997201e-01 -1.49054244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:47.78, Y:-14.56, Z:-0.15 [[ 8.74247442e-01 4.85476147e-01 2.07883327e-03 4.77800395e+01] [-4.85474833e-01 8.74249913e-01 -1.12957662e-03 -1.45637034e+01] [-2.36580231e-03 -2.16917639e-05 9.99997201e-01 -1.50533852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:47.80, Y:-14.57, Z:-0.16 [[ 8.77789067e-01 4.79042830e-01 2.07851463e-03 4.78042398e+01] [-4.79041497e-01 8.77791528e-01 -1.13016262e-03 -1.45668822e+01] [-2.36589884e-03 -3.65036585e-06 9.99997201e-01 -1.60640176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.9 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:47.83, Y:-14.58, Z:-0.16 [[ 8.77212913e-01 4.80096940e-01 2.10588186e-03 4.78327996e+01] [-4.80095729e-01 8.77215438e-01 -1.07982036e-03 -1.45829761e+01] [-2.36573053e-03 -6.37925237e-05 9.99997200e-01 -1.58911023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:47.86, Y:-14.61, Z:-0.15 [[ 8.73482986e-01 4.86850123e-01 2.10486891e-03 4.78636831e+01] [-4.86848928e-01 8.73485519e-01 -1.08168224e-03 -1.46095936e+01] [-2.36518965e-03 -7.99221385e-05 9.99997200e-01 -1.52665569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:-14.61, Z:-0.16 [[ 8.77131573e-01 4.80245656e-01 2.07699387e-03 4.78880745e+01] [-4.80244320e-01 8.77134032e-01 -1.13279164e-03 -1.46115916e+01] [-2.36582027e-03 -3.85719425e-06 9.99997201e-01 -1.58642415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:47.92, Y:-14.64, Z:-0.15 [[ 8.73642040e-01 4.86564649e-01 2.10429009e-03 4.79187294e+01] [-4.86563451e-01 8.73644571e-01 -1.08268953e-03 -1.46391940e+01] [-2.36520006e-03 -7.79875620e-05 9.99997200e-01 -1.53049619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:47.95, Y:-14.65, Z:-0.15 [[ 8.73625261e-01 4.86594895e-01 2.07629183e-03 4.79473097e+01] [-4.86593574e-01 8.73627728e-01 -1.13395486e-03 -1.46545298e+01] [-2.36568276e-03 -1.96586544e-05 9.99997202e-01 -1.53622370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:47.97, Y:-14.66, Z:-0.16 [[ 8.77757597e-01 4.79100502e-01 2.07596439e-03 4.79705450e+01] [-4.79099158e-01 8.77760052e-01 -1.13455400e-03 -1.46555626e+01] [-2.36576400e-03 1.27060451e-06 9.99997202e-01 -1.59038750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:48.00, Y:-14.67, Z:-0.16 [[ 8.77108262e-01 4.80288093e-01 2.10831464e-03 4.80000984e+01] [-4.80286894e-01 8.77110793e-01 -1.07531558e-03 -1.46718317e+01] [-2.36568680e-03 -6.94277061e-05 9.99997199e-01 -1.59523060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:48.03, Y:-14.69, Z:-0.16 [[ 8.76169987e-01 4.81997636e-01 2.10539381e-03 4.80281101e+01] [-4.81996429e-01 8.76172514e-01 -1.08066046e-03 -1.46863108e+01] [-2.36556397e-03 -6.79500373e-05 9.99997200e-01 -1.59720372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:48.06, Y:-14.70, Z:-0.16 [[ 8.74894262e-01 4.84309399e-01 2.10629578e-03 4.80563410e+01] [-4.84308203e-01 8.74896794e-01 -1.07901291e-03 -1.46989494e+01] [-2.36536752e-03 -7.60741198e-05 9.99997200e-01 -1.60662154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:48.09, Y:-14.73, Z:-0.16 [[ 8.69590108e-01 4.93769780e-01 2.10913143e-03 4.80878808e+01] [-4.93768624e-01 8.69592659e-01 -1.07383764e-03 -1.47277579e+01] [-2.36431379e-03 -1.07624337e-04 9.99997199e-01 -1.55128640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:48.12, Y:-14.74, Z:-0.15 [[ 8.68531097e-01 4.95630342e-01 2.07319177e-03 4.81169925e+01] [-4.95629034e-01 8.68533570e-01 -1.13924070e-03 -1.47426850e+01] [-2.36527891e-03 -3.80680649e-05 9.99997202e-01 -1.54166830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.14, Y:-14.74, Z:-0.16 [[ 8.71031255e-01 4.91223225e-01 2.07286824e-03 4.81404765e+01] [-4.91221903e-01 8.71033721e-01 -1.13982907e-03 -1.47411714e+01] [-2.36544865e-03 -2.54115368e-05 9.99997202e-01 -1.60595460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:48.17, Y:-14.77, Z:-0.16 [[ 8.65814391e-01 5.00360868e-01 2.10744759e-03 4.81726591e+01] [-5.00359725e-01 8.65816947e-01 -1.07683283e-03 -1.47711756e+01] [-2.36346885e-03 -1.22144536e-04 9.99997200e-01 -1.55455660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:48.20, Y:-14.77, Z:-0.16 [[ 8.69701069e-01 4.93574469e-01 2.07231739e-03 4.81961718e+01] [-4.93573152e-01 8.69703537e-01 -1.14065656e-03 -1.47701968e+01] [-2.36530071e-03 -3.08099967e-05 9.99997202e-01 -1.63887905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:48.22, Y:-14.78, Z:-0.16 [[ 8.68379804e-01 4.95895237e-01 2.10468775e-03 4.82224784e+01] [-4.95894068e-01 8.68382348e-01 -1.08190830e-03 -1.47844469e+01] [-2.36418686e-03 -1.04194850e-04 9.99997200e-01 -1.63870255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.25, Y:-14.81, Z:-0.15 [[ 8.62423773e-01 5.06182573e-01 2.10688763e-03 4.82547022e+01] [-5.06181444e-01 8.62426336e-01 -1.07792890e-03 -1.48140124e+01] [-2.36266420e-03 -1.36835908e-04 9.99997200e-01 -1.54473481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.379999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:-14.82, Z:-0.16 [[ 8.66839358e-01 4.98583242e-01 2.06863894e-03 4.82784812e+01] [-4.98581924e-01 8.66841825e-01 -1.14691627e-03 -1.48154058e+01] [-2.36501599e-03 -3.71938202e-05 9.99997203e-01 -1.62966954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.31, Y:-14.84, Z:-0.16 [[ 8.62740872e-01 5.05641947e-01 2.09972344e-03 4.83091248e+01] [-5.05640785e-01 8.62743419e-01 -1.09078954e-03 -1.48447889e+01] [-2.36307153e-03 -1.20637087e-04 9.99997201e-01 -1.55665611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:-14.86, Z:-0.15 [[ 8.63497321e-01 5.04349185e-01 2.06786043e-03 4.83371926e+01] [-5.04347881e-01 8.63499796e-01 -1.14817477e-03 -1.48618928e+01] [-2.36467807e-03 -5.14751862e-05 9.99997203e-01 -1.53498851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:48.36, Y:-14.88, Z:-0.16 [[ 8.64775183e-01 5.02154964e-01 2.06753087e-03 4.83641549e+01] [-5.02153652e-01 8.64777654e-01 -1.14876792e-03 -1.48764149e+01] [-2.36481401e-03 -4.47921916e-05 9.99997203e-01 -1.59992071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.5 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.39, Y:-14.89, Z:-0.15 [[ 8.64563570e-01 5.02519198e-01 2.07097530e-03 4.83915669e+01] [-5.02517902e-01 8.64566049e-01 -1.14257028e-03 -1.48941131e+01] [-2.36465843e-03 -5.28775178e-05 9.99997203e-01 -1.53211340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:48.42, Y:-14.91, Z:-0.16 [[ 8.65793537e-01 5.00397121e-01 2.06706541e-03 4.84200495e+01] [-5.00395802e-01 8.65796003e-01 -1.14960054e-03 -1.49100359e+01] [-2.36491377e-03 -3.90341418e-05 9.99997203e-01 -1.55122994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:48.45, Y:-14.93, Z:-0.16 [[ 8.66132696e-01 4.99809845e-01 2.06673878e-03 4.84492817e+01] [-4.99808523e-01 8.66135161e-01 -1.15018746e-03 -1.49261579e+01] [-2.36495014e-03 -3.67586895e-05 9.99997203e-01 -1.55717295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:-14.94, Z:-0.15 [[ 8.66203562e-01 4.99687021e-01 2.06641442e-03 4.84780588e+01] [-4.99685698e-01 8.66206026e-01 -1.15076991e-03 -1.49423207e+01] [-2.36496541e-03 -3.57567337e-05 9.99997203e-01 -1.53725241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.51, Y:-14.96, Z:-0.16 [[ 8.66332519e-01 4.99463410e-01 2.06608973e-03 4.85063342e+01] [-4.99462085e-01 8.66334982e-01 -1.15135256e-03 -1.49582727e+01] [-2.36498428e-03 -3.44793240e-05 9.99997203e-01 -1.55409894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:48.54, Y:-14.97, Z:-0.16 [[ 8.66348375e-01 4.99435908e-01 2.06576764e-03 4.85350945e+01] [-4.99434581e-01 8.66350837e-01 -1.15193016e-03 -1.49746755e+01] [-2.36499481e-03 -3.37429761e-05 9.99997203e-01 -1.57162685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:48.56, Y:-14.99, Z:-0.16 [[ 8.66777930e-01 4.98690038e-01 2.06544565e-03 4.85631006e+01] [-4.98688708e-01 8.66780390e-01 -1.15250722e-03 -1.49914522e+01] [-2.36503165e-03 -3.10465993e-05 9.99997203e-01 -1.59029971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:-15.01, Z:-0.16 [[ 8.66551270e-01 4.99083792e-01 2.06534424e-03 4.85915979e+01] [-4.99082461e-01 8.66553731e-01 -1.15268892e-03 -1.50081475e+01] [-2.36502011e-03 -3.19130409e-05 9.99997203e-01 -1.56494034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:48.62, Y:-15.02, Z:-0.16 [[ 8.66715700e-01 4.98798187e-01 2.06501909e-03 4.86191348e+01] [-4.98796855e-01 8.66718159e-01 -1.15327112e-03 -1.50240716e+01] [-2.36503909e-03 -3.04668457e-05 9.99997203e-01 -1.58689684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:48.65, Y:-15.04, Z:-0.16 [[ 8.66532289e-01 4.99116749e-01 2.06471637e-03 4.86476743e+01] [-4.99115416e-01 8.66534748e-01 -1.15381283e-03 -1.50405695e+01] [-2.36503579e-03 -3.07156977e-05 9.99997203e-01 -1.58014825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.8 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.68, Y:-15.06, Z:-0.16 [[ 8.66301598e-01 4.99517047e-01 2.06439308e-03 4.86761100e+01] [-4.99515714e-01 8.66304057e-01 -1.15439096e-03 -1.50574097e+01] [-2.36503007e-03 -3.11460520e-05 9.99997203e-01 -1.56208054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.70, Y:-15.07, Z:-0.16 [[ 8.66289093e-01 4.99538735e-01 2.06406614e-03 4.87034299e+01] [-4.99537401e-01 8.66291551e-01 -1.15497525e-03 -1.50734281e+01] [-2.36503793e-03 -3.05357696e-05 9.99997203e-01 -1.57372813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.73, Y:-15.09, Z:-0.16 [[ 8.66151093e-01 4.99777976e-01 2.06376044e-03 4.87325241e+01] [-4.99776642e-01 8.66153551e-01 -1.15552122e-03 -1.50898129e+01] [-2.36503749e-03 -3.05632985e-05 9.99997203e-01 -1.57452075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:-15.11, Z:-0.15 [[ 8.65828214e-01 5.00337132e-01 2.06344114e-03 4.87598618e+01] [-5.00335797e-01 8.65830672e-01 -1.15609112e-03 -1.51064530e+01] [-2.36502595e-03 -3.14371611e-05 9.99997203e-01 -1.54125559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.79, Y:-15.12, Z:-0.16 [[ 8.65963919e-01 5.00102224e-01 2.06315891e-03 4.87873665e+01] [-5.00100887e-01 8.65966376e-01 -1.15659458e-03 -1.51223714e+01] [-2.36504176e-03 -3.02184253e-05 9.99997203e-01 -1.55997868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:48.82, Y:-15.14, Z:-0.16 [[ 8.66071573e-01 4.99915769e-01 2.06285773e-03 4.88152603e+01] [-4.99914430e-01 8.66074029e-01 -1.15713150e-03 -1.51383416e+01] [-2.36505579e-03 -2.90936502e-05 9.99997203e-01 -1.56279315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:-15.16, Z:-0.15 [[ 8.65679963e-01 5.00593595e-01 2.06256274e-03 4.88436275e+01] [-5.00592257e-01 8.65682420e-01 -1.15765707e-03 -1.51553266e+01] [-2.36504002e-03 -3.03424074e-05 9.99997203e-01 -1.52767639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:-15.17, Z:-0.15 [[ 8.65780881e-01 5.00419038e-01 2.06223770e-03 4.88720439e+01] [-5.00417699e-01 8.65783336e-01 -1.15823580e-03 -1.51726499e+01] [-2.36505428e-03 -2.92018356e-05 9.99997203e-01 -1.52338701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:48.90, Y:-15.19, Z:-0.16 [[ 8.65889400e-01 5.00231242e-01 2.06190434e-03 4.88999122e+01] [-5.00229901e-01 8.65891854e-01 -1.15882895e-03 -1.51889969e+01] [-2.36506862e-03 -2.80084981e-05 9.99997203e-01 -1.55675405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:48.93, Y:-15.21, Z:-0.16 [[ 8.65807301e-01 5.00373328e-01 2.06169726e-03 4.89278842e+01] [-5.00371986e-01 8.65809755e-01 -1.15919726e-03 -1.52054979e+01] [-2.36506899e-03 -2.79741053e-05 9.99997203e-01 -1.56787735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:-15.21, Z:-0.16 [[ 8.68789016e-01 4.95178146e-01 2.06136770e-03 4.89533558e+01] [-4.95176788e-01 8.68791461e-01 -1.15978301e-03 -1.52115437e+01] [-2.36519786e-03 -1.31346927e-05 9.99997203e-01 -1.61109168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:-15.23, Z:-0.16 [[ 8.68306344e-01 4.96023940e-01 2.08404147e-03 4.89808965e+01] [-4.96022681e-01 8.68308843e-01 -1.11945874e-03 -1.52275902e+01] [-2.36486998e-03 -6.16987120e-05 9.99997202e-01 -1.61301272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:-15.24, Z:-0.16 [[ 8.67455881e-01 4.97509756e-01 2.08252046e-03 4.90093101e+01] [-4.97508495e-01 8.67458378e-01 -1.12216195e-03 -1.52431892e+01] [-2.36478634e-03 -6.26456401e-05 9.99997202e-01 -1.61624333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.04, Y:-15.27, Z:-0.16 [[ 8.63956647e-01 5.03561890e-01 2.08224242e-03 4.90394937e+01] [-5.03560645e-01 8.63959152e-01 -1.12265558e-03 -1.52683140e+01] [-2.36429896e-03 -7.86095892e-05 9.99997202e-01 -1.56589795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:-15.27, Z:-0.16 [[ 8.66836658e-01 4.98587971e-01 2.05973091e-03 4.90647301e+01] [-4.98586616e-01 8.66839105e-01 -1.16254035e-03 -1.52746811e+01] [-2.36508393e-03 -1.92216688e-05 9.99997203e-01 -1.61018401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:-15.30, Z:-0.15 [[ 8.63066367e-01 5.05086238e-01 2.08272428e-03 4.90944814e+01] [-5.05085000e-01 8.63068876e-01 -1.12178312e-03 -1.53007692e+01] [-2.36413171e-03 -8.37795100e-05 9.99997202e-01 -1.53655148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.12, Y:-15.32, Z:-0.15 [[ 8.63133063e-01 5.04972351e-01 2.05893290e-03 4.91221769e+01] [-5.04971011e-01 8.63135518e-01 -1.16387099e-03 -1.53166407e+01] [-2.36486079e-03 -3.51258922e-05 9.99997203e-01 -1.54162446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309999999999995 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:49.15, Y:-15.33, Z:-0.16 [[ 8.63269294e-01 5.04739425e-01 2.05862807e-03 4.91513329e+01] [-5.04738083e-01 8.63271748e-01 -1.16440992e-03 -1.53326887e+01] [-2.36487904e-03 -3.38686563e-05 9.99997203e-01 -1.56831621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:-15.34, Z:-0.16 [[ 8.66659529e-01 4.98895805e-01 2.05831039e-03 4.91760746e+01] [-4.98894445e-01 8.66661973e-01 -1.16497120e-03 -1.53376384e+01] [-2.36505859e-03 -1.72462318e-05 9.99997203e-01 -1.59480323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:49.21, Y:-15.36, Z:-0.16 [[ 8.63264710e-01 5.04747158e-01 2.08470948e-03 4.92066295e+01] [-5.04745927e-01 8.63267223e-01 -1.11829856e-03 -1.53644018e+01] [-2.36411939e-03 -8.68609363e-05 9.99997202e-01 -1.57425698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.4 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:49.23, Y:-15.38, Z:-0.16 [[ 8.63172739e-01 5.04904535e-01 2.05757444e-03 4.92344617e+01] [-5.04903189e-01 8.63175190e-01 -1.16617506e-03 -1.53801052e+01] [-2.36485429e-03 -3.22653739e-05 9.99997203e-01 -1.57447731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.26, Y:-15.40, Z:-0.16 [[ 8.62924518e-01 5.05328649e-01 2.05727481e-03 4.92631901e+01] [-5.05327303e-01 8.62926970e-01 -1.16670340e-03 -1.53966272e+01] [-2.36484657e-03 -3.28201599e-05 9.99997203e-01 -1.56184148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:49.29, Y:-15.40, Z:-0.16 [[ 8.67245465e-01 4.97876564e-01 2.05693968e-03 4.92862343e+01] [-4.97875195e-01 8.67247904e-01 -1.16729395e-03 -1.53984139e+01] [-2.36504493e-03 -1.17688607e-05 9.99997203e-01 -1.63671907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.32, Y:-15.43, Z:-0.16 [[ 8.62588875e-01 5.05901241e-01 2.08978364e-03 4.93174162e+01] [-5.05900035e-01 8.62591400e-01 -1.10934681e-03 -1.54280783e+01] [-2.36384932e-03 -1.00311402e-04 9.99997201e-01 -1.56725846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519999999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.34, Y:-15.43, Z:-0.16 [[ 8.66052676e-01 4.99948532e-01 2.05613880e-03 4.93413013e+01] [-4.99947166e-01 8.66055117e-01 -1.16854721e-03 -1.54321149e+01] [-2.36494299e-03 -1.59373266e-05 9.99997203e-01 -1.60922597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.37, Y:-15.46, Z:-0.16 [[ 8.62139484e-01 5.06666722e-01 2.08373825e-03 4.93714387e+01] [-5.06665493e-01 8.62141998e-01 -1.11993413e-03 -1.54591788e+01] [-2.36391161e-03 -9.02188278e-05 9.99997202e-01 -1.57521332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.40, Y:-15.48, Z:-0.16 [[ 8.61855685e-01 5.07149439e-01 2.05543847e-03 4.93999724e+01] [-5.07148091e-01 8.61858135e-01 -1.16966501e-03 -1.54755696e+01] [-2.36469132e-03 -3.43292607e-05 9.99997204e-01 -1.58459652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:49.42, Y:-15.48, Z:-0.17 [[ 8.66073002e-01 4.99913324e-01 2.05510970e-03 4.94237490e+01] [-4.99911955e-01 8.66075440e-01 -1.17024236e-03 -1.54773689e+01] [-2.36489979e-03 -1.38585906e-05 9.99997204e-01 -1.67852694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.45, Y:-15.51, Z:-0.16 [[ 8.61631223e-01 5.07530570e-01 2.08734343e-03 4.94545741e+01] [-5.07529358e-01 8.61633745e-01 -1.11343712e-03 -1.55056181e+01] [-2.36362891e-03 -1.00015890e-04 9.99997202e-01 -1.57372671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:-15.51, Z:-0.16 [[ 8.64636468e-01 5.02393822e-01 2.05566632e-03 4.94785949e+01] [-5.02392462e-01 8.64638911e-01 -1.16911502e-03 -1.55116799e+01] [-2.36476525e-03 -2.18917812e-05 9.99997204e-01 -1.63490609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699999999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.51, Y:-15.54, Z:-0.16 [[ 8.61187252e-01 5.08283578e-01 2.07894810e-03 4.95080905e+01] [-5.08282332e-01 8.61189757e-01 -1.12825463e-03 -1.55381060e+01] [-2.36384210e-03 -8.50540854e-05 9.99997203e-01 -1.56330385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.53, Y:-15.54, Z:-0.16 [[ 8.64144744e-01 5.03239152e-01 2.05371269e-03 4.95329858e+01] [-5.03237787e-01 8.64147184e-01 -1.17245774e-03 -1.55446477e+01] [-2.36473668e-03 -2.03326364e-05 9.99997204e-01 -1.63547164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:49.56, Y:-15.57, Z:-0.16 [[ 8.61232526e-01 5.08206875e-01 2.07575503e-03 4.95624633e+01] [-5.08205616e-01 8.61235024e-01 -1.13382032e-03 -1.55707809e+01] [-2.36392822e-03 -7.84274241e-05 9.99997203e-01 -1.55363143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.59, Y:-15.58, Z:-0.16 [[ 8.64690758e-01 5.02300387e-01 2.05305088e-03 4.95872014e+01] [-5.02299016e-01 8.64693195e-01 -1.17354013e-03 -1.55761560e+01] [-2.36472878e-03 -1.64961323e-05 9.99997204e-01 -1.63323007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.62, Y:-15.60, Z:-0.16 [[ 8.61224179e-01 5.08221006e-01 2.07901274e-03 4.96166635e+01] [-5.08219761e-01 8.61226684e-01 -1.12808439e-03 -1.56027688e+01] [-2.36381743e-03 -8.50618083e-05 9.99997203e-01 -1.56487289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.65, Y:-15.62, Z:-0.16 [[ 8.61238605e-01 5.08196667e-01 2.05232312e-03 4.96453186e+01] [-5.08195310e-01 8.61241050e-01 -1.17471341e-03 -1.56193443e+01] [-2.36453036e-03 -3.12724520e-05 9.99997204e-01 -1.57357805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.67, Y:-15.64, Z:-0.16 [[ 8.61009092e-01 5.08585424e-01 2.05198708e-03 4.96726463e+01] [-5.08584067e-01 8.61011536e-01 -1.17530012e-03 -1.56351404e+01] [-2.36452505e-03 -3.16638448e-05 9.99997204e-01 -1.59383896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.70, Y:-15.64, Z:-0.16 [[ 8.63623597e-01 5.04132991e-01 2.05167475e-03 4.96978615e+01] [-5.04131620e-01 8.63626034e-01 -1.17584509e-03 -1.56422086e+01] [-2.36466203e-03 -1.88265464e-05 9.99997204e-01 -1.63781212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:49.73, Y:-15.66, Z:-0.16 [[ 8.62797537e-01 5.05545363e-01 2.07256453e-03 4.97264430e+01] [-5.05544084e-01 8.62800024e-01 -1.13938102e-03 -1.56606430e+01] [-2.36421751e-03 -6.47175983e-05 9.99997203e-01 -1.63935900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.75, Y:-15.68, Z:-0.16 [[ 8.63034637e-01 5.05140513e-01 2.06811530e-03 4.97538233e+01] [-5.05139214e-01 8.63037113e-01 -1.14713359e-03 -1.56753144e+01] [-2.36432391e-03 -5.46701127e-05 9.99997203e-01 -1.62995118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.0 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.78, Y:-15.69, Z:-0.16 [[ 8.62629112e-01 5.05832706e-01 2.07108582e-03 4.97824164e+01] [-5.05831421e-01 8.62631596e-01 -1.14196253e-03 -1.56923217e+01] [-2.36422606e-03 -6.25301636e-05 9.99997203e-01 -1.62936894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.81, Y:-15.72, Z:-0.16 [[ 8.59696719e-01 5.10800612e-01 2.07026898e-03 4.98119432e+01] [-5.10799337e-01 8.59699209e-01 -1.14338315e-03 -1.57164246e+01] [-2.36384942e-03 -7.45292771e-05 9.99997203e-01 -1.58195787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059999999999995 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:49.84, Y:-15.73, Z:-0.16 [[ 8.59409811e-01 5.11283266e-01 2.04898117e-03 4.98401276e+01] [-5.11281905e-01 8.59412253e-01 -1.18033728e-03 -1.57323274e+01] [-2.36440622e-03 -3.32135587e-05 9.99997204e-01 -1.59482431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:-15.75, Z:-0.16 [[ 8.59238741e-01 5.11570707e-01 2.04867697e-03 4.98684912e+01] [-5.11569345e-01 8.59241183e-01 -1.18086503e-03 -1.57485176e+01] [-2.36440358e-03 -3.33953541e-05 9.99997204e-01 -1.55208225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:49.90, Y:-15.77, Z:-0.16 [[ 8.59142317e-01 5.11732628e-01 2.04834433e-03 4.98972013e+01] [-5.11731266e-01 8.59144758e-01 -1.18144175e-03 -1.57653578e+01] [-2.36440658e-03 -3.31752306e-05 9.99997204e-01 -1.57888957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.92, Y:-15.77, Z:-0.16 [[ 8.61343079e-01 5.08019592e-01 2.04800644e-03 4.99231069e+01] [-5.08018217e-01 8.61345514e-01 -1.18202718e-03 -1.57740235e+01] [-2.36453412e-03 -2.22936499e-05 9.99997204e-01 -1.62300430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:-15.80, Z:-0.15 [[ 8.58429799e-01 5.12926909e-01 2.06542274e-03 4.99520684e+01] [-5.12925621e-01 8.58432281e-01 -1.15184256e-03 -1.57968918e+01] [-2.36383660e-03 -7.06322618e-05 9.99997204e-01 -1.54748499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:49.98, Y:-15.81, Z:-0.16 [[ 8.58381476e-01 5.13007846e-01 2.04732055e-03 4.99802993e+01] [-5.13006483e-01 8.58383917e-01 -1.18316615e-03 -1.58132128e+01] [-2.36436055e-03 -3.46808072e-05 9.99997204e-01 -1.58195868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:50.01, Y:-15.83, Z:-0.16 [[ 8.58196408e-01 5.13317383e-01 2.04698948e-03 5.00084247e+01] [-5.13316019e-01 8.58198848e-01 -1.18373864e-03 -1.58293487e+01] [-2.36435764e-03 -3.48722443e-05 9.99997204e-01 -1.57267387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:50.04, Y:-15.85, Z:-0.16 [[ 8.58302702e-01 5.13139633e-01 2.04665766e-03 5.00369341e+01] [-5.13138268e-01 8.58305141e-01 -1.18431209e-03 -1.58458445e+01] [-2.36437426e-03 -3.37201009e-05 9.99997204e-01 -1.58600445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.3 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:50.06, Y:-15.85, Z:-0.17 [[ 8.61499479e-01 5.07754331e-01 2.04632261e-03 5.00616213e+01] [-5.07752949e-01 8.61501909e-01 -1.18489072e-03 -1.58517840e+01] [-2.36454423e-03 -1.82436062e-05 9.99997204e-01 -1.65993825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:50.09, Y:-15.88, Z:-0.16 [[ 8.58189321e-01 5.13329142e-01 2.06935619e-03 5.00912783e+01] [-5.13327871e-01 8.58191812e-01 -1.14508394e-03 -1.58776284e+01] [-2.36370950e-03 -7.95593965e-05 9.99997203e-01 -1.59154011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:-15.89, Z:-0.16 [[ 8.58235065e-01 5.13252753e-01 2.04572829e-03 5.01190861e+01] [-5.13251384e-01 8.58237502e-01 -1.18584499e-03 -1.58945082e+01] [-2.36435894e-03 -3.22391248e-05 9.99997204e-01 -1.55223004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:50.15, Y:-15.91, Z:-0.16 [[ 8.58630755e-01 5.12590522e-01 2.04539198e-03 5.01465086e+01] [-5.12589150e-01 8.58633191e-01 -1.18642478e-03 -1.59105203e+01] [-2.36439154e-03 -2.97449359e-05 9.99997204e-01 -1.58403512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:50.17, Y:-15.92, Z:-0.16 [[ 8.62223289e-01 5.06524251e-01 2.04507770e-03 5.01717888e+01] [-5.06522861e-01 8.62225715e-01 -1.18696627e-03 -1.59177846e+01] [-2.36454578e-03 -1.24486394e-05 9.99997204e-01 -1.63014272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:50.20, Y:-15.94, Z:-0.16 [[ 8.59401306e-01 5.11297493e-01 2.06625812e-03 5.02004555e+01] [-5.11296203e-01 8.59403787e-01 -1.15045552e-03 -1.59422666e+01] [-2.36397508e-03 -6.77669557e-05 9.99997204e-01 -1.57430852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:50.22, Y:-15.95, Z:-0.17 [[ 8.62850072e-01 5.05455808e-01 2.04439733e-03 5.02248982e+01] [-5.05454412e-01 8.62852494e-01 -1.18807286e-03 -1.59480548e+01] [-2.36453166e-03 -8.22089383e-06 9.99997204e-01 -1.65135268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:50.25, Y:-15.97, Z:-0.16 [[ 8.59827757e-01 5.10580017e-01 2.06758956e-03 5.02543311e+01] [-5.10578730e-01 8.59830240e-01 -1.14812304e-03 -1.59741119e+01] [-2.36398471e-03 -6.84791968e-05 9.99997203e-01 -1.57864303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:-15.99, Z:-0.15 [[ 8.59372577e-01 5.11345867e-01 2.04385126e-03 5.02828584e+01] [-5.11344486e-01 8.59375007e-01 -1.18893077e-03 -1.59908537e+01] [-2.36438953e-03 -2.33775714e-05 9.99997205e-01 -1.53350426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.31, Y:-16.01, Z:-0.16 [[ 8.59678135e-01 5.10831997e-01 2.04350898e-03 5.03104094e+01] [-5.10830612e-01 8.59680563e-01 -1.18951878e-03 -1.60063206e+01] [-2.36440921e-03 -2.12836593e-05 9.99997205e-01 -1.56930948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.6 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:50.34, Y:-16.01, Z:-0.16 [[ 8.63259146e-01 5.04756845e-01 2.04318978e-03 5.03356490e+01] [-5.04755442e-01 8.63261564e-01 -1.19006682e-03 -1.60107717e+01] [-2.36450157e-03 -3.97509344e-06 9.99997205e-01 -1.62605004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:-16.04, Z:-0.15 [[ 8.59266160e-01 5.11524572e-01 2.06859366e-03 5.03653942e+01] [-5.11523293e-01 8.59268647e-01 -1.14642144e-03 -1.60368097e+01] [-2.36390040e-03 -7.30526930e-05 9.99997203e-01 -1.54256333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:50.39, Y:-16.05, Z:-0.16 [[ 8.59519979e-01 5.11098067e-01 2.04252163e-03 5.03940695e+01] [-5.11096679e-01 8.59522406e-01 -1.19112917e-03 -1.60531462e+01] [-2.36437692e-03 -2.01266957e-05 9.99997205e-01 -1.57614018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.42, Y:-16.07, Z:-0.16 [[ 8.59287793e-01 5.11488336e-01 2.04218198e-03 5.04211773e+01] [-5.11486948e-01 8.59290220e-01 -1.19171120e-03 -1.60691895e+01] [-2.36437339e-03 -2.05265385e-05 9.99997205e-01 -1.57301893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:-16.09, Z:-0.15 [[ 8.58843357e-01 5.12234243e-01 2.04186607e-03 5.04498034e+01] [-5.12232856e-01 8.58845784e-01 -1.19225223e-03 -1.60862217e+01] [-2.36436049e-03 -2.19529790e-05 9.99997205e-01 -1.53570684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:-16.10, Z:-0.15 [[ 8.58698747e-01 5.12476627e-01 2.04152907e-03 5.04785941e+01] [-5.12475239e-01 8.58701174e-01 -1.19282902e-03 -1.61031293e+01] [-2.36436040e-03 -2.19523184e-05 9.99997205e-01 -1.53649936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.51, Y:-16.12, Z:-0.16 [[ 8.58949496e-01 5.12056244e-01 2.04119224e-03 5.05062723e+01] [-5.12054853e-01 8.58951921e-01 -1.19340513e-03 -1.61190375e+01] [-2.36437654e-03 -2.01276564e-05 9.99997205e-01 -1.57018667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:50.53, Y:-16.14, Z:-0.15 [[ 8.58458475e-01 5.12879013e-01 2.04098298e-03 5.05346962e+01] [-5.12877624e-01 8.58460901e-01 -1.19376290e-03 -1.61357664e+01] [-2.36436003e-03 -2.19786248e-05 9.99997205e-01 -1.54635042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:50.56, Y:-16.15, Z:-0.16 [[ 8.58437214e-01 5.12914599e-01 2.04064334e-03 5.05625074e+01] [-5.12913209e-01 8.58439639e-01 -1.19434320e-03 -1.61515234e+01] [-2.36436520e-03 -2.14042772e-05 9.99997205e-01 -1.56872147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:50.59, Y:-16.17, Z:-0.16 [[ 8.57601572e-01 5.14310587e-01 2.04032802e-03 5.05914720e+01] [-5.14309200e-01 8.57603999e-01 -1.19488164e-03 -1.61672379e+01] [-2.36433374e-03 -2.46270936e-05 9.99997205e-01 -1.58247994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.9 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.62, Y:-16.18, Z:-0.16 [[ 8.57015368e-01 5.15286812e-01 2.03998823e-03 5.06190656e+01] [-5.15285426e-01 8.57017795e-01 -1.19546147e-03 -1.61828190e+01] [-2.36431174e-03 -2.66473526e-05 9.99997205e-01 -1.60103462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:50.65, Y:-16.20, Z:-0.16 [[ 8.55582805e-01 5.17661959e-01 2.03967155e-03 5.06478547e+01] [-5.17660578e-01 8.55585236e-01 -1.19600154e-03 -1.61992410e+01] [-2.36423736e-03 -3.25792054e-05 9.99997205e-01 -1.57330815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.68, Y:-16.22, Z:-0.16 [[ 8.55775331e-01 5.17343623e-01 2.03932912e-03 5.06761161e+01] [-5.17342240e-01 8.55777760e-01 -1.19658513e-03 -1.62155949e+01] [-2.36425820e-03 -3.10230566e-05 9.99997205e-01 -1.56232382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:-16.23, Z:-0.16 [[ 8.54608565e-01 5.19268771e-01 2.03554152e-03 5.07027025e+01] [-5.19267378e-01 8.54610989e-01 -1.20303780e-03 -1.62313563e+01] [-2.36429611e-03 -2.88638980e-05 9.99997205e-01 -1.55441952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019999999999996 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:50.73, Y:-16.25, Z:-0.16 [[ 8.54888288e-01 5.18808112e-01 2.03897952e-03 5.07309656e+01] [-5.18806732e-01 8.54890719e-01 -1.19718238e-03 -1.62472815e+01] [-2.36421260e-03 -3.43791041e-05 9.99997205e-01 -1.59324034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:50.76, Y:-16.26, Z:-0.16 [[ 8.54626234e-01 5.19239679e-01 2.03863870e-03 5.07598327e+01] [-5.19238298e-01 8.54628665e-01 -1.19776247e-03 -1.62639783e+01] [-2.36420487e-03 -3.49000632e-05 9.99997205e-01 -1.59739536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:50.79, Y:-16.28, Z:-0.16 [[ 8.54031876e-01 5.20216686e-01 2.03829784e-03 5.07881834e+01] [-5.20215307e-01 8.54034308e-01 -1.19834224e-03 -1.62808194e+01] [-2.36417391e-03 -3.69312610e-05 9.99997205e-01 -1.59787875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:50.82, Y:-16.30, Z:-0.16 [[ 8.54175801e-01 5.19980334e-01 2.03795495e-03 5.08154391e+01] [-5.19978953e-01 8.54178232e-01 -1.19892509e-03 -1.62969060e+01] [-2.36419423e-03 -3.56008817e-05 9.99997205e-01 -1.61100348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:50.84, Y:-16.31, Z:-0.16 [[ 8.54277789e-01 5.19812761e-01 2.03774100e-03 5.08432651e+01] [-5.19811379e-01 8.54280219e-01 -1.19928862e-03 -1.63135386e+01] [-2.36420736e-03 -3.47153302e-05 9.99997205e-01 -1.60091285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:-16.33, Z:-0.15 [[ 8.53931166e-01 5.20381988e-01 2.03740264e-03 5.08714023e+01] [-5.20380606e-01 8.53933595e-01 -1.19986317e-03 -1.63313226e+01] [-2.36419374e-03 -3.56242581e-05 9.99997205e-01 -1.54497665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199999999999996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:50.90, Y:-16.35, Z:-0.16 [[ 8.55713667e-01 5.17445621e-01 2.03706564e-03 5.08983950e+01] [-5.17444229e-01 8.55716091e-01 -1.20043504e-03 -1.63481481e+01] [-2.36430970e-03 -2.68391858e-05 9.99997205e-01 -1.58460089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:50.93, Y:-16.36, Z:-0.16 [[ 8.56567788e-01 5.16030500e-01 2.03675039e-03 5.09252052e+01] [-5.16029102e-01 8.56570209e-01 -1.20096967e-03 -1.63648814e+01] [-2.36435669e-03 -2.23105467e-05 9.99997205e-01 -1.56668913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:50.95, Y:-16.38, Z:-0.16 [[ 8.58848628e-01 5.12225427e-01 2.03644040e-03 5.09532175e+01] [-5.12224018e-01 8.58851042e-01 -1.20149508e-03 -1.63830245e+01] [-2.36443529e-03 -1.12112858e-05 9.99997205e-01 -1.57518526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:50.98, Y:-16.40, Z:-0.16 [[ 8.59958460e-01 5.10359973e-01 2.03610340e-03 5.09807168e+01] [-5.10358557e-01 8.59960870e-01 -1.20206591e-03 -1.64001564e+01] [-2.36445558e-03 -5.41604156e-06 9.99997205e-01 -1.58105336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:51.01, Y:-16.41, Z:-0.16 [[ 8.63757957e-01 5.03902815e-01 2.03576928e-03 5.10056666e+01] [-5.03901380e-01 8.63760356e-01 -1.20263149e-03 -1.64084733e+01] [-2.36442619e-03 1.29555678e-05 9.99997205e-01 -1.63525716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:51.03, Y:-16.43, Z:-0.16 [[ 8.62888526e-01 5.05390114e-01 2.05514833e-03 5.10333495e+01] [-5.05388761e-01 8.62890973e-01 -1.16980710e-03 -1.64340000e+01] [-2.36457789e-03 -2.92357467e-05 9.99997204e-01 -1.55709013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379999999999995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:51.06, Y:-16.45, Z:-0.16 [[ 8.63691146e-01 5.04017323e-01 2.03527725e-03 5.10611013e+01] [-5.04015887e-01 8.63693544e-01 -1.20341412e-03 -1.64506830e+01] [-2.36439738e-03 1.35660543e-05 9.99997205e-01 -1.58161660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:-16.47, Z:-0.15 [[ 8.63877799e-01 5.03697337e-01 2.03497119e-03 5.10889819e+01] [-5.03695898e-01 8.63880196e-01 -1.20393144e-03 -1.64678962e+01] [-2.36438837e-03 1.50429985e-05 9.99997205e-01 -1.54381112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:51.12, Y:-16.48, Z:-0.16 [[ 8.65250621e-01 5.01335439e-01 2.03464772e-03 5.11173938e+01] [-5.01333993e-01 8.65253013e-01 -1.20447786e-03 -1.64848417e+01] [-2.36433251e-03 2.21371491e-05 9.99997205e-01 -1.57333992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:51.14, Y:-16.50, Z:-0.16 [[ 8.65064391e-01 5.01656717e-01 2.03430457e-03 5.11429012e+01] [-5.01655270e-01 8.65066782e-01 -1.20505714e-03 -1.65002619e+01] [-2.36433432e-03 2.19324134e-05 9.99997205e-01 -1.56319842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.5 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:51.17, Y:-16.52, Z:-0.16 [[ 8.65782510e-01 5.00416321e-01 2.03752829e-03 5.11717118e+01] [-5.00414884e-01 8.65784907e-01 -1.19961656e-03 -1.65172814e+01] [-2.36436894e-03 1.89975553e-05 9.99997205e-01 -1.55604801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:51.20, Y:-16.53, Z:-0.16 [[ 8.66012443e-01 5.00018311e-01 2.03388693e-03 5.11994338e+01] [-5.00016858e-01 8.66014831e-01 -1.20575884e-03 -1.65334337e+01] [-2.36427774e-03 2.72244001e-05 9.99997205e-01 -1.55128198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:51.23, Y:-16.55, Z:-0.15 [[ 8.66226146e-01 4.99648006e-01 2.03357037e-03 5.12278899e+01] [-4.99646550e-01 8.66228532e-01 -1.20629250e-03 -1.65491122e+01] [-2.36425832e-03 2.88556838e-05 9.99997205e-01 -1.53600390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:51.26, Y:-16.57, Z:-0.15 [[ 8.66101861e-01 4.99863413e-01 2.03323321e-03 5.12564582e+01] [-4.99861957e-01 8.66104247e-01 -1.20686053e-03 -1.65654148e+01] [-2.36425734e-03 2.89282178e-05 9.99997205e-01 -1.53742841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:51.28, Y:-16.58, Z:-0.16 [[ 8.66022482e-01 5.00000928e-01 2.03289829e-03 5.12848079e+01] [-4.99999471e-01 8.66024867e-01 -1.20742442e-03 -1.65816592e+01] [-2.36425380e-03 2.92086255e-05 9.99997205e-01 -1.55032114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:-16.60, Z:-0.15 [[ 8.65442649e-01 5.01003882e-01 2.03256268e-03 5.13126697e+01] [-5.01002426e-01 8.65445036e-01 -1.20798911e-03 -1.65972777e+01] [-2.36427851e-03 2.71264581e-05 9.99997205e-01 -1.52531205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:51.34, Y:-16.61, Z:-0.16 [[ 8.65476999e-01 5.00944543e-01 2.03224972e-03 5.13411921e+01] [-5.00943086e-01 8.65479384e-01 -1.20851539e-03 -1.66132562e+01] [-2.36426942e-03 2.79008299e-05 9.99997205e-01 -1.56081499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:51.37, Y:-16.63, Z:-0.16 [[ 8.65147286e-01 5.01513753e-01 2.03192353e-03 5.13703261e+01] [-5.01512296e-01 8.65149672e-01 -1.20906358e-03 -1.66286066e+01] [-2.36427999e-03 2.69834361e-05 9.99997205e-01 -1.56616456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:51.40, Y:-16.64, Z:-0.15 [[ 8.64679986e-01 5.02319016e-01 2.03159179e-03 5.13985275e+01] [-5.02317561e-01 8.64682372e-01 -1.20962074e-03 -1.66445774e+01] [-2.36429711e-03 2.54306086e-05 9.99997205e-01 -1.54838876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769999999999996 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:51.43, Y:-16.66, Z:-0.16 [[ 8.64430225e-01 5.02748705e-01 2.03127006e-03 5.14270174e+01] [-5.02747250e-01 8.64432611e-01 -1.21016076e-03 -1.66603804e+01] [-2.36430284e-03 2.48841035e-05 9.99997205e-01 -1.56139488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:-16.66, Z:-0.16 [[ 8.67315846e-01 4.97754054e-01 2.03092427e-03 5.14523744e+01] [-4.97752583e-01 8.67318223e-01 -1.21074081e-03 -1.66645657e+01] [-2.36410877e-03 3.91968876e-05 9.99997205e-01 -1.60937001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:51.48, Y:-16.69, Z:-0.16 [[ 8.63560096e-01 5.04241733e-01 2.05804421e-03 5.14816829e+01] [-5.04240388e-01 8.63562547e-01 -1.16517609e-03 -1.66904977e+01] [-2.36478031e-03 -3.15494400e-05 9.99997203e-01 -1.55547201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:51.51, Y:-16.71, Z:-0.16 [[ 8.63251009e-01 5.04770811e-01 2.03071438e-03 5.15102737e+01] [-5.04769359e-01 8.63253397e-01 -1.21100504e-03 -1.67065226e+01] [-2.36430108e-03 2.03589307e-05 9.99997205e-01 -1.56592893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:51.54, Y:-16.72, Z:-0.16 [[ 8.63250051e-01 5.04772450e-01 2.03037132e-03 5.15378970e+01] [-5.04770997e-01 8.63252439e-01 -1.21157994e-03 -1.67203598e+01] [-2.36429517e-03 2.10238874e-05 9.99997205e-01 -1.59577862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919999999999995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:51.57, Y:-16.74, Z:-0.16 [[ 8.63335896e-01 5.04625612e-01 2.03009538e-03 5.15663086e+01] [-5.04624157e-01 8.63338283e-01 -1.21204213e-03 -1.67359903e+01] [-2.36428656e-03 2.19643054e-05 9.99997205e-01 -1.59510073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949999999999996 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:51.59, Y:-16.75, Z:-0.16 [[ 8.63453617e-01 5.04424159e-01 2.02975379e-03 5.15935389e+01] [-5.04422702e-01 8.63456002e-01 -1.21261389e-03 -1.67512416e+01] [-2.36427484e-03 2.31819611e-05 9.99997205e-01 -1.60990728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:51.62, Y:-16.77, Z:-0.16 [[ 8.63592405e-01 5.04186511e-01 2.02958967e-03 5.16224300e+01] [-5.04185053e-01 8.63594790e-01 -1.21288853e-03 -1.67677160e+01] [-2.36426510e-03 2.41525530e-05 9.99997205e-01 -1.57244235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:51.65, Y:-16.78, Z:-0.16 [[ 8.64211147e-01 5.03125209e-01 2.02924700e-03 5.16502406e+01] [-5.03123746e-01 8.64213529e-01 -1.21346156e-03 -1.67829070e+01] [-2.36422582e-03 2.77246524e-05 9.99997205e-01 -1.55906163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:-16.79, Z:-0.16 [[ 8.66563113e-01 4.99063377e-01 2.02892814e-03 5.16760972e+01] [-4.99061902e-01 8.66565488e-01 -1.21399447e-03 -1.67913686e+01] [-2.36405928e-03 3.94420904e-05 9.99997205e-01 -1.58706076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:51.70, Y:-16.81, Z:-0.15 [[ 8.64343704e-01 5.02897382e-01 2.04577256e-03 5.17049072e+01] [-5.02895984e-01 8.64346125e-01 -1.18583094e-03 -1.68133014e+01] [-2.36460685e-03 -3.84529926e-06 9.99997204e-01 -1.54658870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.1 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:51.73, Y:-16.83, Z:-0.15 [[ 8.63774818e-01 5.03873942e-01 2.02838998e-03 5.17346759e+01] [-5.03872479e-01 8.63777199e-01 -1.21485389e-03 -1.68280803e+01] [-2.36421023e-03 2.73103079e-05 9.99997205e-01 -1.53764675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129999999999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:51.76, Y:-16.84, Z:-0.16 [[ 8.63545652e-01 5.04266591e-01 2.02804601e-03 5.17640286e+01] [-5.04265127e-01 8.63548033e-01 -1.21542784e-03 -1.68439622e+01] [-2.36421479e-03 2.69045502e-05 9.99997205e-01 -1.55072893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:51.79, Y:-16.86, Z:-0.16 [[ 8.63331726e-01 5.04632756e-01 2.02770455e-03 5.17928912e+01] [-5.04631292e-01 8.63334107e-01 -1.21599722e-03 -1.68594746e+01] [-2.36421853e-03 2.65658099e-05 9.99997205e-01 -1.55789635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:-16.87, Z:-0.15 [[ 8.62331385e-01 5.06340273e-01 2.02735877e-03 5.18225179e+01] [-5.06338812e-01 8.62333768e-01 -1.21657346e-03 -1.68746766e+01] [-2.36426006e-03 2.25590441e-05 9.99997205e-01 -1.53292217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:51.85, Y:-16.89, Z:-0.16 [[ 8.62571740e-01 5.05930712e-01 2.02701506e-03 5.18507582e+01] [-5.05929248e-01 8.62574121e-01 -1.21714585e-03 -1.68895743e+01] [-2.36424220e-03 2.43494088e-05 9.99997205e-01 -1.57654735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:-16.91, Z:-0.15 [[ 8.61978485e-01 5.06940808e-01 2.02671560e-03 5.18794147e+01] [-5.06939346e-01 8.61980868e-01 -1.21764429e-03 -1.69059085e+01] [-2.36426366e-03 2.21612995e-05 9.99997205e-01 -1.54617565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:51.91, Y:-16.92, Z:-0.16 [[ 8.62143392e-01 5.06660306e-01 2.02637282e-03 5.19087654e+01] [-5.06658842e-01 8.62145773e-01 -1.21821448e-03 -1.69200392e+01] [-2.36424968e-03 2.35958611e-05 9.99997205e-01 -1.58248637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309999999999995 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:51.94, Y:-16.94, Z:-0.16 [[ 8.61746262e-01 5.07335465e-01 2.02602490e-03 5.19355633e+01] [-5.07334002e-01 8.61748644e-01 -1.21879284e-03 -1.69354445e+01] [-2.36426104e-03 2.24188553e-05 9.99997205e-01 -1.57071240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339999999999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:51.96, Y:-16.95, Z:-0.16 [[ 8.61830883e-01 5.07191707e-01 2.02546644e-03 5.19633417e+01] [-5.07190241e-01 8.61833262e-01 -1.21972067e-03 -1.69510118e+01] [-2.36424656e-03 2.38961284e-05 9.99997205e-01 -1.57520533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:-16.97, Z:-0.15 [[ 8.61319826e-01 5.08059106e-01 2.02562204e-03 5.19907372e+01] [-5.08057643e-01 8.61322207e-01 -1.21946221e-03 -1.69669879e+01] [-2.36427212e-03 2.12142177e-05 9.99997205e-01 -1.52416522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.4 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.02, Y:-16.98, Z:-0.15 [[ 8.61668470e-01 5.07467581e-01 2.02532341e-03 5.20194958e+01] [-5.07466115e-01 8.61670850e-01 -1.21995797e-03 -1.69829213e+01] [-2.36425127e-03 2.34163163e-05 9.99997205e-01 -1.54029853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:52.05, Y:-17.00, Z:-0.15 [[ 8.61830322e-01 5.07192661e-01 2.02497706e-03 5.20478847e+01] [-5.07191193e-01 8.61832700e-01 -1.22053261e-03 -1.69990202e+01] [-2.36423663e-03 2.48414820e-05 9.99997205e-01 -1.54824745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:-17.00, Z:-0.16 [[ 8.65027159e-01 5.01720953e-01 2.02463101e-03 5.20736242e+01] [-5.01719469e-01 8.65029528e-01 -1.22110637e-03 -1.70033611e+01] [-2.36402026e-03 4.04933826e-05 9.99997205e-01 -1.60365593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489999999999995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:52.10, Y:-17.03, Z:-0.16 [[ 8.61884610e-01 5.07100304e-01 2.04952529e-03 5.21029446e+01] [-5.07098932e-01 8.61887047e-01 -1.17979073e-03 -1.70283502e+01] [-2.36473153e-03 -2.24686107e-05 9.99997204e-01 -1.57186726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519999999999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:52.13, Y:-17.04, Z:-0.16 [[ 8.61479163e-01 5.07788888e-01 2.02416067e-03 5.21320175e+01] [-5.07787419e-01 8.61481540e-01 -1.22181198e-03 -1.70429739e+01] [-2.36419960e-03 2.47222377e-05 9.99997205e-01 -1.57851611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:52.16, Y:-17.06, Z:-0.16 [[ 8.61259400e-01 5.08161540e-01 2.02381323e-03 5.21605421e+01] [-5.08160070e-01 8.61261777e-01 -1.22238721e-03 -1.70584855e+01] [-2.36420315e-03 2.43713977e-05 9.99997205e-01 -1.58008026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:-17.07, Z:-0.15 [[ 8.60414101e-01 5.09591484e-01 2.02359598e-03 5.21893163e+01] [-5.09590017e-01 8.60416480e-01 -1.22274674e-03 -1.70749255e+01] [-2.36423666e-03 2.08642262e-05 9.99997205e-01 -1.54399141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:52.22, Y:-17.09, Z:-0.16 [[ 8.60681007e-01 5.09140561e-01 2.02324943e-03 5.22179036e+01] [-5.09139092e-01 8.60683385e-01 -1.22331990e-03 -1.70896688e+01] [-2.36421895e-03 2.27728288e-05 9.99997205e-01 -1.58993189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.25, Y:-17.10, Z:-0.16 [[ 8.60259550e-01 5.09852346e-01 2.02294457e-03 5.22472088e+01] [-5.09850877e-01 8.60261928e-01 -1.22382384e-03 -1.71046968e+01] [-2.36423165e-03 2.14060842e-05 9.99997205e-01 -1.59131297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669999999999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.28, Y:-17.12, Z:-0.16 [[ 8.60114564e-01 5.10096898e-01 2.02259617e-03 5.22757465e+01] [-5.10095429e-01 8.60116942e-01 -1.22439936e-03 -1.71220504e+01] [-2.36423155e-03 2.14066620e-05 9.99997205e-01 -1.59210541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699999999999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.30, Y:-17.14, Z:-0.16 [[ 8.59884844e-01 5.10484050e-01 2.02224791e-03 5.23042891e+01] [-5.10482580e-01 8.59887222e-01 -1.22497429e-03 -1.71383614e+01] [-2.36423497e-03 2.10144941e-05 9.99997205e-01 -1.59774606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.33, Y:-17.16, Z:-0.16 [[ 8.59527161e-01 5.11086070e-01 2.02190034e-03 5.23331399e+01] [-5.11084601e-01 8.59529539e-01 -1.22554770e-03 -1.71550955e+01] [-2.36424343e-03 2.00294062e-05 9.99997205e-01 -1.58106147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:-17.17, Z:-0.16 [[ 8.58856930e-01 5.12211565e-01 2.02155278e-03 5.23617793e+01] [-5.12210098e-01 8.58859309e-01 -1.22612073e-03 -1.71704624e+01] [-2.36426264e-03 1.76025377e-05 9.99997205e-01 -1.55136429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.39, Y:-17.18, Z:-0.16 [[ 8.59190674e-01 5.11651542e-01 2.02120147e-03 5.23897716e+01] [-5.11650072e-01 8.59193051e-01 -1.22669958e-03 -1.71848766e+01] [-2.36424499e-03 1.98209583e-05 9.99997205e-01 -1.59131283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.42, Y:-17.20, Z:-0.16 [[ 8.58755412e-01 5.12381750e-01 2.02087408e-03 5.24173540e+01] [-5.12380281e-01 8.58757790e-01 -1.22723868e-03 -1.72001865e+01] [-2.36425607e-03 1.84418318e-05 9.99997205e-01 -1.57071159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.45, Y:-17.22, Z:-0.16 [[ 8.58110263e-01 5.13461482e-01 2.02059601e-03 5.24470471e+01] [-5.13460014e-01 8.58112642e-01 -1.22769635e-03 -1.72153906e+01] [-2.36427377e-03 1.60035879e-05 9.99997205e-01 -1.58177454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879999999999995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:52.48, Y:-17.23, Z:-0.16 [[ 8.57535097e-01 5.14421497e-01 2.02025710e-03 5.24752396e+01] [-5.14420031e-01 8.57537476e-01 -1.22825379e-03 -1.72313688e+01] [-2.36428633e-03 1.40100105e-05 9.99997205e-01 -1.59388146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:-17.25, Z:-0.16 [[ 8.56275252e-01 5.16515840e-01 2.01994154e-03 5.25036366e+01] [-5.16514379e-01 8.56277634e-01 -1.22877254e-03 -1.72483393e+01] [-2.36431124e-03 8.83867049e-06 9.99997205e-01 -1.55207301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.53, Y:-17.26, Z:-0.16 [[ 8.55060037e-01 5.18525076e-01 2.01959663e-03 5.25324007e+01] [-5.18523619e-01 8.55062422e-01 -1.22933916e-03 -1.72622468e+01] [-2.36432437e-03 3.95023806e-06 9.99997205e-01 -1.59768201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.56, Y:-17.28, Z:-0.16 [[ 8.53906640e-01 5.20422302e-01 2.01929213e-03 5.25611256e+01] [-5.20420849e-01 8.53909028e-01 -1.22983913e-03 -1.72782934e+01] [-2.36432749e-03 -7.13921776e-07 9.99997205e-01 -1.59677070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.0 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:52.59, Y:-17.29, Z:-0.16 [[ 8.53200384e-01 5.21579359e-01 2.01894391e-03 5.25884579e+01] [-5.21577908e-01 8.53202773e-01 -1.23041051e-03 -1.72927232e+01] [-2.36432527e-03 -3.24982283e-06 9.99997205e-01 -1.63789165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:-17.30, Z:-0.17 [[ 8.53467151e-01 5.21142733e-01 2.01866342e-03 5.26138761e+01] [-5.21141279e-01 8.53469538e-01 -1.23087052e-03 -1.72992980e+01] [-2.36432696e-03 -1.50128367e-06 9.99997205e-01 -1.65558073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059999999999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.64, Y:-17.32, Z:-0.16 [[ 8.49514024e-01 5.27562081e-01 2.04287543e-03 5.26427107e+01] [-5.27560741e-01 8.49516478e-01 -1.19111166e-03 -1.73231773e+01] [-2.36384168e-03 -6.58748138e-05 9.99997204e-01 -1.61654845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089999999999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:52.67, Y:-17.34, Z:-0.16 [[ 8.47353962e-01 5.31024661e-01 2.01825839e-03 5.26714659e+01] [-5.31023234e-01 8.47356365e-01 -1.23145700e-03 -1.73384882e+01] [-2.36411813e-03 -2.82621302e-05 9.99997205e-01 -1.62650374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.70, Y:-17.35, Z:-0.16 [[ 8.46110366e-01 5.33003918e-01 2.01795295e-03 5.26999704e+01] [-5.33002495e-01 8.46112772e-01 -1.23195731e-03 -1.73549091e+01] [-2.36405384e-03 -3.32021056e-05 9.99997205e-01 -1.61427877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.73, Y:-17.37, Z:-0.16 [[ 8.45214853e-01 5.34422849e-01 2.01760435e-03 5.27283642e+01] [-5.34421429e-01 8.45217261e-01 -1.23252796e-03 -1.73709811e+01] [-2.36400512e-03 -3.65000573e-05 9.99997205e-01 -1.62984260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:52.76, Y:-17.39, Z:-0.16 [[ 8.44221406e-01 5.35990810e-01 2.01725567e-03 5.27565350e+01] [-5.35989393e-01 8.44223815e-01 -1.23309837e-03 -1.73874070e+01] [-2.36394467e-03 -4.02196021e-05 9.99997205e-01 -1.62802254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.78, Y:-17.40, Z:-0.16 [[ 8.42779484e-01 5.38255211e-01 2.01690532e-03 5.27842603e+01] [-5.38253800e-01 8.42781897e-01 -1.23367114e-03 -1.74042403e+01] [-2.36384122e-03 -4.58942234e-05 9.99997205e-01 -1.62553977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239999999999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:52.81, Y:-17.42, Z:-0.16 [[ 8.42189995e-01 5.39177100e-01 2.01655568e-03 5.28122046e+01] [-5.39175689e-01 8.42192408e-01 -1.23424241e-03 -1.74218111e+01] [-2.36380313e-03 -4.78111884e-05 9.99997205e-01 -1.62037731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269999999999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:52.84, Y:-17.44, Z:-0.16 [[ 8.41662125e-01 5.40000743e-01 2.01620094e-03 5.28397173e+01] [-5.39999333e-01 8.41664539e-01 -1.23482162e-03 -1.74396796e+01] [-2.36376943e-03 -4.94445747e-05 9.99997205e-01 -1.61173692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.3 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.87, Y:-17.46, Z:-0.16 [[ 8.41309012e-01 5.40550722e-01 2.01584439e-03 5.28666857e+01] [-5.40549313e-01 8.41311425e-01 -1.23540341e-03 -1.74576158e+01] [-2.36375112e-03 -5.03072749e-05 9.99997205e-01 -1.62009660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:52.89, Y:-17.48, Z:-0.16 [[ 8.41164543e-01 5.40775507e-01 2.01551250e-03 5.28944735e+01] [-5.40774097e-01 8.41166956e-01 -1.23594464e-03 -1.74752253e+01] [-2.36375111e-03 -5.03041482e-05 9.99997205e-01 -1.62332893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:52.92, Y:-17.49, Z:-0.16 [[ 8.40891721e-01 5.41199642e-01 2.01515750e-03 5.29210920e+01] [-5.41198232e-01 8.40894134e-01 -1.23652319e-03 -1.74920668e+01] [-2.36374003e-03 -5.08175605e-05 9.99997205e-01 -1.62619038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.95, Y:-17.51, Z:-0.16 [[ 8.40710163e-01 5.41481636e-01 2.01482712e-03 5.29482264e+01] [-5.41480225e-01 8.40712576e-01 -1.23706129e-03 -1.75104330e+01] [-2.36373646e-03 -5.09790451e-05 9.99997205e-01 -1.62464637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419999999999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:52.98, Y:-17.53, Z:-0.16 [[ 8.40648310e-01 5.41577659e-01 2.01447391e-03 5.29756072e+01] [-5.41576247e-01 8.40650722e-01 -1.23763620e-03 -1.75284993e+01] [-2.36374506e-03 -5.05744358e-05 9.99997205e-01 -1.62472094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449999999999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:53.00, Y:-17.55, Z:-0.16 [[ 8.40667459e-01 5.41547936e-01 2.01411735e-03 5.30017821e+01] [-5.41546523e-01 8.40669870e-01 -1.23821619e-03 -1.75463652e+01] [-2.36376119e-03 -4.98101861e-05 9.99997205e-01 -1.63233804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:53.03, Y:-17.57, Z:-0.16 [[ 8.41398336e-01 5.40411681e-01 2.01389578e-03 5.30261803e+01] [-5.40410264e-01 8.41400744e-01 -1.23857645e-03 -1.75651827e+01] [-2.36383459e-03 -4.61937900e-05 9.99997205e-01 -1.63263242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:53.05, Y:-17.58, Z:-0.16 [[ 8.42116576e-01 5.39291775e-01 2.01361514e-03 5.30526990e+01] [-5.39290353e-01 8.42118982e-01 -1.23903254e-03 -1.75830118e+01] [-2.36390359e-03 -4.25133814e-05 9.99997205e-01 -1.64045070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:53.08, Y:-17.60, Z:-0.17 [[ 8.43004082e-01 5.37903396e-01 2.01330740e-03 5.30790258e+01] [-5.37901970e-01 8.43006486e-01 -1.23953237e-03 -1.76013441e+01] [-2.36397987e-03 -3.80311658e-05 9.99997205e-01 -1.65047359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:53.10, Y:-17.62, Z:-0.16 [[ 8.45102977e-01 5.34599763e-01 2.01297979e-03 5.31036346e+01] [-5.34598326e-01 8.45105374e-01 -1.24006419e-03 -1.76226713e+01] [-2.36411806e-03 -2.81536854e-05 9.99997205e-01 -1.63195368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.6 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.13, Y:-17.64, Z:-0.16 [[ 8.46147913e-01 5.32944329e-01 2.01267767e-03 5.31300317e+01] [-5.32942886e-01 8.46150307e-01 -1.24055435e-03 -1.76422056e+01] [-2.36417423e-03 -2.29497684e-05 9.99997205e-01 -1.62080698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629999999999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:53.16, Y:-17.66, Z:-0.16 [[ 8.47148190e-01 5.31352890e-01 2.01232861e-03 5.31562804e+01] [-5.31351441e-01 8.47150580e-01 -1.24112031e-03 -1.76615457e+01] [-2.36421821e-03 -1.78408793e-05 9.99997205e-01 -1.61400538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.18, Y:-17.68, Z:-0.16 [[ 8.48076463e-01 5.29870045e-01 2.01197883e-03 5.31831530e+01] [-5.29868590e-01 8.48078850e-01 -1.24168707e-03 -1.76811692e+01] [-2.36424948e-03 -1.30388040e-05 9.99997205e-01 -1.60562957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.21, Y:-17.70, Z:-0.16 [[ 8.49988233e-01 5.26797833e-01 2.01162644e-03 5.32086595e+01] [-5.26796368e-01 8.49990614e-01 -1.24225771e-03 -1.77016061e+01] [-2.36428226e-03 -3.81306007e-06 9.99997205e-01 -1.59418274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:53.24, Y:-17.72, Z:-0.16 [[ 8.50415890e-01 5.26107184e-01 2.01127002e-03 5.32350737e+01] [-5.26105716e-01 8.50418268e-01 -1.24283451e-03 -1.77207464e+01] [-2.36428493e-03 -1.21444170e-06 9.99997205e-01 -1.58123142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.26, Y:-17.74, Z:-0.16 [[ 8.50826811e-01 5.25442379e-01 2.01091489e-03 5.32617654e+01] [-5.25440907e-01 8.50829188e-01 -1.24340883e-03 -1.77399354e+01] [-2.36428478e-03 1.30862811e-06 9.99997205e-01 -1.55795008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.29, Y:-17.76, Z:-0.16 [[ 8.51847480e-01 5.23786053e-01 2.01055519e-03 5.32867427e+01] [-5.23784575e-01 8.51849852e-01 -1.24399020e-03 -1.77597247e+01] [-2.36427585e-03 6.59211937e-06 9.99997205e-01 -1.57579411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809999999999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:53.31, Y:-17.78, Z:-0.16 [[ 8.52132794e-01 5.23321756e-01 2.01033167e-03 5.33140935e+01] [-5.23320277e-01 8.52135165e-01 -1.24435130e-03 -1.77784144e+01] [-2.36427042e-03 8.30521912e-06 9.99997205e-01 -1.58395125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:-17.80, Z:-0.16 [[ 8.51961790e-01 5.23600103e-01 2.00998240e-03 5.33410559e+01] [-5.23598623e-01 8.51964161e-01 -1.24491522e-03 -1.77973765e+01] [-2.36427071e-03 8.19618397e-06 9.99997205e-01 -1.55700946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.37, Y:-17.81, Z:-0.16 [[ 8.52381001e-01 5.22917383e-01 2.00963069e-03 5.33680912e+01] [-5.22915900e-01 8.52383370e-01 -1.24548271e-03 -1.78149923e+01] [-2.36426034e-03 1.07579553e-05 9.99997205e-01 -1.59326256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.9 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:53.39, Y:-17.83, Z:-0.16 [[ 8.53064557e-01 5.21801518e-01 2.00932413e-03 5.33940034e+01] [-5.21800031e-01 8.53066923e-01 -1.24597709e-03 -1.78345116e+01] [-2.36424069e-03 1.44335027e-05 9.99997205e-01 -1.62208045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:-17.84, Z:-0.17 [[ 8.56398994e-01 5.16310688e-01 2.00901703e-03 5.34180248e+01] [-5.16309184e-01 8.56401350e-01 -1.24647206e-03 -1.78429432e+01] [-2.36409174e-03 3.02034778e-05 9.99997205e-01 -1.68273955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:-17.87, Z:-0.16 [[ 8.53584953e-01 5.20949711e-01 2.03144362e-03 5.34455831e+01] [-5.20948306e-01 8.53587370e-01 -1.21030087e-03 -1.78715205e+01] [-2.36452050e-03 -2.51825054e-05 9.99997204e-01 -1.59268860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989999999999995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:53.47, Y:-17.89, Z:-0.16 [[ 8.54841323e-01 5.18885612e-01 2.00841699e-03 5.34719195e+01] [-5.18884114e-01 8.54843682e-01 -1.24737635e-03 -1.78911280e+01] [-2.36412822e-03 2.41731786e-05 9.99997205e-01 -1.61010016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:-17.91, Z:-0.16 [[ 8.54862958e-01 5.18849969e-01 2.00806075e-03 5.34972135e+01] [-5.18848469e-01 8.54865316e-01 -1.24794958e-03 -1.79094400e+01] [-2.36412009e-03 2.49466236e-05 9.99997205e-01 -1.56840290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:-17.93, Z:-0.16 [[ 8.54965663e-01 5.18680715e-01 2.00777396e-03 5.35238210e+01] [-5.18679213e-01 8.54968020e-01 -1.24841081e-03 -1.79277727e+01] [-2.36410914e-03 2.59577627e-05 9.99997205e-01 -1.56039114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:53.55, Y:-17.95, Z:-0.16 [[ 8.55578469e-01 5.17669252e-01 2.00745605e-03 5.35501131e+01] [-5.17667746e-01 8.55580823e-01 -1.24892180e-03 -1.79458340e+01] [-2.36406931e-03 2.93553484e-05 9.99997205e-01 -1.57395637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.58, Y:-17.96, Z:-0.16 [[ 8.55463322e-01 5.17859514e-01 2.00714047e-03 5.35772137e+01] [-5.17858008e-01 8.55465676e-01 -1.24942876e-03 -1.79639689e+01] [-2.36406835e-03 2.94267076e-05 9.99997205e-01 -1.56513472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:53.60, Y:-17.98, Z:-0.16 [[ 8.55584138e-01 5.17659884e-01 2.00678404e-03 5.36034349e+01] [-5.17658376e-01 8.55586491e-01 -1.25000098e-03 -1.79813323e+01] [-2.36405268e-03 3.06524452e-05 9.99997205e-01 -1.58853419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:53.63, Y:-18.00, Z:-0.16 [[ 8.55702015e-01 5.17465009e-01 2.00645195e-03 5.36299162e+01] [-5.17463499e-01 8.55704367e-01 -1.25053382e-03 -1.80001614e+01] [-2.36403719e-03 3.18186608e-05 9.99997205e-01 -1.60130316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199999999999996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:53.66, Y:-18.02, Z:-0.16 [[ 8.55717524e-01 5.17439363e-01 2.00614331e-03 5.36569115e+01] [-5.17437852e-01 8.55719875e-01 -1.25102874e-03 -1.80180266e+01] [-2.36402822e-03 3.24727337e-05 9.99997205e-01 -1.61936045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:-18.04, Z:-0.16 [[ 8.55392071e-01 5.17977202e-01 2.00583497e-03 5.36842808e+01] [-5.17975691e-01 8.55394422e-01 -1.25152293e-03 -1.80368075e+01] [-2.36404039e-03 3.15690384e-05 9.99997205e-01 -1.58518609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:53.71, Y:-18.05, Z:-0.16 [[ 8.55973196e-01 5.17016311e-01 2.00548360e-03 5.37111788e+01] [-5.17014796e-01 8.55975545e-01 -1.25208573e-03 -1.80549224e+01] [-2.36399366e-03 3.48871342e-05 9.99997205e-01 -1.60244741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:53.74, Y:-18.07, Z:-0.16 [[ 8.56085137e-01 5.16830938e-01 2.00512969e-03 5.37388393e+01] [-5.16829421e-01 8.56087484e-01 -1.25265223e-03 -1.80728949e+01] [-2.36397586e-03 3.60669377e-05 9.99997205e-01 -1.60811095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:53.76, Y:-18.08, Z:-0.17 [[ 8.58731293e-01 5.12422235e-01 2.00477723e-03 5.37640646e+01] [-5.12420705e-01 8.58733632e-01 -1.25321607e-03 -1.80827812e+01] [-2.36374541e-03 4.88864924e-05 9.99997205e-01 -1.67198926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:53.79, Y:-18.11, Z:-0.16 [[ 8.56058047e-01 5.16875741e-01 2.02189573e-03 5.37916613e+01] [-5.16874287e-01 8.56060435e-01 -1.22581951e-03 -1.81075224e+01] [-2.36446130e-03 4.30673912e-06 9.99997205e-01 -1.59773801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379999999999995 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:53.82, Y:-18.13, Z:-0.16 [[ 8.56007469e-01 5.16959570e-01 2.00421752e-03 5.38188551e+01] [-5.16958050e-01 8.56009814e-01 -1.25407223e-03 -1.81258205e+01] [-2.36393451e-03 3.73988153e-05 9.99997205e-01 -1.59541897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:53.85, Y:-18.14, Z:-0.16 [[ 8.55993974e-01 5.16981915e-01 2.00386197e-03 5.38463118e+01] [-5.16980394e-01 8.55996319e-01 -1.25464011e-03 -1.81437293e+01] [-2.36392472e-03 3.80070210e-05 9.99997205e-01 -1.59698563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:53.87, Y:-18.15, Z:-0.17 [[ 8.58826754e-01 5.12262230e-01 2.00350752e-03 5.38716122e+01] [-5.12260695e-01 8.58829089e-01 -1.25520587e-03 -1.81524469e+01] [-2.36366510e-03 5.16862261e-05 9.99997205e-01 -1.67135581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:53.90, Y:-18.18, Z:-0.16 [[ 8.55968157e-01 5.17024587e-01 2.02257640e-03 5.38995587e+01] [-5.17023136e-01 8.55970546e-01 -1.22477052e-03 -1.81795198e+01] [-2.36450230e-03 2.64577304e-06 9.99997205e-01 -1.60310455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:-18.20, Z:-0.16 [[ 8.55721248e-01 5.17433218e-01 2.00259947e-03 5.39262109e+01] [-5.17431694e-01 8.55723591e-01 -1.25660689e-03 -1.81980163e+01] [-2.36388176e-03 3.90967863e-05 9.99997205e-01 -1.56655981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:-18.22, Z:-0.16 [[ 8.55197603e-01 5.18298225e-01 2.00237765e-03 5.39526732e+01] [-5.18296702e-01 8.55199947e-01 -1.25696026e-03 -1.82174028e+01] [-2.36391353e-03 3.71236724e-05 9.99997205e-01 -1.57137971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:-18.24, Z:-0.16 [[ 8.55052155e-01 5.18538141e-01 2.00202483e-03 5.39809094e+01] [-5.18536618e-01 8.55054498e-01 -1.25752195e-03 -1.82352225e+01] [-2.36391344e-03 3.71236709e-05 9.99997205e-01 -1.57217213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.589999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.01, Y:-18.25, Z:-0.16 [[ 8.57010865e-01 5.15294450e-01 2.00167186e-03 5.40065295e+01] [-5.15292916e-01 8.57013202e-01 -1.25808355e-03 -1.82465033e+01] [-2.36374268e-03 4.67439372e-05 9.99997205e-01 -1.64916242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:54.03, Y:-18.27, Z:-0.16 [[ 8.54109084e-01 5.20090004e-01 2.01492981e-03 5.40335993e+01] [-5.20088533e-01 8.54111461e-01 -1.23698406e-03 -1.82702080e+01] [-2.36431769e-03 8.57743111e-06 9.99997205e-01 -1.62466017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:-18.29, Z:-0.16 [[ 8.52424205e-01 5.22846986e-01 2.00117858e-03 5.40598047e+01] [-5.22845471e-01 8.52426553e-01 -1.25884434e-03 -1.82885214e+01] [-2.36404072e-03 2.67622266e-05 9.99997205e-01 -1.60602135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:54.09, Y:-18.31, Z:-0.17 [[ 8.51801546e-01 5.23860785e-01 2.00085173e-03 5.40866661e+01] [-5.23859272e-01 8.51803896e-01 -1.25936362e-03 -1.83055843e+01] [-2.36406451e-03 2.45631466e-05 9.99997205e-01 -1.65383454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:54.11, Y:-18.32, Z:-0.17 [[ 8.50700161e-01 5.25647442e-01 2.00055032e-03 5.41137233e+01] [-5.25645933e-01 8.50702513e-01 -1.25984224e-03 -1.83231919e+01] [-2.36410604e-03 2.01668569e-05 9.99997205e-01 -1.65390586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:54.14, Y:-18.34, Z:-0.17 [[ 8.49545278e-01 5.27511914e-01 2.00022853e-03 5.41411771e+01] [-5.27510408e-01 8.49547633e-01 -1.26035294e-03 -1.83414785e+01] [-2.36414060e-03 1.55855229e-05 9.99997205e-01 -1.65170955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769999999999996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:54.17, Y:-18.36, Z:-0.16 [[ 8.47319649e-01 5.31079480e-01 1.99987609e-03 5.41682127e+01] [-5.31077983e-01 8.47322009e-01 -1.26091192e-03 -1.83601215e+01] [-2.36418347e-03 6.30528342e-06 9.99997205e-01 -1.64605906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.8 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:54.19, Y:-18.37, Z:-0.17 [[ 8.49236289e-01 5.28009212e-01 1.99952376e-03 5.41928150e+01] [-5.28007705e-01 8.49238643e-01 -1.26147039e-03 -1.83688652e+01] [-2.36414083e-03 1.55224811e-05 9.99997205e-01 -1.68425859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:54.22, Y:-18.39, Z:-0.16 [[ 8.45072381e-01 5.34648096e-01 2.02117291e-03 5.42207089e+01] [-5.34646689e-01 8.45074797e-01 -1.22712520e-03 -1.83941287e+01] [-2.36412244e-03 -4.36037859e-05 9.99997205e-01 -1.62708792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:-18.40, Z:-0.16 [[ 8.45797850e-01 5.33499766e-01 1.99898177e-03 5.42459952e+01] [-5.33498273e-01 8.45800212e-01 -1.26226805e-03 -1.84022573e+01] [-2.36415891e-03 1.17027972e-06 9.99997205e-01 -1.63721083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:54.27, Y:-18.43, Z:-0.16 [[ 8.41405298e-01 5.40400818e-01 2.01985889e-03 5.42740141e+01] [-5.40399423e-01 8.41407721e-01 -1.22918188e-03 -1.84275871e+01] [-2.36377576e-03 -5.72904351e-05 9.99997205e-01 -1.62072857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:54.30, Y:-18.45, Z:-0.16 [[ 8.40163445e-01 5.42329596e-01 1.99845650e-03 5.43010774e+01] [-5.42328126e-01 8.40165822e-01 -1.26304587e-03 -1.84454472e+01] [-2.36402200e-03 -2.26541984e-05 9.99997205e-01 -1.61367724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.949999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:54.33, Y:-18.46, Z:-0.16 [[ 8.38390306e-01 5.45066696e-01 1.99812851e-03 5.43288780e+01] [-5.45065232e-01 8.38392686e-01 -1.26356452e-03 -1.84635418e+01] [-2.36394327e-03 -2.97501355e-05 9.99997205e-01 -1.60660454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.36, Y:-18.48, Z:-0.16 [[ 8.37710284e-01 5.46111242e-01 1.99776697e-03 5.43561019e+01] [-5.46109780e-01 8.37712666e-01 -1.26413588e-03 -1.84801000e+01] [-2.36391351e-03 -3.20204589e-05 9.99997205e-01 -1.60970528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:54.38, Y:-18.50, Z:-0.16 [[ 8.36703691e-01 5.47652210e-01 1.99743059e-03 5.43832433e+01] [-5.47650751e-01 8.36706075e-01 -1.26466716e-03 -1.84966955e+01] [-2.36386008e-03 -3.57426859e-05 9.99997205e-01 -1.63715231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:54.41, Y:-18.51, Z:-0.16 [[ 8.35967541e-01 5.48775256e-01 1.99711889e-03 5.44110323e+01] [-5.48773799e-01 8.35969926e-01 -1.26515920e-03 -1.85141588e+01] [-2.36381939e-03 -3.83344984e-05 9.99997205e-01 -1.64433884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:54.44, Y:-18.53, Z:-0.16 [[ 8.35498273e-01 5.49489444e-01 1.99676378e-03 5.44386681e+01] [-5.49487988e-01 8.35500658e-01 -1.26571941e-03 -1.85313440e+01] [-2.36379691e-03 -3.96913275e-05 9.99997205e-01 -1.64273032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.1 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:54.46, Y:-18.54, Z:-0.17 [[ 8.38390048e-01 5.45067098e-01 1.99640162e-03 5.44634620e+01] [-5.45065628e-01 8.38392425e-01 -1.26629038e-03 -1.85399700e+01] [-2.36398122e-03 -2.65246543e-05 9.99997205e-01 -1.71941067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129999999999995 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:54.49, Y:-18.57, Z:-0.16 [[ 8.35169960e-01 5.49988237e-01 2.01934701e-03 5.44907915e+01] [-5.49986868e-01 8.35172397e-01 -1.23008096e-03 -1.85657807e+01] [-2.36303294e-03 -8.32876750e-05 9.99997205e-01 -1.64713878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:54.52, Y:-18.58, Z:-0.16 [[ 8.35202725e-01 5.49938565e-01 1.99589592e-03 5.45186465e+01] [-5.49937107e-01 8.35205109e-01 -1.26702263e-03 -1.85839279e+01] [-2.36376708e-03 -3.93964708e-05 9.99997206e-01 -1.64964795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:54.55, Y:-18.60, Z:-0.16 [[ 8.35517427e-01 5.49460323e-01 1.99565031e-03 5.45460426e+01] [-5.49458863e-01 8.35519809e-01 -1.26740937e-03 -1.86021680e+01] [-2.36379653e-03 -3.75851380e-05 9.99997206e-01 -1.64910113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.57, Y:-18.62, Z:-0.16 [[ 8.36317146e-01 5.48242328e-01 1.99529352e-03 5.45714330e+01] [-5.48240863e-01 8.36319526e-01 -1.26797081e-03 -1.86204747e+01] [-2.36385820e-03 -3.34757120e-05 9.99997206e-01 -1.60852161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:54.60, Y:-18.64, Z:-0.16 [[ 8.37583656e-01 5.46305444e-01 1.99500786e-03 5.46001463e+01] [-5.46303973e-01 8.37586032e-01 -1.26842011e-03 -1.86395596e+01] [-2.36393553e-03 -2.74727673e-05 9.99997206e-01 -1.61202290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:54.63, Y:-18.66, Z:-0.16 [[ 8.37375853e-01 5.46623936e-01 1.98847605e-03 5.46256117e+01] [-5.46622440e-01 8.37378214e-01 -1.27868491e-03 -1.86559980e+01] [-2.36406630e-03 -1.62057611e-05 9.99997205e-01 -1.60800935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309999999999995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:54.65, Y:-18.67, Z:-0.16 [[ 8.37846039e-01 5.45902956e-01 1.99440235e-03 5.46536024e+01] [-5.45901481e-01 8.37848412e-01 -1.26937369e-03 -1.86741821e+01] [-2.36396169e-03 -2.52074776e-05 9.99997206e-01 -1.60111085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339999999999996 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:54.68, Y:-18.69, Z:-0.16 [[ 8.38258303e-01 5.45269695e-01 1.99403852e-03 5.46807234e+01] [-5.45268217e-01 8.38260675e-01 -1.26994496e-03 -1.86918465e+01] [-2.36398658e-03 -2.27439157e-05 9.99997206e-01 -1.57111262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.71, Y:-18.71, Z:-0.16 [[ 8.38348184e-01 5.45131496e-01 1.99370021e-03 5.47085332e+01] [-5.45130016e-01 8.38350554e-01 -1.27047585e-03 -1.87093216e+01] [-2.36399608e-03 -2.17247091e-05 9.99997206e-01 -1.58463486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.4 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:54.74, Y:-18.73, Z:-0.16 [[ 8.38376979e-01 5.45087211e-01 1.99334072e-03 5.47369515e+01] [-5.45085729e-01 8.38379349e-01 -1.27103963e-03 -1.87254604e+01] [-2.36400314e-03 -2.09312108e-05 9.99997206e-01 -1.60643568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:-18.73, Z:-0.17 [[ 8.42057789e-01 5.39383636e-01 1.99322674e-03 5.47618689e+01] [-5.39382138e-01 8.42060148e-01 -1.27121835e-03 -1.87314841e+01] [-2.36409118e-03 -4.67158566e-06 9.99997206e-01 -1.66732198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:-18.76, Z:-0.16 [[ 8.37788376e-01 5.45991353e-01 2.01997491e-03 5.47905851e+01] [-5.45989974e-01 8.37790808e-01 -1.22924610e-03 -1.87583682e+01] [-2.36347415e-03 -7.30379521e-05 9.99997204e-01 -1.60650507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:54.82, Y:-18.77, Z:-0.17 [[ 8.37775853e-01 5.46010669e-01 1.99248505e-03 5.48174621e+01] [-5.46009187e-01 8.37778222e-01 -1.27229671e-03 -1.87747696e+01] [-2.36394816e-03 -2.20156842e-05 9.99997206e-01 -1.65259283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519999999999996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:54.84, Y:-18.79, Z:-0.17 [[ 8.37868026e-01 5.45869216e-01 1.99230646e-03 5.48442604e+01] [-5.45867733e-01 8.37870395e-01 -1.27257630e-03 -1.87914005e+01] [-2.36395483e-03 -2.12848199e-05 9.99997206e-01 -1.66919357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:54.87, Y:-18.81, Z:-0.17 [[ 8.37750272e-01 5.46049918e-01 1.99213286e-03 5.48718114e+01] [-5.46048435e-01 8.37752640e-01 -1.27284799e-03 -1.88088986e+01] [-2.36395311e-03 -2.14722804e-05 9.99997206e-01 -1.65748208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:54.90, Y:-18.83, Z:-0.16 [[ 8.37683654e-01 5.46152111e-01 1.99178057e-03 5.48997795e+01] [-5.46150627e-01 8.37686022e-01 -1.27339902e-03 -1.88262884e+01] [-2.36395631e-03 -2.11066623e-05 9.99997206e-01 -1.64305900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.93, Y:-18.84, Z:-0.16 [[ 8.37699173e-01 5.46128309e-01 1.99141659e-03 5.49275950e+01] [-5.46126823e-01 8.37701540e-01 -1.27396799e-03 -1.88427155e+01] [-2.36396273e-03 -2.03640831e-05 9.99997206e-01 -1.62518514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:-18.86, Z:-0.16 [[ 8.37548972e-01 5.46358633e-01 1.99107776e-03 5.49553846e+01] [-5.46357146e-01 8.37551338e-01 -1.27449733e-03 -1.88599857e+01] [-2.36396246e-03 -2.03856299e-05 9.99997206e-01 -1.59797952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:54.98, Y:-18.88, Z:-0.16 [[ 8.37451524e-01 5.46507989e-01 1.99071606e-03 5.49825720e+01] [-5.46506502e-01 8.37453889e-01 -1.27506204e-03 -1.88771228e+01] [-2.36396450e-03 -2.01366187e-05 9.99997206e-01 -1.62211651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:-18.88, Z:-0.17 [[ 8.41129260e-01 5.40830478e-01 1.99037967e-03 5.50065749e+01] [-5.40828974e-01 8.41131615e-01 -1.27558693e-03 -1.88830872e+01] [-2.36404755e-03 -3.52149738e-06 9.99997206e-01 -1.69144811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:55.03, Y:-18.91, Z:-0.17 [[ 8.37181208e-01 5.46921894e-01 2.01659999e-03 5.50343605e+01] [-5.46920505e-01 8.37183634e-01 -1.23463966e-03 -1.89107864e+01] [-2.36351597e-03 -6.93027648e-05 9.99997204e-01 -1.65090196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:55.06, Y:-18.93, Z:-0.16 [[ 8.36785718e-01 5.47526898e-01 1.98973021e-03 5.50618691e+01] [-5.47525410e-01 8.36788083e-01 -1.27652192e-03 -1.89285830e+01] [-2.36391262e-03 -2.12525364e-05 9.99997206e-01 -1.63919726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:55.09, Y:-18.95, Z:-0.17 [[ 8.36144738e-01 5.48505260e-01 1.98936870e-03 5.50900853e+01] [-5.48503774e-01 8.36147104e-01 -1.27708507e-03 -1.89458657e+01] [-2.36389275e-03 -2.33482785e-05 9.99997206e-01 -1.65067601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:55.12, Y:-18.96, Z:-0.16 [[ 8.35531763e-01 5.49438547e-01 1.98900456e-03 5.51178412e+01] [-5.49437063e-01 8.35534130e-01 -1.27765194e-03 -1.89632744e+01] [-2.36387242e-03 -2.53140444e-05 9.99997206e-01 -1.61913244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:55.15, Y:-18.98, Z:-0.17 [[ 8.35200233e-01 5.49942376e-01 1.98864344e-03 5.51452274e+01] [-5.49940891e-01 8.35202600e-01 -1.27821378e-03 -1.89803638e+01] [-2.36386409e-03 -2.60718957e-05 9.99997206e-01 -1.66052368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879999999999995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:55.17, Y:-19.00, Z:-0.17 [[ 8.34734334e-01 5.50649288e-01 1.98830704e-03 5.51732351e+01] [-5.50647803e-01 8.34736702e-01 -1.27873684e-03 -1.89983595e+01] [-2.36384839e-03 -2.74513559e-05 9.99997206e-01 -1.65962614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:55.20, Y:-19.02, Z:-0.16 [[ 8.34119842e-01 5.51579675e-01 1.98795278e-03 5.52004406e+01] [-5.51578192e-01 8.34122210e-01 -1.27928735e-03 -1.90163232e+01] [-2.36382447e-03 -2.94324406e-05 9.99997206e-01 -1.64356241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:55.23, Y:-19.03, Z:-0.16 [[ 8.33979819e-01 5.51791366e-01 1.98758959e-03 5.52273589e+01] [-5.51789882e-01 8.33982187e-01 -1.27985137e-03 -1.90335176e+01] [-2.36382525e-03 -2.93616082e-05 9.99997206e-01 -1.64888406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:55.26, Y:-19.05, Z:-0.16 [[ 8.33647358e-01 5.52293521e-01 1.98736397e-03 5.52550051e+01] [-5.52292038e-01 8.33649726e-01 -1.28020162e-03 -1.90511589e+01] [-2.36381249e-03 -3.03686005e-05 9.99997206e-01 -1.64275488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.0 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:55.28, Y:-19.07, Z:-0.16 [[ 8.33088643e-01 5.53135937e-01 1.98700279e-03 5.52830336e+01] [-5.53134456e-01 8.33091012e-01 -1.28076196e-03 -1.90684710e+01] [-2.36378964e-03 -3.20914631e-05 9.99997206e-01 -1.64073241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:55.31, Y:-19.09, Z:-0.16 [[ 8.32704946e-01 5.53713397e-01 1.98663743e-03 5.53103573e+01] [-5.53711915e-01 8.32707315e-01 -1.28132844e-03 -1.90860429e+01] [-2.36377624e-03 -3.30562820e-05 9.99997206e-01 -1.63038309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:55.34, Y:-19.10, Z:-0.16 [[ 8.31901866e-01 5.54919219e-01 1.98627544e-03 5.53362527e+01] [-5.54917739e-01 8.31904237e-01 -1.28188934e-03 -1.91030341e+01] [-2.36373599e-03 -3.58133462e-05 9.99997206e-01 -1.64113304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.089999999999996 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:55.36, Y:-19.12, Z:-0.17 [[ 8.31557459e-01 5.55435188e-01 1.98598472e-03 5.53632954e+01] [-5.55433709e-01 8.31559830e-01 -1.28233958e-03 -1.91209732e+01] [-2.36372164e-03 -3.67438152e-05 9.99997206e-01 -1.65092126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:-19.14, Z:-0.16 [[ 8.30722575e-01 5.56683088e-01 1.98566923e-03 5.53902009e+01] [-5.56681611e-01 8.30724948e-01 -1.28282793e-03 -1.91395672e+01] [-2.36367358e-03 -3.97114269e-05 9.99997206e-01 -1.61863139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:55.42, Y:-19.15, Z:-0.17 [[ 8.33461557e-01 5.52573879e-01 1.98530395e-03 5.54151440e+01] [-5.52572389e-01 8.33463921e-01 -1.28339298e-03 -1.91500307e+01] [-2.36384865e-03 -2.73654403e-05 9.99997206e-01 -1.71812067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:55.44, Y:-19.18, Z:-0.17 [[ 8.30291343e-01 5.57325999e-01 2.00422255e-03 5.54423713e+01] [-5.57324593e-01 8.30293759e-01 -1.25412541e-03 -1.91750366e+01] [-2.36305018e-03 -7.57130435e-05 9.99997205e-01 -1.65902461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:55.47, Y:-19.19, Z:-0.17 [[ 8.29996806e-01 5.57764614e-01 1.98440214e-03 5.54687809e+01] [-5.57763136e-01 8.29999177e-01 -1.28473992e-03 -1.91926891e+01] [-2.36363461e-03 -4.04963299e-05 9.99997206e-01 -1.66333272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:55.50, Y:-19.21, Z:-0.17 [[ 8.29727295e-01 5.58165459e-01 1.98417505e-03 5.54964469e+01] [-5.58163981e-01 8.29729666e-01 -1.28509055e-03 -1.92109948e+01] [-2.36362205e-03 -4.12203400e-05 9.99997206e-01 -1.66756850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.269999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:55.52, Y:-19.23, Z:-0.17 [[ 8.29048882e-01 5.59172617e-01 1.98381976e-03 5.55236487e+01] [-5.59171141e-01 8.29051254e-01 -1.28563878e-03 -1.92301988e+01] [-2.36358226e-03 -4.34373601e-05 9.99997206e-01 -1.65585040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.3 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:55.55, Y:-19.25, Z:-0.17 [[ 8.28764810e-01 5.59593562e-01 1.98345168e-03 5.55506678e+01] [-5.59592086e-01 8.28767183e-01 -1.28620639e-03 -1.92489724e+01] [-2.36357248e-03 -4.39612657e-05 9.99997206e-01 -1.65558179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.58, Y:-19.26, Z:-0.17 [[ 8.31471417e-01 5.55563992e-01 1.98308394e-03 5.55762557e+01] [-5.55562503e-01 8.31473782e-01 -1.28677312e-03 -1.92603789e+01] [-2.36376712e-03 -3.18120086e-05 9.99997206e-01 -1.70343954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:55.60, Y:-19.29, Z:-0.17 [[ 8.30115117e-01 5.57588468e-01 1.99824187e-03 5.56024567e+01] [-5.57587041e-01 8.30117519e-01 -1.26340590e-03 -1.92857108e+01] [-2.36323615e-03 -6.54214326e-05 9.99997205e-01 -1.66060498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:-19.30, Z:-0.16 [[ 8.30037970e-01 5.57703360e-01 1.98251375e-03 5.56298119e+01] [-5.57701874e-01 8.30040337e-01 -1.28762204e-03 -1.93045671e+01] [-2.36367752e-03 -3.68764537e-05 9.99997206e-01 -1.62523523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:55.66, Y:-19.32, Z:-0.17 [[ 8.30574759e-01 5.56903619e-01 1.98214280e-03 5.56566416e+01] [-5.56902130e-01 8.30577123e-01 -1.28819282e-03 -1.93222580e+01] [-2.36372171e-03 -3.39191092e-05 9.99997206e-01 -1.65431828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:-19.33, Z:-0.17 [[ 8.34042134e-01 5.51697191e-01 1.98179666e-03 5.56819063e+01] [-5.51695686e-01 8.34044488e-01 -1.28872512e-03 -1.93325021e+01] [-2.36389261e-03 -1.84976214e-05 9.99997206e-01 -1.70078575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:-19.35, Z:-0.17 [[ 8.33732004e-01 5.52165684e-01 2.00058041e-03 5.57088288e+01] [-5.52164250e-01 8.33734403e-01 -1.25984101e-03 -1.93502747e+01] [-2.36359368e-03 -5.42792061e-05 9.99997205e-01 -1.70138945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:55.74, Y:-19.38, Z:-0.17 [[ 8.31018427e-01 5.56241289e-01 2.00051511e-03 5.57354085e+01] [-5.56239866e-01 8.31020832e-01 -1.25994134e-03 -1.93758782e+01] [-2.36330112e-03 -6.57317869e-05 9.99997205e-01 -1.66566643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:55.76, Y:-19.39, Z:-0.17 [[ 8.30956472e-01 5.56333911e-01 1.98031317e-03 5.57627850e+01] [-5.56332414e-01 8.30958831e-01 -1.29093149e-03 -1.93946431e+01] [-2.36374768e-03 -2.90045260e-05 9.99997206e-01 -1.65887948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:55.79, Y:-19.41, Z:-0.17 [[ 8.30970027e-01 5.56313664e-01 1.97994640e-03 5.57901508e+01] [-5.56312166e-01 8.30972386e-01 -1.29149377e-03 -1.94131294e+01] [-2.36375642e-03 -2.82756575e-05 9.99997206e-01 -1.66202586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599999999999994 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:55.82, Y:-19.43, Z:-0.17 [[ 8.30741431e-01 5.56654971e-01 1.97957214e-03 5.58172175e+01] [-5.56653472e-01 8.30743789e-01 -1.29206718e-03 -1.94307985e+01] [-2.36375288e-03 -2.85619701e-05 9.99997206e-01 -1.66281065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:-19.45, Z:-0.16 [[ 8.29865144e-01 5.57960505e-01 1.97922551e-03 5.58444447e+01] [-5.57959008e-01 8.29867504e-01 -1.29259793e-03 -1.94487274e+01] [-2.36371353e-03 -3.16447355e-05 9.99997206e-01 -1.61483838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:55.87, Y:-19.46, Z:-0.17 [[ 8.29531714e-01 5.58456104e-01 1.97885545e-03 5.58716690e+01] [-5.58454608e-01 8.29534073e-01 -1.29316422e-03 -1.94648608e+01] [-2.36370347e-03 -3.23802063e-05 9.99997206e-01 -1.65355571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:-19.47, Z:-0.17 [[ 8.33354889e-01 5.52734760e-01 1.97851228e-03 5.58952141e+01] [-5.52733246e-01 8.33357237e-01 -1.29368905e-03 -1.94676711e+01] [-2.36387443e-03 -1.54874161e-05 9.99997206e-01 -1.70031122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:55.92, Y:-19.50, Z:-0.17 [[ 8.28661323e-01 5.59746694e-01 2.01243884e-03 5.59243041e+01] [-5.59745325e-01 8.28663761e-01 -1.24173161e-03 -1.94982010e+01] [-2.36269030e-03 -9.74782749e-05 9.99997204e-01 -1.65268531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:55.95, Y:-19.52, Z:-0.17 [[ 8.28316034e-01 5.60257651e-01 1.97789243e-03 5.59512489e+01] [-5.60256157e-01 8.28318395e-01 -1.29451515e-03 -1.95153959e+01] [-2.36358670e-03 -3.58587541e-05 9.99997206e-01 -1.65455597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:-19.52, Z:-0.17 [[ 8.33342621e-01 5.52753260e-01 1.97755393e-03 5.59736826e+01] [-5.52751743e-01 8.33344967e-01 -1.29503204e-03 -1.95167231e+01] [-2.36381780e-03 -1.38909863e-05 9.99997206e-01 -1.71756093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.809999999999995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:56.00, Y:-19.54, Z:-0.17 [[ 8.31253257e-01 5.55890247e-01 2.01382437e-03 5.60030397e+01] [-5.55888874e-01 8.31255692e-01 -1.23916581e-03 -1.95394664e+01] [-2.36284316e-03 -8.94019426e-05 9.99997204e-01 -1.68103535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:56.03, Y:-19.55, Z:-0.17 [[ 8.32679527e-01 5.53751586e-01 1.99654577e-03 5.60258588e+01] [-5.53750142e-01 8.32681919e-01 -1.26574545e-03 -1.95509841e+01] [-2.36339611e-03 -5.16271780e-05 9.99997206e-01 -1.73312902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:56.05, Y:-19.58, Z:-0.17 [[ 8.27580885e-01 5.61342870e-01 2.01519992e-03 5.60549390e+01] [-5.61341517e-01 8.27583331e-01 -1.23718138e-03 -1.95801159e+01] [-2.36222881e-03 -1.07347721e-04 9.99997204e-01 -1.65737895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.9 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:56.08, Y:-19.60, Z:-0.17 [[ 8.26732675e-01 5.62591480e-01 1.97761599e-03 5.60827000e+01] [-5.62589992e-01 8.26735039e-01 -1.29459441e-03 -1.95973734e+01] [-2.36329222e-03 -4.23034604e-05 9.99997207e-01 -1.65909989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:56.11, Y:-19.61, Z:-0.17 [[ 8.25846278e-01 5.63891847e-01 1.97724787e-03 5.61095832e+01] [-5.63890361e-01 8.25848644e-01 -1.29515641e-03 -1.96141230e+01] [-2.36323561e-03 -4.53509152e-05 9.99997207e-01 -1.65890963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:-19.61, Z:-0.17 [[ 8.30395461e-01 5.57170953e-01 1.97690647e-03 5.61328080e+01] [-5.57169447e-01 8.30397814e-01 -1.29567729e-03 -1.96127901e+01] [-2.36353256e-03 -2.55473467e-05 9.99997207e-01 -1.73605629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.989999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:56.16, Y:-19.65, Z:-0.17 [[ 8.23376822e-01 5.67491425e-01 2.02268957e-03 5.61624448e+01] [-5.67490118e-01 8.23379295e-01 -1.22569248e-03 -1.96471402e+01] [-2.36101069e-03 -1.38649569e-04 9.99997203e-01 -1.66387956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.019999999999996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:56.19, Y:-19.66, Z:-0.17 [[ 8.23908794e-01 5.66718973e-01 1.97605318e-03 5.61885156e+01] [-5.66717492e-01 8.23911162e-01 -1.29675890e-03 -1.96596822e+01] [-2.36299014e-03 -5.14528389e-05 9.99997207e-01 -1.70498022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:56.22, Y:-19.68, Z:-0.17 [[ 8.22139103e-01 5.69283176e-01 1.99008353e-03 5.62159000e+01] [-5.69281753e-01 8.22141508e-01 -1.27537153e-03 -1.96807950e+01] [-2.36217783e-03 -8.43854382e-05 9.99997206e-01 -1.68210403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:56.24, Y:-19.70, Z:-0.17 [[ 8.21649703e-01 5.69989353e-01 1.97549556e-03 5.62423112e+01] [-5.69987879e-01 8.21652076e-01 -1.29758092e-03 -1.96968866e+01] [-2.36277734e-03 -5.98515418e-05 9.99997207e-01 -1.67061311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:56.27, Y:-19.71, Z:-0.17 [[ 8.21478107e-01 5.70236634e-01 1.97519528e-03 5.62697058e+01] [-5.70235159e-01 8.21480479e-01 -1.29803785e-03 -1.97143658e+01] [-2.36277310e-03 -6.00161143e-05 9.99997207e-01 -1.66252525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:56.30, Y:-19.73, Z:-0.17 [[ 8.21628303e-01 5.70020204e-01 1.97482727e-03 5.62961473e+01] [-5.70018727e-01 8.21630674e-01 -1.29859750e-03 -1.97309027e+01] [-2.36280547e-03 -5.87240643e-05 9.99997207e-01 -1.66398334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:-19.75, Z:-0.16 [[ 8.21037409e-01 5.70870979e-01 1.97453032e-03 5.63224861e+01] [-5.70869504e-01 8.21039781e-01 -1.29904885e-03 -1.97484249e+01] [-2.36275723e-03 -6.06314432e-05 9.99997207e-01 -1.60854323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:56.35, Y:-19.77, Z:-0.16 [[ 8.21433582e-01 5.70300774e-01 1.97420798e-03 5.63501965e+01] [-5.70299297e-01 8.21435952e-01 -1.29953854e-03 -1.97655126e+01] [-2.36281325e-03 -5.84048278e-05 9.99997207e-01 -1.63030905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:56.38, Y:-19.78, Z:-0.17 [[ 8.21552824e-01 5.70128987e-01 1.97383685e-03 5.63774245e+01] [-5.70127507e-01 8.21555193e-01 -1.30010200e-03 -1.97821337e+01] [-2.36284175e-03 -5.72362178e-05 9.99997207e-01 -1.65481148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:56.40, Y:-19.80, Z:-0.16 [[ 8.21296171e-01 5.70498646e-01 1.97349247e-03 5.64049848e+01] [-5.70497166e-01 8.21298540e-01 -1.30062454e-03 -1.98001313e+01] [-2.36283102e-03 -5.76739065e-05 9.99997207e-01 -1.64375262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:56.43, Y:-19.82, Z:-0.17 [[ 8.21332086e-01 5.70446940e-01 1.97312273e-03 5.64319134e+01] [-5.70445458e-01 8.21334454e-01 -1.30118522e-03 -1.98177097e+01] [-2.36285080e-03 -5.68537253e-05 9.99997207e-01 -1.66869321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:56.46, Y:-19.84, Z:-0.17 [[ 8.21684396e-01 5.69939348e-01 1.97277882e-03 5.64598075e+01] [-5.69937864e-01 8.21686763e-01 -1.30170642e-03 -1.98355685e+01] [-2.36289995e-03 -5.47694990e-05 9.99997207e-01 -1.66739886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349999999999994 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:56.49, Y:-19.85, Z:-0.17 [[ 8.22135621e-01 5.69288266e-01 1.97240877e-03 5.64875686e+01] [-5.69286779e-01 8.22137985e-01 -1.30226689e-03 -1.98537079e+01] [-2.36295744e-03 -5.22262347e-05 9.99997207e-01 -1.68093486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379999999999995 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:56.51, Y:-19.87, Z:-0.17 [[ 8.22538987e-01 5.68705307e-01 1.97203696e-03 5.65141171e+01] [-5.68703816e-01 8.22541350e-01 -1.30282970e-03 -1.98714550e+01] [-2.36300810e-03 -4.98767216e-05 9.99997207e-01 -1.68840586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:56.54, Y:-19.89, Z:-0.17 [[ 8.23307915e-01 5.67591569e-01 1.97169254e-03 5.65409788e+01] [-5.67590074e-01 8.23310275e-01 -1.30335073e-03 -1.98896344e+01] [-2.36308561e-03 -4.60541424e-05 9.99997207e-01 -1.67503777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:-19.91, Z:-0.16 [[ 8.25284658e-01 5.64713510e-01 1.97131990e-03 5.65669884e+01] [-5.64712005e-01 8.25287011e-01 -1.30391410e-03 -1.99085032e+01] [-2.36324262e-03 -3.71277174e-05 9.99997207e-01 -1.64976808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:56.59, Y:-19.93, Z:-0.17 [[ 8.26790401e-01 5.62506665e-01 1.97097380e-03 5.65937106e+01] [-5.62505153e-01 8.26792750e-01 -1.30443705e-03 -1.99273659e+01] [-2.36334138e-03 -3.01868900e-05 9.99997207e-01 -1.67621521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.5 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:56.62, Y:-19.95, Z:-0.17 [[ 8.28184131e-01 5.60452641e-01 1.97060619e-03 5.66194005e+01] [-5.60451122e-01 8.28186475e-01 -1.30499216e-03 -1.99456789e+01] [-2.36341570e-03 -2.36546572e-05 9.99997207e-01 -1.68153109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:56.64, Y:-19.96, Z:-0.17 [[ 8.34449095e-01 5.51081505e-01 1.97037768e-03 5.66426690e+01] [-5.51079959e-01 8.34451422e-01 -1.30533709e-03 -1.99551319e+01] [-2.36353158e-03 3.40169790e-06 9.99997207e-01 -1.74140189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.67, Y:-19.98, Z:-0.17 [[ 8.32225745e-01 5.54433345e-01 1.99390397e-03 5.66694273e+01] [-5.54431893e-01 8.32228132e-01 -1.26980763e-03 -1.99829622e+01] [-2.36340667e-03 -4.87173563e-05 9.99997206e-01 -1.67449371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.589999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:56.70, Y:-20.00, Z:-0.17 [[ 8.33364642e-01 5.52720086e-01 1.96972656e-03 5.66958994e+01] [-5.52718543e-01 8.33366970e-01 -1.30626493e-03 -2.00017878e+01] [-2.36350392e-03 -1.09382546e-07 9.99997207e-01 -1.68594714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:56.72, Y:-20.02, Z:-0.17 [[ 8.34857493e-01 5.50462612e-01 1.96935502e-03 5.67226595e+01] [-5.50461061e-01 8.34859816e-01 -1.30682482e-03 -2.00216102e+01] [-2.36349358e-03 6.95923972e-06 9.99997207e-01 -1.66905736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:56.75, Y:-20.03, Z:-0.17 [[ 8.38545649e-01 5.44827786e-01 1.96898516e-03 5.67474480e+01] [-5.44826218e-01 8.38547961e-01 -1.30738186e-03 -2.00311371e+01] [-2.36338646e-03 2.35446319e-05 9.99997207e-01 -1.73437010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:-20.05, Z:-0.17 [[ 8.39330445e-01 5.43617935e-01 1.98604037e-03 5.67715759e+01] [-5.43616424e-01 8.39332795e-01 -1.28175190e-03 -2.00472184e+01] [-2.36373213e-03 -3.83076712e-06 9.99997206e-01 -1.71037527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.80, Y:-20.08, Z:-0.17 [[ 8.35569984e-01 5.49380404e-01 1.99336014e-03 5.67989817e+01] [-5.49378936e-01 8.35572361e-01 -1.27075439e-03 -2.00752443e+01] [-2.36372420e-03 -3.33058487e-05 9.99997206e-01 -1.67762078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:-20.08, Z:-0.17 [[ 8.39379629e-01 5.43542061e-01 1.96646800e-03 5.68235186e+01] [-5.43540481e-01 8.39381932e-01 -1.31108920e-03 -2.00827922e+01] [-2.36324984e-03 3.16466043e-05 9.99997207e-01 -1.71885749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.769999999999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:56.85, Y:-20.10, Z:-0.17 [[ 8.39689758e-01 5.43062745e-01 1.99148821e-03 5.68502819e+01] [-5.43061252e-01 8.39692119e-01 -1.27354294e-03 -2.01007757e+01] [-2.36385068e-03 -1.21191137e-05 9.99997206e-01 -1.74597257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.8 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:56.88, Y:-20.12, Z:-0.18 [[ 8.39504067e-01 5.43349747e-01 1.99339766e-03 5.68769325e+01] [-5.43348261e-01 8.39506434e-01 -1.27068021e-03 -2.01199970e+01] [-2.36389393e-03 -1.63679492e-05 9.99997206e-01 -1.76181149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:56.90, Y:-20.15, Z:-0.17 [[ 8.36194181e-01 5.48429878e-01 1.99009914e-03 5.69034637e+01] [-5.48428395e-01 8.36196549e-01 -1.27562743e-03 -2.01475457e+01] [-2.36370623e-03 -2.47546482e-05 9.99997206e-01 -1.70016760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:56.93, Y:-20.16, Z:-0.18 [[ 8.40267023e-01 5.42169224e-01 1.96548393e-03 5.69274299e+01] [-5.42167636e-01 8.40269321e-01 -1.31248929e-03 -2.01550205e+01] [-2.36312715e-03 3.72196890e-05 9.99997207e-01 -1.76244054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.95, Y:-20.18, Z:-0.17 [[ 8.36175895e-01 5.48457750e-01 1.99256762e-03 5.69544966e+01] [-5.48456276e-01 8.36178268e-01 -1.27189557e-03 -2.01838432e+01] [-2.36372273e-03 -2.93077979e-05 9.99997206e-01 -1.68524126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919999999999995 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:56.98, Y:-20.20, Z:-0.17 [[ 8.35892503e-01 5.48889664e-01 1.96490796e-03 5.69813929e+01] [-5.48888093e-01 8.35894812e-01 -1.31327953e-03 -2.02016503e+01] [-2.36330193e-03 1.92459337e-05 9.99997207e-01 -1.68598812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.949999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:-20.21, Z:-0.18 [[ 8.37906539e-01 5.45810198e-01 1.96457433e-03 5.70062877e+01] [-5.45808617e-01 8.37908842e-01 -1.31377842e-03 -2.02085265e+01] [-2.36320786e-03 2.85419289e-05 9.99997207e-01 -1.75522788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:57.03, Y:-20.23, Z:-0.18 [[ 8.37228641e-01 5.46849390e-01 1.98680407e-03 5.70333742e+01] [-5.46847891e-01 8.37230998e-01 -1.28051652e-03 -2.02259218e+01] [-2.36366364e-03 -1.43945140e-05 9.99997206e-01 -1.76413348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:-20.24, Z:-0.18 [[ 8.35197826e-01 5.49946044e-01 1.98479363e-03 5.70592758e+01] [-5.49944547e-01 8.35200185e-01 -1.28351794e-03 -2.02444095e+01] [-2.36356562e-03 -1.95350398e-05 9.99997207e-01 -1.76811370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:57.08, Y:-20.26, Z:-0.18 [[ 8.34222935e-01 5.51423770e-01 1.98016136e-03 5.70849538e+01] [-5.51422261e-01 8.34225285e-01 -1.29040616e-03 -2.02612208e+01] [-2.36346131e-03 -1.54186427e-05 9.99997207e-01 -1.78874850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:-20.28, Z:-0.18 [[ 8.31639844e-01 5.55311838e-01 1.98327853e-03 5.71114801e+01] [-5.55310350e-01 8.31642208e-01 -1.28577336e-03 -2.02796642e+01] [-2.36338330e-03 -3.20347371e-05 9.99997207e-01 -1.75310155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099999999999994 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:57.14, Y:-20.30, Z:-0.17 [[ 8.27673186e-01 5.61206889e-01 1.98129469e-03 5.71386931e+01] [-5.61205411e-01 8.27675556e-01 -1.28872235e-03 -2.03048982e+01] [-2.36310904e-03 -4.52723664e-05 9.99997207e-01 -1.73084712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:-20.32, Z:-0.17 [[ 8.24929105e-01 5.65232811e-01 1.95993547e-03 5.71665174e+01] [-5.65231269e-01 8.24931433e-01 -1.32042627e-03 -2.03229193e+01] [-2.36316063e-03 -1.85587569e-05 9.99997208e-01 -1.68894304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:57.19, Y:-20.34, Z:-0.17 [[ 8.24206525e-01 5.66285938e-01 1.95957112e-03 5.71937460e+01] [-5.66284398e-01 8.24208855e-01 -1.32096677e-03 -2.03400787e+01] [-2.36314077e-03 -2.09251204e-05 9.99997208e-01 -1.71883609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.22, Y:-20.36, Z:-0.17 [[ 8.23167394e-01 5.67795387e-01 1.95934466e-03 5.72212864e+01] [-5.67793850e-01 8.23169726e-01 -1.32130258e-03 -2.03579684e+01] [-2.36310272e-03 -2.48506461e-05 9.99997208e-01 -1.72428645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:57.25, Y:-20.38, Z:-0.17 [[ 8.22016945e-01 5.69459660e-01 1.95896638e-03 5.72481164e+01] [-5.69458126e-01 8.22019279e-01 -1.32186318e-03 -2.03758989e+01] [-2.36305589e-03 -2.89553890e-05 9.99997208e-01 -1.73362537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:57.28, Y:-20.39, Z:-0.17 [[ 8.20624387e-01 5.71464592e-01 1.95861481e-03 5.72758503e+01] [-5.71463063e-01 8.20626723e-01 -1.32238389e-03 -2.03940667e+01] [-2.36298723e-03 -3.40955494e-05 9.99997208e-01 -1.73847141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.30, Y:-20.41, Z:-0.17 [[ 8.19959069e-01 5.72418806e-01 1.95823622e-03 5.73021554e+01] [-5.72417279e-01 8.19961407e-01 -1.32294428e-03 -2.04119135e+01] [-2.36295632e-03 -3.61680865e-05 9.99997208e-01 -1.72497868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:-20.43, Z:-0.17 [[ 8.19427049e-01 5.73180144e-01 1.95800111e-03 5.73289360e+01] [-5.73178618e-01 8.19429388e-01 -1.32329217e-03 -2.04303065e+01] [-2.36292845e-03 -3.79429772e-05 9.99997208e-01 -1.71996093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.36, Y:-20.45, Z:-0.18 [[ 8.19605626e-01 5.72924764e-01 1.95762288e-03 5.73556719e+01] [-5.72923236e-01 8.19607963e-01 -1.32385148e-03 -2.04479016e+01] [-2.36295059e-03 -3.65315133e-05 9.99997208e-01 -1.75101336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.38, Y:-20.47, Z:-0.18 [[ 8.19450903e-01 5.73146042e-01 1.95727148e-03 5.73832775e+01] [-5.73144513e-01 8.19453240e-01 -1.32437079e-03 -2.04666912e+01] [-2.36295034e-03 -3.65425684e-05 9.99997208e-01 -1.75180541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.4 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.41, Y:-20.49, Z:-0.17 [[ 8.19453728e-01 5.73142005e-01 1.95691375e-03 5.74105065e+01] [-5.73140475e-01 8.19456064e-01 -1.32489917e-03 -2.04853327e+01] [-2.36296021e-03 -3.58929110e-05 9.99997208e-01 -1.73577873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:57.44, Y:-20.50, Z:-0.17 [[ 8.19427934e-01 5.73178884e-01 1.95654247e-03 5.74364307e+01] [-5.73177353e-01 8.19430269e-01 -1.32544724e-03 -2.05033656e+01] [-2.36296849e-03 -3.53373465e-05 9.99997208e-01 -1.71626318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:57.46, Y:-20.52, Z:-0.17 [[ 8.19871463e-01 5.72544284e-01 1.95631192e-03 5.74631763e+01] [-5.72542750e-01 8.19873796e-01 -1.32578743e-03 -2.05215845e+01] [-2.36300090e-03 -3.30969315e-05 9.99997208e-01 -1.69720595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489999999999995 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:57.49, Y:-20.54, Z:-0.17 [[ 8.20094008e-01 5.72225473e-01 1.95597337e-03 5.74905294e+01] [-5.72223936e-01 8.20096340e-01 -1.32628671e-03 -2.05401309e+01] [-2.36302165e-03 -3.15749952e-05 9.99997208e-01 -1.70108017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:57.52, Y:-20.56, Z:-0.17 [[ 8.20470212e-01 5.71685934e-01 1.95561139e-03 5.75168069e+01] [-5.71684395e-01 8.20472542e-01 -1.32682024e-03 -2.05580084e+01] [-2.36304992e-03 -2.93760282e-05 9.99997208e-01 -1.70652232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:-20.57, Z:-0.17 [[ 8.23712391e-01 5.67004475e-01 1.95527405e-03 5.75412528e+01] [-5.67002921e-01 8.23714711e-01 -1.32731719e-03 -2.05680324e+01] [-2.36318278e-03 -1.53184809e-05 9.99997208e-01 -1.72674558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:57.57, Y:-20.59, Z:-0.17 [[ 8.21243592e-01 5.70574328e-01 1.97484018e-03 5.75684571e+01] [-5.70572853e-01 8.21245964e-01 -1.29848799e-03 -2.05933662e+01] [-2.36271344e-03 -6.04152574e-05 9.99997207e-01 -1.72044849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.59, Y:-20.60, Z:-0.17 [[ 8.24235506e-01 5.66243773e-01 1.95440909e-03 5.75930279e+01] [-5.66242214e-01 8.24237824e-01 -1.32854398e-03 -2.06029629e+01] [-2.36317765e-03 -1.16358125e-05 9.99997208e-01 -1.74195886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:57.62, Y:-20.63, Z:-0.17 [[ 8.21615271e-01 5.70038989e-01 1.97418504e-03 5.76207401e+01] [-5.70037510e-01 8.21617641e-01 -1.29943787e-03 -2.06285055e+01] [-2.36275551e-03 -5.77215320e-05 9.99997207e-01 -1.72457946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:-20.64, Z:-0.18 [[ 8.24288823e-01 5.66166159e-01 1.95372976e-03 5.76451117e+01] [-5.66164598e-01 8.24291138e-01 -1.32949742e-03 -2.06380316e+01] [-2.36315857e-03 -1.02427560e-05 9.99997208e-01 -1.75620277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699999999999996 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:57.67, Y:-20.66, Z:-0.17 [[ 8.21595313e-01 5.70067757e-01 1.97342305e-03 5.76729579e+01] [-5.70066276e-01 8.21597681e-01 -1.30054073e-03 -2.06636720e+01] [-2.36275614e-03 -5.64637608e-05 9.99997207e-01 -1.73932171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:57.70, Y:-20.68, Z:-0.18 [[ 8.21553551e-01 5.70128010e-01 1.95310191e-03 5.77002031e+01] [-5.70126458e-01 8.21555873e-01 -1.33037389e-03 -2.06818474e+01] [-2.36306576e-03 -2.05416768e-05 9.99997208e-01 -1.75263608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.73, Y:-20.70, Z:-0.18 [[ 8.21343818e-01 5.70430118e-01 1.95272658e-03 5.77263382e+01] [-5.70428565e-01 8.21346139e-01 -1.33092457e-03 -2.06996556e+01] [-2.36306390e-03 -2.07443561e-05 9.99997208e-01 -1.76280077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:57.75, Y:-20.72, Z:-0.18 [[ 8.21128626e-01 5.70739842e-01 1.95237756e-03 5.77527917e+01] [-5.70738289e-01 8.21130947e-01 -1.33143636e-03 -2.07177317e+01] [-2.36306142e-03 -2.10161186e-05 9.99997208e-01 -1.76308384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.78, Y:-20.73, Z:-0.18 [[ 8.23148785e-01 5.67822391e-01 1.95203188e-03 5.77776149e+01] [-5.67820829e-01 8.23151099e-01 -1.33194298e-03 -2.07283850e+01] [-2.36312423e-03 -1.20171184e-05 9.99997208e-01 -1.78498487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849999999999994 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:57.81, Y:-20.75, Z:-0.17 [[ 8.20075009e-01 5.72252648e-01 1.97126282e-03 5.78053435e+01] [-5.72251166e-01 8.20077376e-01 -1.30373997e-03 -2.07542917e+01] [-2.36265669e-03 -5.88928800e-05 9.99997207e-01 -1.74642842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879999999999995 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:57.83, Y:-20.77, Z:-0.18 [[ 8.19427367e-01 5.73179711e-01 1.95149177e-03 5.78322523e+01] [-5.73178162e-01 8.19429691e-01 -1.33269119e-03 -2.07721987e+01] [-2.36298185e-03 -2.65088290e-05 9.99997208e-01 -1.76552380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:57.86, Y:-20.79, Z:-0.18 [[ 8.18905899e-01 5.73924491e-01 1.95115226e-03 5.78593413e+01] [-5.73922943e-01 8.18908223e-01 -1.33318807e-03 -2.07909890e+01] [-2.36296392e-03 -2.80554729e-05 9.99997208e-01 -1.75061639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:-20.81, Z:-0.17 [[ 8.18158122e-01 5.74989983e-01 1.95079207e-03 5.78858441e+01] [-5.74988437e-01 8.18160448e-01 -1.33371492e-03 -2.08097566e+01] [-2.36293363e-03 -3.04931856e-05 9.99997208e-01 -1.72020179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.91, Y:-20.82, Z:-0.18 [[ 8.19340181e-01 5.73304337e-01 1.95043458e-03 5.79113604e+01] [-5.73302785e-01 8.19342503e-01 -1.33423751e-03 -2.08215013e+01] [-2.36299810e-03 -2.49951746e-05 9.99997208e-01 -1.76628870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.0 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:57.94, Y:-20.85, Z:-0.18 [[ 8.16409158e-01 5.77470537e-01 1.96605879e-03 5.79386717e+01] [-5.77469051e-01 8.16411523e-01 -1.31139613e-03 -2.08456328e+01] [-2.36240568e-03 -6.47022899e-05 9.99997207e-01 -1.77318933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.97, Y:-20.86, Z:-0.17 [[ 8.15027718e-01 5.79418690e-01 1.94955503e-03 5.79654179e+01] [-5.79417152e-01 8.15030049e-01 -1.33548842e-03 -2.08648800e+01] [-2.36275289e-03 -4.11455439e-05 9.99997208e-01 -1.72990978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:57.99, Y:-20.88, Z:-0.18 [[ 8.14520962e-01 5.80130850e-01 1.94920486e-03 5.79925337e+01] [-5.80129313e-01 8.14523293e-01 -1.33599933e-03 -2.08826582e+01] [-2.36272719e-03 -4.25914146e-05 9.99997208e-01 -1.75987627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.089999999999996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:58.02, Y:-20.90, Z:-0.18 [[ 8.13470162e-01 5.81603386e-01 1.94885466e-03 5.80183608e+01] [-5.81601852e-01 8.13472495e-01 -1.33650997e-03 -2.08997117e+01] [-2.36265839e-03 -4.62464967e-05 9.99997208e-01 -1.79478831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:58.05, Y:-20.92, Z:-0.18 [[ 8.13041406e-01 5.82202606e-01 1.94857400e-03 5.80452650e+01] [-5.82201073e-01 8.13043740e-01 -1.33691904e-03 -2.09183393e+01] [-2.36263364e-03 -4.74913438e-05 9.99997208e-01 -1.79440507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:58.07, Y:-20.94, Z:-0.18 [[ 8.12810524e-01 5.82524898e-01 1.94823194e-03 5.80723197e+01] [-5.82523364e-01 8.12812857e-01 -1.33741733e-03 -2.09370871e+01] [-2.36262686e-03 -4.78237442e-05 9.99997208e-01 -1.79310262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:58.10, Y:-20.96, Z:-0.18 [[ 8.13321060e-01 5.81811876e-01 1.94789076e-03 5.80987549e+01] [-5.81810339e-01 8.13323392e-01 -1.33791405e-03 -2.09552255e+01] [-2.36267940e-03 -4.51493168e-05 9.99997208e-01 -1.79725352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:-20.97, Z:-0.18 [[ 8.13200339e-01 5.81980597e-01 1.94757430e-03 5.81244956e+01] [-5.81979060e-01 8.13202670e-01 -1.33837456e-03 -2.09734664e+01] [-2.36268065e-03 -4.50808109e-05 9.99997208e-01 -1.75127284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:58.15, Y:-20.99, Z:-0.18 [[ 8.13730488e-01 5.81239109e-01 1.94725962e-03 5.81514044e+01] [-5.81237569e-01 8.13732816e-01 -1.33883225e-03 -2.09917143e+01] [-2.36273071e-03 -4.23718282e-05 9.99997208e-01 -1.78992496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.269999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.18, Y:-21.01, Z:-0.18 [[ 8.14034148e-01 5.80813753e-01 1.94692650e-03 5.81785817e+01] [-5.80812211e-01 8.14036475e-01 -1.33931649e-03 -2.10110754e+01] [-2.36276262e-03 -4.05493222e-05 9.99997208e-01 -1.75878839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.3 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:58.21, Y:-21.03, Z:-0.18 [[ 8.14271808e-01 5.80480520e-01 1.94659554e-03 5.82061133e+01] [-5.80478975e-01 8.14274134e-01 -1.33979734e-03 -2.10297929e+01] [-2.36278865e-03 -3.89985852e-05 9.99997208e-01 -1.78799563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:-21.05, Z:-0.17 [[ 8.13950759e-01 5.80930610e-01 1.94626525e-03 5.82327540e+01] [-5.80929065e-01 8.13953085e-01 -1.34027697e-03 -2.10486813e+01] [-2.36277652e-03 -3.97225970e-05 9.99997208e-01 -1.74363304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:58.26, Y:-21.07, Z:-0.18 [[ 8.13892908e-01 5.81011659e-01 1.94589148e-03 5.82592356e+01] [-5.81010113e-01 8.13895233e-01 -1.34081941e-03 -2.10669846e+01] [-2.36278351e-03 -3.92992199e-05 9.99997208e-01 -1.79527043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:58.29, Y:-21.09, Z:-0.18 [[ 8.13714764e-01 5.81261127e-01 1.94554290e-03 5.82865553e+01] [-5.81259581e-01 8.13717089e-01 -1.34132501e-03 -2.10858536e+01] [-2.36278159e-03 -3.94094906e-05 9.99997208e-01 -1.79933653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419999999999995 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:58.31, Y:-21.10, Z:-0.18 [[ 8.13612150e-01 5.81404752e-01 1.94516721e-03 5.83139840e+01] [-5.81403205e-01 8.13614474e-01 -1.34186962e-03 -2.11046753e+01] [-2.36278557e-03 -3.91650234e-05 9.99997208e-01 -1.80820492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.449999999999996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:58.34, Y:-21.12, Z:-0.18 [[ 8.15073566e-01 5.79354210e-01 1.94478832e-03 5.83398878e+01] [-5.79352655e-01 8.15075885e-01 -1.34241852e-03 -2.11177641e+01] [-2.36288588e-03 -3.25484219e-05 9.99997208e-01 -1.84403169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:58.37, Y:-21.14, Z:-0.18 [[ 8.12994594e-01 5.82267939e-01 1.95866499e-03 5.83658315e+01] [-5.82266441e-01 8.12996951e-01 -1.32230902e-03 -2.11402451e+01] [-2.36232682e-03 -6.54348087e-05 9.99997208e-01 -1.83239822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:58.39, Y:-21.16, Z:-0.18 [[ 8.12790652e-01 5.82552638e-01 1.94424425e-03 5.83917546e+01] [-5.82551091e-01 8.12792977e-01 -1.34318291e-03 -2.11582772e+01] [-2.36274282e-03 -4.08950906e-05 9.99997208e-01 -1.83767022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:58.42, Y:-21.18, Z:-0.18 [[ 8.12887634e-01 5.82417304e-01 1.94401154e-03 5.84185546e+01] [-5.82415756e-01 8.12889957e-01 -1.34351962e-03 -2.11774600e+01] [-2.36275654e-03 -4.00924646e-05 9.99997208e-01 -1.84259865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:58.44, Y:-21.20, Z:-0.18 [[ 8.12887966e-01 5.82416842e-01 1.94362628e-03 5.84440540e+01] [-5.82415292e-01 8.12890288e-01 -1.34407674e-03 -2.11959169e+01] [-2.36276786e-03 -3.94138653e-05 9.99997208e-01 -1.80732750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599999999999994 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.47, Y:-21.22, Z:-0.18 [[ 8.13459867e-01 5.81617802e-01 1.94326759e-03 5.84693535e+01] [-5.81616249e-01 8.13462188e-01 -1.34459514e-03 -2.12156786e+01] [-2.36281517e-03 -3.64618222e-05 9.99997208e-01 -1.81620705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.629999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:58.50, Y:-21.24, Z:-0.18 [[ 8.13832071e-01 5.81096882e-01 1.94291317e-03 5.84956427e+01] [-5.81095326e-01 8.13834389e-01 -1.34510707e-03 -2.12350185e+01] [-2.36284708e-03 -3.43264949e-05 9.99997208e-01 -1.83178053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:58.52, Y:-21.25, Z:-0.18 [[ 8.14047151e-01 5.80795543e-01 1.94253824e-03 5.85219181e+01] [-5.80793985e-01 8.14049468e-01 -1.34564831e-03 -2.12542454e+01] [-2.36286876e-03 -3.27933532e-05 9.99997208e-01 -1.82774426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:58.55, Y:-21.27, Z:-0.18 [[ 8.14334042e-01 5.80393225e-01 1.94215375e-03 5.85484966e+01] [-5.80391665e-01 8.14336357e-01 -1.34620300e-03 -2.12735241e+01] [-2.36289352e-03 -3.09509206e-05 9.99997208e-01 -1.82063544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:59.12, Y:-20.53, Z:0.62 [[ 8.67997658e-01 -4.96564506e-01 -1.93861797e-03 5.91229036e+01] [-4.96562712e-01 -8.67999797e-01 1.35129439e-03 -2.05256128e+01] [-2.35372483e-03 -2.10274972e-04 -9.99997208e-01 6.22005725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:-20.53, Z:0.62 [[ 9.03999951e-01 -4.27527735e-01 -2.03095812e-03 5.91151640e+01] [-4.27526119e-01 -9.04002207e-01 1.19426097e-03 -2.05301074e+01] [-2.34657031e-03 -2.11324214e-04 -9.99997224e-01 6.19603559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:59.11, Y:-20.53, Z:0.62 [[ 9.34502988e-01 -3.55949023e-01 -2.11162694e-03 5.91070016e+01] [-3.55947599e-01 -9.34505350e-01 1.02866547e-03 -2.05348429e+01] [-2.33947914e-03 -2.09662416e-04 -9.99997241e-01 6.22870096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:59.10, Y:-20.54, Z:0.62 [[ 9.59318805e-01 -2.82316635e-01 -2.17887724e-03 5.90998198e+01] [-2.82315408e-01 -9.59321257e-01 8.57855813e-04 -2.05401852e+01] [-2.33243022e-03 -2.07826597e-04 -9.99997258e-01 6.22631674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:59.09, Y:-20.55, Z:0.62 [[ 9.78425797e-01 -2.06586487e-01 -2.23241428e-03 5.90934582e+01] [-2.06585462e-01 -9.78428322e-01 6.82822369e-04 -2.05462135e+01] [-2.32531923e-03 -2.06906686e-04 -9.99997275e-01 6.19449557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:59.08, Y:-20.55, Z:0.62 [[ 9.91425205e-01 -1.30655660e-01 -2.27200388e-03 5.90844161e+01] [-1.30654844e-01 -9.91427787e-01 5.04549039e-04 -2.05527828e+01] [-2.31844997e-03 -2.03374322e-04 -9.99997292e-01 6.20754989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:-20.56, Z:0.62 [[ 9.98584170e-01 -5.31448600e-02 -2.29745441e-03 5.90750188e+01] [-5.31442537e-02 -9.98586793e-01 3.24184815e-04 -2.05591059e+01] [-2.31143639e-03 -2.01629325e-04 -9.99997308e-01 6.17991050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:-20.57, Z:0.62 [[ 9.99694177e-01 2.46215954e-02 -2.30867489e-03 5.90665536e+01] [ 2.46219905e-02 -9.99696823e-01 1.42867877e-04 -2.05672518e+01] [-2.30445732e-03 -1.99668356e-04 -9.99997325e-01 6.17313271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:59.06, Y:-20.58, Z:0.62 [[ 9.94766532e-01 1.02148083e-01 -2.30566718e-03 5.90581618e+01] [ 1.02148267e-01 -9.94769184e-01 -3.82824024e-05 -2.05758743e+01] [-2.29751714e-03 -1.97437854e-04 -9.99997341e-01 6.21454710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989999999999995 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:59.05, Y:-20.58, Z:0.62 [[ 9.83706213e-01 1.79768879e-01 -2.28854286e-03 5.90504231e+01] [ 1.79768855e-01 -9.83708855e-01 -2.18028660e-04 -2.05842225e+01] [-2.29045464e-03 -1.96932582e-04 -9.99997358e-01 6.19774740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:-20.59, Z:0.62 [[ 9.66560966e-01 2.56426991e-01 -2.25749040e-03 5.90442896e+01] [ 2.56426762e-01 -9.66563583e-01 -3.95344287e-04 -2.05945986e+01] [-2.28338495e-03 -1.96756597e-04 -9.99997374e-01 6.16943561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:59.30, Y:-21.49, Z:-0.18 [[ 9.70328439e-01 -2.41780527e-01 2.21279047e-03 5.93007214e+01] [ 2.41779858e-01 9.70330962e-01 5.69136712e-04 -2.14875412e+01] [-2.28474528e-03 -1.72413716e-05 9.99997390e-01 -1.79653578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.33, Y:-21.48, Z:-0.18 [[ 9.70232057e-01 -2.42167006e-01 2.21285660e-03 5.93274218e+01] [ 2.42166339e-01 9.70234580e-01 5.68879723e-04 -2.14794627e+01] [-2.28475390e-03 -1.60659622e-05 9.99997390e-01 -1.78091598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:59.35, Y:-21.47, Z:-0.18 [[ 9.70146199e-01 -2.42510736e-01 2.21254378e-03 5.93536479e+01] [ 2.42510067e-01 9.70148722e-01 5.70093806e-04 -2.14729084e+01] [-2.28475038e-03 -1.65102004e-05 9.99997390e-01 -1.81420416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:59.38, Y:-21.47, Z:-0.18 [[ 9.70099320e-01 -2.42698196e-01 2.21243252e-03 5.93803229e+01] [ 2.42697526e-01 9.70101843e-01 5.70525248e-04 -2.14660249e+01] [-2.28475031e-03 -1.65142558e-05 9.99997390e-01 -1.78501300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:-21.46, Z:-0.18 [[ 9.70053894e-01 -2.42879701e-01 2.21236294e-03 5.94071239e+01] [ 2.42879030e-01 9.70056416e-01 5.70794924e-04 -2.14585254e+01] [-2.28475137e-03 -1.63652718e-05 9.99997390e-01 -1.76302701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:-21.45, Z:-0.18 [[ 9.70017416e-01 -2.43025344e-01 2.21220099e-03 5.94339543e+01] [ 2.43024673e-01 9.70019939e-01 5.71421890e-04 -2.14510056e+01] [-2.28474907e-03 -1.66697622e-05 9.99997390e-01 -1.76911492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:59.46, Y:-21.44, Z:-0.18 [[ 9.70052721e-01 -2.42884389e-01 2.21203873e-03 5.94612347e+01] [ 2.42883716e-01 9.70055242e-01 5.72049349e-04 -2.14426341e+01] [-2.28474162e-03 -1.76498421e-05 9.99997390e-01 -1.81828400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:59.49, Y:-21.44, Z:-0.18 [[ 9.70075807e-01 -2.42792166e-01 2.21187642e-03 5.94883965e+01] [ 2.42791491e-01 9.70078329e-01 5.72676224e-04 -2.14352087e+01] [-2.28473469e-03 -1.85145750e-05 9.99997390e-01 -1.80646812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:59.52, Y:-21.43, Z:-0.18 [[ 9.70007346e-01 -2.43065541e-01 2.21171472e-03 5.95160756e+01] [ 2.43064866e-01 9.70009867e-01 5.73300056e-04 -2.14279566e+01] [-2.28473459e-03 -1.85151235e-05 9.99997390e-01 -1.80711891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:59.54, Y:-21.42, Z:-0.18 [[ 9.69991538e-01 -2.43128618e-01 2.21155298e-03 5.95429986e+01] [ 2.43127942e-01 9.69994059e-01 5.73923311e-04 -2.14209376e+01] [-2.28473043e-03 -1.90104310e-05 9.99997390e-01 -1.81289898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349999999999994 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:59.57, Y:-21.41, Z:-0.18 [[ 9.69945010e-01 -2.43314176e-01 2.21139110e-03 5.95697967e+01] [ 2.43313498e-01 9.69947530e-01 5.74546366e-04 -2.14136103e+01] [-2.28472861e-03 -1.92170760e-05 9.99997390e-01 -1.81824107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.60, Y:-21.41, Z:-0.18 [[ 9.69932990e-01 -2.43362088e-01 2.21122813e-03 5.95968394e+01] [ 2.43361409e-01 9.69935510e-01 5.75172902e-04 -2.14063412e+01] [-2.28472396e-03 -1.97515788e-05 9.99997390e-01 -1.80872872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:59.62, Y:-21.40, Z:-0.18 [[ 9.69950901e-01 -2.43290692e-01 2.21106373e-03 5.96226668e+01] [ 2.43290011e-01 9.69953421e-01 5.75804202e-04 -2.13992895e+01] [-2.28471663e-03 -2.05720854e-05 9.99997390e-01 -1.83712072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-21.39, Z:-0.19 [[ 9.69141386e-01 -2.46495609e-01 2.21099230e-03 5.96458264e+01] [ 2.46494936e-01 9.69143908e-01 5.76078339e-04 -2.13885508e+01] [-2.28477050e-03 -1.33029545e-05 9.99997390e-01 -1.85655104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:-21.38, Z:-0.19 [[ 9.69366196e-01 -2.45610088e-01 2.20538791e-03 5.96739607e+01] [ 2.45609364e-01 9.69368704e-01 5.97589357e-04 -2.13817016e+01] [-2.28460800e-03 -3.76189995e-05 9.99997390e-01 -1.85387496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.5 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:59.70, Y:-21.38, Z:-0.19 [[ 9.69568511e-01 -2.44810210e-01 2.20553973e-03 5.97026086e+01] [ 2.44809485e-01 9.69571018e-01 5.97007437e-04 -2.13754096e+01] [-2.28458092e-03 -3.89025652e-05 9.99997390e-01 -1.87865072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:-21.37, Z:-0.18 [[ 9.70386687e-01 -2.41546698e-01 2.20665793e-03 5.97330063e+01] [ 2.41545975e-01 9.70389196e-01 5.92730453e-04 -2.13708729e+01] [-2.28448910e-03 -4.21684008e-05 9.99997390e-01 -1.80605770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:-21.36, Z:-0.18 [[ 9.70410964e-01 -2.41449112e-01 2.21049787e-03 5.97605554e+01] [ 2.41448422e-01 9.70413482e-01 5.78046181e-04 -2.13636232e+01] [-2.28466568e-03 -2.72211293e-05 9.99997390e-01 -1.80469113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.589999999999996 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:59.79, Y:-21.36, Z:-0.18 [[ 9.70275227e-01 -2.41994006e-01 2.21033427e-03 5.97866867e+01] [ 2.41993316e-01 9.70277744e-01 5.78671083e-04 -2.13567969e+01] [-2.28467308e-03 -2.65840958e-05 9.99997390e-01 -1.84457756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:59.81, Y:-21.35, Z:-0.19 [[ 9.70050292e-01 -2.42894102e-01 2.21026346e-03 5.98135885e+01] [ 2.42893414e-01 9.70052810e-01 5.78941443e-04 -2.13497050e+01] [-2.28469374e-03 -2.47438805e-05 9.99997390e-01 -1.85440646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:-21.34, Z:-0.18 [[ 9.69952908e-01 -2.43282699e-01 2.21009826e-03 5.98409873e+01] [ 2.43282010e-01 9.69955426e-01 5.79571380e-04 -2.13426046e+01] [-2.28469649e-03 -2.44797974e-05 9.99997390e-01 -1.81582206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:-21.34, Z:-0.18 [[ 9.69870396e-01 -2.43611436e-01 2.20993157e-03 5.98676776e+01] [ 2.43610746e-01 9.69872913e-01 5.80206296e-04 -2.13361099e+01] [-2.28469766e-03 -2.43618316e-05 9.99997390e-01 -1.81665139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:-21.33, Z:-0.18 [[ 9.69755528e-01 -2.44068293e-01 2.20985951e-03 5.98941951e+01] [ 2.44067604e-01 9.69758046e-01 5.80480636e-04 -2.13300228e+01] [-2.28470595e-03 -2.35691910e-05 9.99997390e-01 -1.81546332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739999999999995 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:59.92, Y:-21.32, Z:-0.19 [[ 9.69590526e-01 -2.44722963e-01 2.20974747e-03 5.99211553e+01] [ 2.44722275e-01 9.69593044e-01 5.80906832e-04 -2.13230379e+01] [-2.28471701e-03 -2.24673351e-05 9.99997390e-01 -1.85254418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.769999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:59.95, Y:-21.32, Z:-0.18 [[ 9.69556227e-01 -2.44858819e-01 2.20958328e-03 5.99483346e+01] [ 2.44858130e-01 9.69558744e-01 5.81530679e-04 -2.13156727e+01] [-2.28471370e-03 -2.27922622e-05 9.99997390e-01 -1.84965398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.8 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:59.97, Y:-21.31, Z:-0.19 [[ 9.69515129e-01 -2.45021494e-01 2.20941940e-03 5.99748115e+01] [ 2.45020803e-01 9.69517647e-01 5.82152649e-04 -2.13075028e+01] [-2.28471101e-03 -2.30520850e-05 9.99997390e-01 -1.85425302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:-21.30, Z:-0.18 [[ 9.69559568e-01 -2.44845589e-01 2.20925560e-03 6.00022220e+01] [ 2.44844897e-01 9.69562085e-01 5.82773585e-04 -2.13001671e+01] [-2.28470001e-03 -2.41087460e-05 9.99997390e-01 -1.82555929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:-21.29, Z:-0.18 [[ 9.69296310e-01 -2.45885712e-01 2.20909330e-03 6.00293987e+01] [ 2.45885021e-01 9.69298827e-01 5.83388179e-04 -2.12930089e+01] [-2.28471836e-03 -2.22930580e-05 9.99997390e-01 -1.81125167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:60.06, Y:-21.29, Z:-0.19 [[ 9.69029746e-01 -2.46934136e-01 2.20985876e-03 6.00566739e+01] [ 2.46933454e-01 9.69032266e-01 5.80491884e-04 -2.12863217e+01] [-2.28476770e-03 -1.68258455e-05 9.99997390e-01 -1.87371709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:-21.28, Z:-0.18 [[ 9.69020089e-01 -2.46972039e-01 2.20879592e-03 6.00840278e+01] [ 2.46971349e-01 9.69022606e-01 5.84508264e-04 -2.12790997e+01] [-2.28473037e-03 -2.08909438e-05 9.99997390e-01 -1.83938158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.949999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:60.11, Y:-21.27, Z:-0.19 [[ 9.68732758e-01 -2.48096684e-01 2.20863338e-03 6.01110886e+01] [ 2.48095995e-01 9.68735276e-01 5.85121766e-04 -2.12722508e+01] [-2.28474784e-03 -1.88735251e-05 9.99997390e-01 -1.89821666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:-21.27, Z:-0.19 [[ 9.68789619e-01 -2.47874557e-01 2.20858303e-03 6.01377680e+01] [ 2.47873867e-01 9.68792136e-01 5.85311780e-04 -2.12653550e+01] [-2.28474177e-03 -1.95939605e-05 9.99997390e-01 -1.86091274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.16, Y:-21.26, Z:-0.19 [[ 9.68633073e-01 -2.48485600e-01 2.20842415e-03 6.01646705e+01] [ 2.48484910e-01 9.68635590e-01 5.85910635e-04 -2.12584181e+01] [-2.28474858e-03 -1.87723426e-05 9.99997390e-01 -1.86091298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:60.19, Y:-21.25, Z:-0.19 [[ 9.68472682e-01 -2.49109990e-01 2.20825893e-03 6.01905651e+01] [ 2.49109301e-01 9.68475200e-01 5.86532655e-04 -2.12515186e+01] [-2.28475515e-03 -1.79430150e-05 9.99997390e-01 -1.88018252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:60.22, Y:-21.24, Z:-0.19 [[ 9.68006324e-01 -2.50916083e-01 2.20814762e-03 6.02190956e+01] [ 2.50915397e-01 9.68008842e-01 5.86951403e-04 -2.12440766e+01] [-2.28478197e-03 -1.41144321e-05 9.99997390e-01 -1.90222341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099999999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:-21.24, Z:-0.19 [[ 9.68206131e-01 -2.50143970e-01 2.20960184e-03 6.02460155e+01] [ 2.50143294e-01 9.68208652e-01 5.81484748e-04 -2.12368070e+01] [-2.28481052e-03 -1.02800145e-05 9.99997390e-01 -1.85314877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.129999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:60.27, Y:-21.23, Z:-0.19 [[ 9.67807209e-01 -2.51682997e-01 2.20790457e-03 6.02726416e+01] [ 2.51682311e-01 9.67809728e-01 5.87859404e-04 -2.12295233e+01] [-2.28478574e-03 -1.32440437e-05 9.99997390e-01 -1.90530676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:60.30, Y:-21.22, Z:-0.19 [[ 9.67685575e-01 -2.52150262e-01 2.20774058e-03 6.02996101e+01] [ 2.52149576e-01 9.67688093e-01 5.88474657e-04 -2.12224358e+01] [-2.28478831e-03 -1.27775868e-05 9.99997390e-01 -1.88870973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:-21.22, Z:-0.18 [[ 9.67760977e-01 -2.51860711e-01 2.20757553e-03 6.03275422e+01] [ 2.51860022e-01 9.67763495e-01 5.89093157e-04 -2.12154620e+01] [-2.28478043e-03 -1.41013471e-05 9.99997390e-01 -1.84844564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.35, Y:-21.21, Z:-0.18 [[ 9.67387534e-01 -2.53291309e-01 2.20743028e-03 6.03544711e+01] [ 2.53290623e-01 9.67390052e-01 5.89636941e-04 -2.12086028e+01] [-2.28479600e-03 -1.12860361e-05 9.99997390e-01 -1.84214114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:-21.20, Z:-0.18 [[ 9.67266852e-01 -2.53751777e-01 2.20726434e-03 6.03817762e+01] [ 2.53751091e-01 9.67269371e-01 5.90257470e-04 -2.12013884e+01] [-2.28479807e-03 -1.08407524e-05 9.99997390e-01 -1.82751895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.41, Y:-21.19, Z:-0.18 [[ 9.66883634e-01 -2.55208086e-01 2.20709665e-03 6.04089559e+01] [ 2.55207402e-01 9.66886153e-01 5.90883838e-04 -2.11935624e+01] [-2.28480952e-03 -8.04851162e-06 9.99997390e-01 -1.83376737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:-21.19, Z:-0.18 [[ 9.66725499e-01 -2.55806447e-01 2.20692832e-03 6.04360850e+01] [ 2.55805763e-01 9.66728018e-01 5.91511860e-04 -2.11860403e+01] [-2.28481199e-03 -7.28461561e-06 9.99997390e-01 -1.80484626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:-21.18, Z:-0.18 [[ 9.66576448e-01 -2.56369071e-01 2.20687620e-03 6.04620242e+01] [ 2.56368388e-01 9.66578967e-01 5.91706248e-04 -2.11788142e+01] [-2.28481530e-03 -6.15602951e-06 9.99997390e-01 -1.80118271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:60.49, Y:-21.17, Z:-0.18 [[ 9.66158076e-01 -2.57941275e-01 2.20680382e-03 6.04891609e+01] [ 2.57940596e-01 9.66160597e-01 5.91976074e-04 -2.11707847e+01] [-2.28482196e-03 -2.71817284e-06 9.99997390e-01 -1.83327663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.4 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:60.52, Y:-21.16, Z:-0.18 [[ 9.66106620e-01 -2.58133936e-01 2.20663435e-03 6.05154861e+01] [ 2.58133256e-01 9.66109140e-01 5.92607128e-04 -2.11626605e+01] [-2.28482162e-03 -2.91596230e-06 9.99997390e-01 -1.84541259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:60.54, Y:-21.15, Z:-0.18 [[ 9.66228391e-01 -2.57677759e-01 2.20656094e-03 6.05429384e+01] [ 2.57677077e-01 9.66230911e-01 5.92880346e-04 -2.11548589e+01] [-2.28481946e-03 -4.27765146e-06 9.99997390e-01 -1.83183181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:60.57, Y:-21.15, Z:-0.19 [[ 9.66359303e-01 -2.57186370e-01 2.20639449e-03 6.05698357e+01] [ 2.57185686e-01 9.66361822e-01 5.93499122e-04 -2.11457463e+01] [-2.28481529e-03 -6.08031746e-06 9.99997390e-01 -1.86383964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:-21.14, Z:-0.18 [[ 9.66857457e-01 -2.55307247e-01 2.20622714e-03 6.05972779e+01] [ 2.55306556e-01 9.66859974e-01 5.94120569e-04 -2.11381745e+01] [-2.28479600e-03 -1.11656498e-05 9.99997390e-01 -1.83355964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519999999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.62, Y:-21.13, Z:-0.18 [[ 9.66988652e-01 -2.54809889e-01 2.20605931e-03 6.06239467e+01] [ 2.54809196e-01 9.66991169e-01 5.94743113e-04 -2.11299503e+01] [-2.28478629e-03 -1.29856443e-05 9.99997390e-01 -1.84947061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:-21.12, Z:-0.18 [[ 9.67242591e-01 -2.53844252e-01 2.20589125e-03 6.06513935e+01] [ 2.53843554e-01 9.67245106e-01 5.95365764e-04 -2.11219243e+01] [-2.28476770e-03 -1.59118489e-05 9.99997390e-01 -1.84917801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:60.68, Y:-21.11, Z:-0.19 [[ 9.67397871e-01 -2.53251838e-01 2.20572161e-03 6.06773115e+01] [ 2.53251138e-01 9.67400386e-01 5.95993599e-04 -2.11126944e+01] [-2.28475241e-03 -1.79614313e-05 9.99997390e-01 -1.91096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:-21.11, Z:-0.19 [[ 9.68011717e-01 -2.50895300e-01 2.20566896e-03 6.07048995e+01] [ 2.50894592e-01 9.68014229e-01 5.96188385e-04 -2.11051315e+01] [-2.28469980e-03 -2.37269279e-05 9.99997390e-01 -1.86200885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:60.73, Y:-21.10, Z:-0.19 [[ 9.67985346e-01 -2.50997022e-01 2.20550099e-03 6.07313702e+01] [ 2.50996314e-01 9.67987859e-01 5.96809099e-04 -2.10964352e+01] [-2.28469549e-03 -2.41298426e-05 9.99997390e-01 -1.90682995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:60.76, Y:-21.09, Z:-0.19 [[ 9.68166192e-01 -2.50298544e-01 2.20533157e-03 6.07581589e+01] [ 2.50297833e-01 9.68168703e-01 5.97434500e-04 -2.10893346e+01] [-2.28466999e-03 -2.64261721e-05 9.99997390e-01 -1.88489086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699999999999996 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:60.79, Y:-21.08, Z:-0.19 [[ 9.67932974e-01 -2.51198916e-01 2.20516234e-03 6.07856601e+01] [ 2.51198205e-01 9.67935486e-01 5.98058473e-04 -2.10816079e+01] [-2.28468652e-03 -2.49476937e-05 9.99997390e-01 -1.90736850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:-21.07, Z:-0.18 [[ 9.67930656e-01 -2.51207850e-01 2.20499244e-03 6.08127891e+01] [ 2.51207138e-01 9.67933167e-01 5.98684243e-04 -2.10748435e+01] [-2.28467950e-03 -2.55749919e-05 9.99997390e-01 -1.84989149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:60.84, Y:-21.07, Z:-0.19 [[ 9.67396884e-01 -2.53255617e-01 2.20493997e-03 6.08396885e+01] [ 2.53254910e-01 9.67399396e-01 5.98877420e-04 -2.10669023e+01] [-2.28472667e-03 -2.09402770e-05 9.99997390e-01 -1.87549172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:60.87, Y:-21.06, Z:-0.19 [[ 9.67084910e-01 -2.54444327e-01 2.20477375e-03 6.08669095e+01] [ 2.54443621e-01 9.67087423e-01 5.99488742e-04 -2.10582882e+01] [-2.28474547e-03 -1.87658999e-05 9.99997390e-01 -1.86211169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:60.89, Y:-21.05, Z:-0.19 [[ 9.65848220e-01 -2.59099121e-01 2.20460310e-03 6.08887089e+01] [ 2.59098427e-01 9.65850736e-01 6.00115634e-04 -2.10467512e+01] [-2.28480696e-03 -8.41142228e-06 9.99997390e-01 -1.91966364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849999999999994 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:60.92, Y:-21.04, Z:-0.19 [[ 9.65853928e-01 -2.59077911e-01 2.19663640e-03 6.09151342e+01] [ 2.59077149e-01 9.65856426e-01 6.29347253e-04 -2.10388935e+01] [-2.28468535e-03 -3.87592203e-05 9.99997389e-01 -1.89902799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:60.94, Y:-21.03, Z:-0.19 [[ 9.65861682e-01 -2.59049009e-01 2.19604035e-03 6.09426192e+01] [ 2.59048243e-01 9.65864177e-01 6.31533049e-04 -2.10313955e+01] [-2.28467472e-03 -4.10931780e-05 9.99997389e-01 -1.89616023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:60.97, Y:-21.03, Z:-0.19 [[ 9.66820496e-01 -2.55447263e-01 2.19665658e-03 6.09747124e+01] [ 2.55446492e-01 9.66822990e-01 6.29279592e-04 -2.10268836e+01] [-2.28452584e-03 -4.72721883e-05 9.99997389e-01 -1.88545605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:61.00, Y:-21.02, Z:-0.19 [[ 9.66766277e-01 -2.55652319e-01 2.20410653e-03 6.10003907e+01] [ 2.55651611e-01 9.66768789e-01 6.02003192e-04 -2.10194990e+01] [-2.28476492e-03 -1.85129984e-05 9.99997390e-01 -1.90243315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:61.03, Y:-21.01, Z:-0.19 [[ 9.66698686e-01 -2.55907781e-01 2.20403253e-03 6.10264574e+01] [ 2.55907073e-01 9.66701198e-01 6.02274014e-04 -2.10116684e+01] [-2.28476749e-03 -1.81899838e-05 9.99997390e-01 -1.91406460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.0 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:61.05, Y:-21.00, Z:-0.19 [[ 9.66701751e-01 -2.55896205e-01 2.20396037e-03 6.10530881e+01] [ 2.55895496e-01 9.66704263e-01 6.02537965e-04 -2.10042937e+01] [-2.28476506e-03 -1.84909738e-05 9.99997390e-01 -1.89744228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.08, Y:-21.00, Z:-0.19 [[ 9.66738893e-01 -2.55755853e-01 2.20379433e-03 6.10790459e+01] [ 2.55755143e-01 9.66741404e-01 6.03144638e-04 -2.09973048e+01] [-2.28475700e-03 -1.94516457e-05 9.99997390e-01 -1.88141525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.11, Y:-20.99, Z:-0.19 [[ 9.66459786e-01 -2.56808538e-01 2.20368109e-03 6.11059479e+01] [ 2.56807830e-01 9.66462298e-01 6.03558084e-04 -2.09898614e+01] [-2.28477356e-03 -1.73920582e-05 9.99997390e-01 -1.88277258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:-20.98, Z:-0.19 [[ 9.66289190e-01 -2.57449694e-01 2.20351655e-03 6.11333329e+01] [ 2.57448986e-01 9.66291703e-01 6.04158224e-04 -2.09822957e+01] [-2.28478011e-03 -1.64984620e-05 9.99997390e-01 -1.88465782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:-20.97, Z:-0.19 [[ 9.66058860e-01 -2.58312647e-01 2.20335248e-03 6.11594328e+01] [ 2.58311939e-01 9.66061373e-01 6.04755988e-04 -2.09748768e+01] [-2.28478984e-03 -1.50776293e-05 9.99997390e-01 -1.88479462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:61.19, Y:-20.97, Z:-0.19 [[ 9.65539640e-01 -2.60246709e-01 2.20328098e-03 6.11862242e+01] [ 2.60246006e-01 9.65542153e-01 6.05016350e-04 -2.09677247e+01] [-2.28481418e-03 -1.07721923e-05 9.99997390e-01 -1.90219731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:61.21, Y:-20.96, Z:-0.19 [[ 9.65465054e-01 -2.60523272e-01 2.20310789e-03 6.12137948e+01] [ 2.60522568e-01 9.65467568e-01 6.05646009e-04 -2.09600720e+01] [-2.28481409e-03 -1.07707330e-05 9.99997390e-01 -1.90284812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.24, Y:-20.95, Z:-0.19 [[ 9.65257610e-01 -2.61290821e-01 2.20293422e-03 6.12399433e+01] [ 2.61290117e-01 9.65260124e-01 6.06277024e-04 -2.09530270e+01] [-2.28481918e-03 -9.60856949e-06 9.99997390e-01 -1.90157786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:-20.94, Z:-0.19 [[ 9.63872395e-01 -2.66355314e-01 2.20285899e-03 6.12627445e+01] [ 2.66354624e-01 9.63874912e-01 6.06550267e-04 -2.09432050e+01] [-2.28483840e-03 2.10461837e-06 9.99997390e-01 -1.92000450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.269999999999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:61.29, Y:-20.94, Z:-0.19 [[ 9.64266206e-01 -2.64926137e-01 2.19674814e-03 6.12942969e+01] [ 2.64925392e-01 9.64268708e-01 6.28700084e-04 -2.09393744e+01] [-2.28481457e-03 -2.42598837e-05 9.99997390e-01 -1.92863129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:-20.93, Z:-0.19 [[ 9.63152782e-01 -2.68945845e-01 2.20265768e-03 6.13176778e+01] [ 2.68945159e-01 9.63155300e-01 6.07265131e-04 -2.09295346e+01] [-2.28482286e-03 7.50502123e-06 9.99997390e-01 -1.93483567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:61.35, Y:-20.93, Z:-0.19 [[ 9.63491502e-01 -2.67729900e-01 2.19697020e-03 6.13491834e+01] [ 2.67729164e-01 9.63494006e-01 6.27864511e-04 -2.09257913e+01] [-2.28486573e-03 -1.67491250e-05 9.99997390e-01 -1.93399050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:61.38, Y:-20.92, Z:-0.19 [[ 9.62949045e-01 -2.69674405e-01 2.20256955e-03 6.13760626e+01] [ 2.69673721e-01 9.62951564e-01 6.07565561e-04 -2.09186915e+01] [-2.28481267e-03 8.92044818e-06 9.99997390e-01 -1.91753185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.40, Y:-20.91, Z:-0.19 [[ 9.62680736e-01 -2.70630654e-01 2.20240312e-03 6.14025844e+01] [ 2.70629970e-01 9.62683255e-01 6.08168247e-04 -2.09105007e+01] [-2.28480558e-03 1.05644367e-05 9.99997390e-01 -1.92777067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419999999999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:61.43, Y:-20.90, Z:-0.19 [[ 9.62297215e-01 -2.71991212e-01 2.20223830e-03 6.14286349e+01] [ 2.71990531e-01 9.62299735e-01 6.08764511e-04 -2.09022623e+01] [-2.28479193e-03 1.31755696e-05 9.99997390e-01 -1.93352793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.449999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:61.46, Y:-20.89, Z:-0.20 [[ 9.61838800e-01 -2.73607883e-01 2.20216679e-03 6.14559907e+01] [ 2.73607206e-01 9.61841321e-01 6.09023074e-04 -2.08945644e+01] [-2.28476853e-03 1.67466803e-05 9.99997390e-01 -1.96286267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:61.48, Y:-20.89, Z:-0.20 [[ 9.61484631e-01 -2.74849876e-01 2.20200467e-03 6.14826417e+01] [ 2.74849201e-01 9.61487153e-01 6.09608676e-04 -2.08871529e+01] [-2.28475007e-03 1.90898513e-05 9.99997390e-01 -1.95758255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.50, Y:-20.88, Z:-0.20 [[ 9.59656696e-01 -2.81165746e-01 2.20184318e-03 6.15032898e+01] [ 2.81165086e-01 9.59659222e-01 6.10191410e-04 -2.08756504e+01] [-2.28458403e-03 3.35071539e-05 9.99997390e-01 -1.98392809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:61.54, Y:-20.87, Z:-0.20 [[ 9.60391756e-01 -2.78644684e-01 2.19446082e-03 6.15368988e+01] [ 2.78643956e-01 9.60394263e-01 6.36789392e-04 -2.08714395e+01] [-2.28498556e-03 -9.40375360e-08 9.99997389e-01 -1.96723055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:61.56, Y:-20.86, Z:-0.20 [[ 9.59637316e-01 -2.81231887e-01 2.20180044e-03 6.15635792e+01] [ 2.81231227e-01 9.59639841e-01 6.10310450e-04 -2.08621402e+01] [-2.28457419e-03 3.35383569e-05 9.99997390e-01 -1.95934247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599999999999994 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:61.59, Y:-20.85, Z:-0.20 [[ 9.59219866e-01 -2.82652437e-01 2.20175116e-03 6.15899894e+01] [ 2.82651780e-01 9.59222393e-01 6.10488193e-04 -2.08540277e+01] [-2.28452499e-03 3.67364813e-05 9.99997390e-01 -1.96167366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.629999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.62, Y:-20.85, Z:-0.20 [[ 9.58877281e-01 -2.83812461e-01 2.20159451e-03 6.16166933e+01] [ 2.83811806e-01 9.58879808e-01 6.11052580e-04 -2.08458188e+01] [-2.28448886e-03 3.89140786e-05 9.99997390e-01 -1.95120004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:-20.84, Z:-0.19 [[ 9.58544761e-01 -2.84933491e-01 2.20143875e-03 6.16435306e+01] [ 2.84932837e-01 9.58547288e-01 6.11613243e-04 -2.08374361e+01] [-2.28445224e-03 4.10035187e-05 9.99997390e-01 -1.93993227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:61.67, Y:-20.83, Z:-0.20 [[ 9.57814474e-01 -2.87378824e-01 2.20128315e-03 6.16689411e+01] [ 2.87378176e-01 9.57817002e-01 6.12172755e-04 -2.08282549e+01] [-2.28435191e-03 4.62528095e-05 9.99997390e-01 -1.96256456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:61.69, Y:-20.82, Z:-0.20 [[ 9.57101371e-01 -2.89744923e-01 2.20121576e-03 6.16937747e+01] [ 2.89744280e-01 9.57103901e-01 6.12414970e-04 -2.08183304e+01] [-2.28423632e-03 5.16464684e-05 9.99997390e-01 -1.97947121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.72, Y:-20.81, Z:-0.20 [[ 9.56781886e-01 -2.90798175e-01 2.20111131e-03 6.17208052e+01] [ 2.90797534e-01 9.56784416e-01 6.12790155e-04 -2.08092349e+01] [-2.28418726e-03 5.37712204e-05 9.99997390e-01 -1.96806743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:-20.80, Z:-0.20 [[ 9.56365689e-01 -2.92164037e-01 2.20095961e-03 6.17477809e+01] [ 2.92163399e-01 9.56368220e-01 6.13334511e-04 -2.08002101e+01] [-2.28412212e-03 5.64677583e-05 9.99997390e-01 -1.97542487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.77, Y:-20.79, Z:-0.20 [[ 9.55904639e-01 -2.93668994e-01 2.20080877e-03 6.17746393e+01] [ 2.93668358e-01 9.55907170e-01 6.13875285e-04 -2.07909267e+01] [-2.28404503e-03 5.95016673e-05 9.99997390e-01 -1.98509356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839999999999996 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:61.80, Y:-20.78, Z:-0.20 [[ 9.55052537e-01 -2.96428421e-01 2.20065886e-03 6.18006567e+01] [ 2.96427792e-01 9.55055070e-01 6.14412242e-04 -2.07800645e+01] [-2.28387965e-03 6.55404752e-05 9.99997390e-01 -2.03139804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:-20.77, Z:-0.20 [[ 9.55035668e-01 -2.96482765e-01 2.20058945e-03 6.18264325e+01] [ 2.96482135e-01 9.55038201e-01 6.14660747e-04 -2.07713767e+01] [-2.28388331e-03 6.54125197e-05 9.99997390e-01 -2.01127904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.85, Y:-20.76, Z:-0.20 [[ 9.54739519e-01 -2.97435048e-01 2.20052499e-03 6.18525183e+01] [ 2.97434420e-01 9.54742053e-01 6.14891441e-04 -2.07600725e+01] [-2.28382401e-03 6.74507130e-05 9.99997390e-01 -2.03289923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:61.88, Y:-20.75, Z:-0.21 [[ 9.54400613e-01 -2.98520732e-01 2.20047928e-03 6.18791027e+01] [ 2.98520106e-01 9.54403148e-01 6.15054962e-04 -2.07500530e+01] [-2.28375101e-03 6.98784748e-05 9.99997390e-01 -2.06292800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:-20.74, Z:-0.20 [[ 9.54404779e-01 -2.98507415e-01 2.20043389e-03 6.19062309e+01] [ 2.98506789e-01 9.54407313e-01 6.15217303e-04 -2.07408761e+01] [-2.28375712e-03 6.96781206e-05 9.99997390e-01 -2.01443757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989999999999995 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:61.93, Y:-20.73, Z:-0.20 [[ 9.53609897e-01 -3.01037080e-01 2.20026887e-03 6.19323898e+01] [ 3.01036460e-01 9.53612432e-01 6.15806936e-04 -2.07297561e+01] [-2.28358447e-03 7.51215619e-05 9.99997390e-01 -2.02950244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:61.96, Y:-20.72, Z:-0.20 [[ 9.53301528e-01 -3.02012178e-01 2.20021773e-03 6.19588343e+01] [ 3.02011560e-01 9.53304064e-01 6.15989581e-04 -2.07207260e+01] [-2.28351286e-03 7.72673805e-05 9.99997390e-01 -2.04954080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.99, Y:-20.71, Z:-0.20 [[ 9.53160971e-01 -3.02455489e-01 2.20016783e-03 6.19867073e+01] [ 3.02454872e-01 9.53163507e-01 6.16167771e-04 -2.07114053e+01] [-2.28348301e-03 7.81444070e-05 9.99997390e-01 -1.98606260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:62.01, Y:-20.70, Z:-0.20 [[ 9.52680126e-01 -3.03966672e-01 2.20001669e-03 6.20126369e+01] [ 3.03966058e-01 9.52682662e-01 6.16706950e-04 -2.07018942e+01] [-2.28337611e-03 8.12059437e-05 9.99997390e-01 -2.02337695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.04, Y:-20.69, Z:-0.20 [[ 9.52829895e-01 -3.03496874e-01 2.19989909e-03 6.20394045e+01] [ 3.03496257e-01 9.52832431e-01 6.17126142e-04 -2.06909287e+01] [-2.28343105e-03 7.96449022e-05 9.99997390e-01 -1.96800789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.07, Y:-20.68, Z:-0.20 [[ 9.52877732e-01 -3.03346648e-01 2.19974965e-03 6.20658417e+01] [ 3.03346029e-01 9.52880268e-01 6.17658373e-04 -2.06810477e+01] [-2.28346263e-03 7.87324112e-05 9.99997390e-01 -1.96450823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:62.09, Y:-20.67, Z:-0.20 [[ 9.53120332e-01 -3.02583535e-01 2.19957749e-03 6.20915294e+01] [ 3.02582913e-01 9.53122867e-01 6.18270836e-04 -2.06688703e+01] [-2.28354618e-03 7.62680607e-05 9.99997390e-01 -1.99566439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:-20.66, Z:-0.20 [[ 9.53741116e-01 -3.00621100e-01 2.19940567e-03 6.21181849e+01] [ 3.00620471e-01 9.53743650e-01 6.18881477e-04 -2.06599118e+01] [-2.28371802e-03 7.09336578e-05 9.99997390e-01 -1.96276968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.14, Y:-20.65, Z:-0.20 [[ 9.53901393e-01 -3.00112139e-01 2.19923417e-03 6.21449197e+01] [ 3.00111507e-01 9.53903926e-01 6.19490309e-04 -2.06498352e+01] [-2.28377467e-03 6.90828127e-05 9.99997390e-01 -1.98089880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25999999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.17, Y:-20.64, Z:-0.20 [[ 9.55412761e-01 -2.95265338e-01 2.19905727e-03 6.21693169e+01] [ 2.95264693e-01 9.55415290e-01 6.20117640e-04 -2.06382553e+01] [-2.28411218e-03 5.68356614e-05 9.99997390e-01 -1.97634689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28999999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:62.20, Y:-20.63, Z:-0.20 [[ 9.56089698e-01 -2.93065954e-01 2.19898055e-03 6.21960888e+01] [ 2.93065301e-01 9.56092226e-01 6.20389552e-04 -2.06283023e+01] [-2.28424327e-03 5.12968393e-05 9.99997390e-01 -1.98918460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:62.22, Y:-20.62, Z:-0.20 [[ 9.56955099e-01 -2.90227676e-01 2.19880396e-03 6.22216776e+01] [ 2.90227015e-01 9.56957624e-01 6.21014795e-04 -2.06186926e+01] [-2.28439790e-03 4.38690358e-05 9.99997390e-01 -2.00043270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.25, Y:-20.61, Z:-0.20 [[ 9.59054064e-01 -2.83214527e-01 2.19868396e-03 6.22472825e+01] [ 2.83213846e-01 9.59056584e-01 6.21439374e-04 -2.06070279e+01] [-2.28466299e-03 2.67037840e-05 9.99997390e-01 -1.97055336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.27, Y:-20.60, Z:-0.20 [[ 9.59674296e-01 -2.81105695e-01 2.19850630e-03 6.22732298e+01] [ 2.81105007e-01 9.59676814e-01 6.22067246e-04 -2.05961158e+01] [-2.28472217e-03 2.10291838e-05 9.99997390e-01 -2.00944318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:62.30, Y:-20.59, Z:-0.20 [[ 9.61760936e-01 -2.73881502e-01 2.19647507e-03 6.23009437e+01] [ 2.73880780e-01 9.61763444e-01 6.29239268e-04 -2.05863271e+01] [-2.28482643e-03 -3.60544229e-06 9.99997390e-01 -2.00516561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.33, Y:-20.58, Z:-0.20 [[ 9.62672213e-01 -2.70661002e-01 2.19827441e-03 6.23265053e+01] [ 2.70660285e-01 9.62674723e-01 6.22889111e-04 -2.05775944e+01] [-2.28481500e-03 -4.65246075e-06 9.99997390e-01 -2.00381618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:-20.57, Z:-0.20 [[ 9.63752983e-01 -2.66787098e-01 2.19819725e-03 6.23537532e+01] [ 2.66786370e-01 9.63755490e-01 6.23161293e-04 -2.05687392e+01] [-2.28477606e-03 -1.41244891e-05 9.99997390e-01 -1.96753964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.5 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.38, Y:-20.56, Z:-0.20 [[ 9.64918736e-01 -2.62539522e-01 2.19804208e-03 6.23795915e+01] [ 2.62538782e-01 9.64921240e-01 6.23708155e-04 -2.05584666e+01] [-2.28468553e-03 -2.47563947e-05 9.99997390e-01 -1.97493676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:62.41, Y:-20.55, Z:-0.20 [[ 9.65135496e-01 -2.61741558e-01 2.19786315e-03 6.24058618e+01] [ 2.61740815e-01 9.65137998e-01 6.24338034e-04 -2.05495377e+01] [-2.28465645e-03 -2.73003055e-05 9.99997390e-01 -2.00916158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.43, Y:-20.54, Z:-0.20 [[ 9.65730486e-01 -2.59537662e-01 2.19768550e-03 6.24332810e+01] [ 2.59536912e-01 9.65732986e-01 6.24962732e-04 -2.05406624e+01] [-2.28457875e-03 -3.31650542e-05 9.99997390e-01 -1.99765780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.46, Y:-20.53, Z:-0.20 [[ 9.66085639e-01 -2.58212526e-01 2.19752835e-03 6.24603555e+01] [ 2.58211771e-01 9.66088138e-01 6.25514837e-04 -2.05331031e+01] [-2.28452184e-03 -3.68732150e-05 9.99997390e-01 -1.97950520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.49, Y:-20.53, Z:-0.20 [[ 9.66100255e-01 -2.58157836e-01 2.19747271e-03 6.24870978e+01] [ 2.58157081e-01 9.66102753e-01 6.25710218e-04 -2.05252388e+01] [-2.28451644e-03 -3.72056597e-05 9.99997390e-01 -1.99299480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64999999999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.51, Y:-20.52, Z:-0.20 [[ 9.66121536e-01 -2.58078185e-01 2.19729496e-03 6.25140831e+01] [ 2.58077427e-01 9.66124034e-01 6.26333804e-04 -2.05181376e+01] [-2.28450256e-03 -3.80423453e-05 9.99997390e-01 -2.00045152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67999999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.54, Y:-20.51, Z:-0.20 [[ 9.66163979e-01 -2.57919246e-01 2.19711472e-03 6.25399006e+01] [ 2.57918487e-01 9.66166477e-01 6.26965427e-04 -2.05114826e+01] [-2.28448504e-03 -3.90749068e-05 9.99997390e-01 -1.98374291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.57, Y:-20.51, Z:-0.20 [[ 9.66215981e-01 -2.57724369e-01 2.19703646e-03 6.25662237e+01] [ 2.57723608e-01 9.66218479e-01 6.27239547e-04 -2.05051849e+01] [-2.28447215e-03 -3.98207089e-05 9.99997390e-01 -1.97636500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.59, Y:-20.50, Z:-0.20 [[ 9.65559486e-01 -2.60173120e-01 2.19695908e-03 6.25940050e+01] [ 2.60172366e-01 9.65561985e-01 6.27510477e-04 -2.04992418e+01] [-2.28456153e-03 -3.43106518e-05 9.99997390e-01 -2.02298621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:-20.49, Z:-0.20 [[ 9.64071869e-01 -2.65632463e-01 2.19678380e-03 6.26143574e+01] [ 2.65631722e-01 9.64074372e-01 6.28123493e-04 -2.04894526e+01] [-2.28471295e-03 -2.20207262e-05 9.99997390e-01 -2.04960137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.8 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:62.65, Y:-20.49, Z:-0.20 [[ 9.65003127e-01 -2.62229258e-01 2.18651841e-03 6.26492896e+01] [ 2.62228426e-01 9.65005602e-01 6.63934224e-04 -2.04886294e+01] [-2.28410550e-03 -6.73313211e-05 9.99997389e-01 -2.04513421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:62.68, Y:-20.48, Z:-0.20 [[ 9.64820115e-01 -2.62901733e-01 2.19661164e-03 6.26769492e+01] [ 2.62900983e-01 9.64822615e-01 6.28667745e-04 -2.04826018e+01] [-2.28461843e-03 -2.90599250e-05 9.99997390e-01 -2.04389676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.70, Y:-20.48, Z:-0.21 [[ 9.64424576e-01 -2.64349037e-01 2.19643338e-03 6.27044253e+01] [ 2.64348289e-01 9.64427077e-01 6.29289934e-04 -2.04785405e+01] [-2.28465201e-03 -2.62792720e-05 9.99997390e-01 -2.05201757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.73, Y:-20.47, Z:-0.21 [[ 9.62766173e-01 -2.70326602e-01 2.19637816e-03 6.27252989e+01] [ 2.70325870e-01 9.62768678e-01 6.29482600e-04 -2.04686703e+01] [-2.28476999e-03 -1.23067169e-05 9.99997390e-01 -2.10280624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.76, Y:-20.47, Z:-0.20 [[ 9.63999734e-01 -2.65894216e-01 2.18586036e-03 6.27607713e+01] [ 2.65893389e-01 9.64002211e-01 6.66081340e-04 -2.04676471e+01] [-2.28428140e-03 -6.08964149e-05 9.99997389e-01 -2.02705815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.79, Y:-20.46, Z:-0.20 [[ 9.63338841e-01 -2.68278687e-01 2.19619591e-03 6.27886199e+01] [ 2.68277948e-01 9.63341344e-01 6.30054481e-04 -2.04646422e+01] [-2.28471651e-03 -1.77650216e-05 9.99997390e-01 -2.02127580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.82, Y:-20.46, Z:-0.20 [[ 9.62895087e-01 -2.69867059e-01 2.19611069e-03 6.28166495e+01] [ 2.69866323e-01 9.62897591e-01 6.30351396e-04 -2.04586537e+01] [-2.28474077e-03 -1.43059460e-05 9.99997390e-01 -2.02399119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:-20.45, Z:-0.20 [[ 9.62787964e-01 -2.70248984e-01 2.19593162e-03 6.28436740e+01] [ 2.70248248e-01 9.62790469e-01 6.30974595e-04 -2.04532095e+01] [-2.28474228e-03 -1.40480728e-05 9.99997390e-01 -1.99470717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:-20.45, Z:-0.20 [[ 9.62234276e-01 -2.72213844e-01 2.19585406e-03 6.28721106e+01] [ 2.72213112e-01 9.62236781e-01 6.31244412e-04 -2.04484927e+01] [-2.28476501e-03 -9.66474379e-06 9.99997390e-01 -1.98218062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:-20.44, Z:-0.20 [[ 9.61896176e-01 -2.73406155e-01 2.19570032e-03 6.28994553e+01] [ 2.73405425e-01 9.61898682e-01 6.31778723e-04 -2.04422125e+01] [-2.28477343e-03 -7.38915897e-06 9.99997390e-01 -1.98405929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:-20.43, Z:-0.20 [[ 9.61820313e-01 -2.73672917e-01 2.19552493e-03 6.29269133e+01] [ 2.73672186e-01 9.61822819e-01 6.32387628e-04 -2.04342197e+01] [-2.28477334e-03 -7.38915869e-06 9.99997390e-01 -1.98471006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:-20.43, Z:-0.20 [[ 9.61506086e-01 -2.74774866e-01 2.19534938e-03 6.29547429e+01] [ 2.74774137e-01 9.61508592e-01 6.32996485e-04 -2.04280819e+01] [-2.28477881e-03 -5.40474376e-06 9.99997390e-01 -1.98544530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:-20.42, Z:-0.20 [[ 9.60930942e-01 -2.76779526e-01 2.19517500e-03 6.29828925e+01] [ 2.76778801e-01 9.60933449e-01 6.33600639e-04 -2.04242685e+01] [-2.28478477e-03 -1.26855615e-06 9.99997390e-01 -1.98664713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:-20.42, Z:-0.20 [[ 9.60583546e-01 -2.77982793e-01 2.19500126e-03 6.30104204e+01] [ 2.77982070e-01 9.60586054e-01 6.34201941e-04 -2.04182209e+01] [-2.28478483e-03 9.67045302e-07 9.99997390e-01 -1.99169801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:63.04, Y:-20.41, Z:-0.20 [[ 9.59738290e-01 -2.80887162e-01 2.19482872e-03 6.30391656e+01] [ 2.80886445e-01 9.59740799e-01 6.34798513e-04 -2.04130599e+01] [-2.28477342e-03 7.25719729e-06 9.99997390e-01 -2.01844455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:63.06, Y:-20.40, Z:-0.21 [[ 9.58365449e-01 -2.85536073e-01 2.19467189e-03 6.30623838e+01] [ 2.85535367e-01 9.58367962e-01 6.35340244e-04 -2.04037867e+01] [-2.28471579e-03 1.77683053e-05 9.99997390e-01 -2.05814800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:-20.40, Z:-0.20 [[ 9.58218394e-01 -2.86029237e-01 2.18744945e-03 6.30901393e+01] [ 2.86028475e-01 9.58220891e-01 6.60249159e-04 -2.03976743e+01] [-2.28491033e-03 -6.99005685e-06 9.99997390e-01 -2.04578400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.12, Y:-20.40, Z:-0.20 [[ 9.59176018e-01 -2.82801309e-01 2.18781476e-03 6.31228857e+01] [ 2.82800541e-01 9.59178513e-01 6.58990114e-04 -2.03960024e+01] [-2.28486817e-03 -1.33723153e-05 9.99997390e-01 -2.00646808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:-20.39, Z:-0.20 [[ 9.59160983e-01 -2.82852245e-01 2.19447437e-03 6.31506199e+01] [ 2.82851530e-01 9.59163494e-01 6.36011997e-04 -2.03900111e+01] [-2.28475713e-03 1.06725417e-05 9.99997390e-01 -1.99357671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.18, Y:-20.39, Z:-0.20 [[ 9.58946706e-01 -2.83577856e-01 2.19429321e-03 6.31772118e+01] [ 2.83577141e-01 9.58949216e-01 6.36636424e-04 -2.03855350e+01] [-2.28475174e-03 1.17509933e-05 9.99997390e-01 -1.99451411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:63.20, Y:-20.38, Z:-0.20 [[ 9.58621436e-01 -2.84675479e-01 2.19421456e-03 6.32042820e+01] [ 2.84674767e-01 9.58623947e-01 6.36907380e-04 -2.03788244e+01] [-2.28473853e-03 1.40844507e-05 9.99997390e-01 -2.02004024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:-20.37, Z:-0.20 [[ 9.58823826e-01 -2.83993059e-01 2.19403387e-03 6.32329200e+01] [ 2.83992344e-01 9.58826336e-01 6.37529198e-04 -2.03726581e+01] [-2.28475133e-03 1.18106378e-05 9.99997390e-01 -1.98675673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:63.26, Y:-20.37, Z:-0.20 [[ 9.58949724e-01 -2.83567654e-01 2.19387545e-03 6.32607089e+01] [ 2.83566937e-01 9.58952233e-01 6.38073916e-04 -2.03681562e+01] [-2.28475888e-03 1.02297345e-05 9.99997390e-01 -1.98348663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:63.29, Y:-20.36, Z:-0.20 [[ 9.59042104e-01 -2.83255063e-01 2.19379099e-03 6.32879662e+01] [ 2.83254344e-01 9.59044613e-01 6.38364164e-04 -2.03617080e+01] [-2.28476331e-03 9.18271537e-06 9.99997390e-01 -1.99537167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:63.31, Y:-20.36, Z:-0.20 [[ 9.59326996e-01 -2.82288687e-01 2.19361144e-03 6.33149392e+01] [ 2.82287964e-01 9.59329504e-01 6.38980552e-04 -2.03552757e+01] [-2.28477315e-03 6.23881242e-06 9.99997390e-01 -2.00199029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.34, Y:-20.35, Z:-0.20 [[ 9.60596353e-01 -2.77938546e-01 2.19343283e-03 6.33428837e+01] [ 2.77937810e-01 9.60598857e-01 6.39593081e-04 -2.03494332e+01] [-2.28477664e-03 -4.75286527e-06 9.99997390e-01 -1.98831218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:-20.34, Z:-0.20 [[ 9.61380098e-01 -2.75215364e-01 2.19325328e-03 6.33705386e+01] [ 2.75214620e-01 9.61382600e-01 6.40208172e-04 -2.03426002e+01] [-2.28475067e-03 -1.18680255e-05 9.99997390e-01 -1.97938895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:-20.34, Z:-0.20 [[ 9.62871185e-01 -2.69952349e-01 2.19307117e-03 6.33981911e+01] [ 2.69951590e-01 9.62873683e-01 6.40831404e-04 -2.03360226e+01] [-2.28464446e-03 -2.50150439e-05 9.99997390e-01 -2.00664353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.43, Y:-20.33, Z:-0.20 [[ 9.63427644e-01 -2.67959635e-01 2.19291307e-03 6.34263635e+01] [ 2.67958869e-01 9.63430139e-01 6.41371973e-04 -2.03284226e+01] [-2.28458034e-03 -3.03049835e-05 9.99997390e-01 -2.01820872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:63.45, Y:-20.32, Z:-0.20 [[ 9.63929133e-01 -2.66149992e-01 2.19275300e-03 6.34533063e+01] [ 2.66149220e-01 9.63931627e-01 6.41918757e-04 -2.03218063e+01] [-2.28451064e-03 -3.51646911e-05 9.99997390e-01 -2.03610649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.7 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:63.48, Y:-20.32, Z:-0.21 [[ 9.64210176e-01 -2.65130020e-01 2.19269642e-03 6.34808301e+01] [ 2.65129245e-01 9.64212669e-01 6.42111976e-04 -2.03169925e+01] [-2.28446883e-03 -3.77829555e-05 9.99997390e-01 -2.07273951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:63.51, Y:-20.31, Z:-0.21 [[ 9.64080320e-01 -2.65601825e-01 2.19261353e-03 6.35093017e+01] [ 2.65601051e-01 9.64082812e-01 6.42394896e-04 -2.03109910e+01] [-2.28448227e-03 -3.69598198e-05 9.99997390e-01 -2.06132749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:63.54, Y:-20.30, Z:-0.20 [[ 9.63142616e-01 -2.68982326e-01 2.19304515e-03 6.35356970e+01] [ 2.68981564e-01 9.63145112e-01 6.40922415e-04 -2.03046203e+01] [-2.28461752e-03 -2.74109777e-05 9.99997390e-01 -2.04884073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78999999999999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:63.56, Y:-20.30, Z:-0.20 [[ 9.62787525e-01 -2.70250579e-01 2.19233978e-03 6.35625018e+01] [ 2.70249814e-01 9.62790021e-01 6.43326192e-04 -2.02964536e+01] [-2.28462214e-03 -2.69070150e-05 9.99997390e-01 -2.04505057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:63.59, Y:-20.29, Z:-0.20 [[ 9.62577927e-01 -2.70996179e-01 2.19215923e-03 6.35894657e+01] [ 2.70995415e-01 9.62580423e-01 6.43940825e-04 -2.02879073e+01] [-2.28463506e-03 -2.57781234e-05 9.99997390e-01 -2.04342163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:63.62, Y:-20.28, Z:-0.20 [[ 9.62400287e-01 -2.71626363e-01 2.19210332e-03 6.36168571e+01] [ 2.71625601e-01 9.62402784e-01 6.44131095e-04 -2.02769577e+01] [-2.28464933e-03 -2.44805688e-05 9.99997390e-01 -2.01299345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.64, Y:-20.27, Z:-0.20 [[ 9.62567013e-01 -2.71034943e-01 2.19194271e-03 6.36429271e+01] [ 2.71034178e-01 9.62569509e-01 6.44677180e-04 -2.02676429e+01] [-2.28462726e-03 -2.64535969e-05 9.99997390e-01 -2.00952601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:-20.26, Z:-0.20 [[ 9.62899216e-01 -2.69852360e-01 2.19175908e-03 6.36681574e+01] [ 2.69851590e-01 9.62901710e-01 6.45300885e-04 -2.02590027e+01] [-2.28458453e-03 -2.99100435e-05 9.99997390e-01 -2.01153757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.70, Y:-20.25, Z:-0.20 [[ 9.63561569e-01 -2.67477660e-01 2.19167947e-03 6.36956706e+01] [ 2.67476883e-01 9.63564061e-01 6.45571165e-04 -2.02501505e+01] [-2.28449943e-03 -3.58239725e-05 9.99997390e-01 -2.00371952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:63.72, Y:-20.24, Z:-0.20 [[ 9.63791021e-01 -2.66649707e-01 2.19151784e-03 6.37234667e+01] [ 2.66648927e-01 9.63793511e-01 6.46119380e-04 -2.02416119e+01] [-2.28445822e-03 -3.83581776e-05 9.99997390e-01 -2.01293118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:-20.23, Z:-0.20 [[ 9.64527870e-01 -2.63971942e-01 2.19135611e-03 6.37498652e+01] [ 2.63971154e-01 9.64530358e-01 6.46667431e-04 -2.02337531e+01] [-2.28433155e-03 -4.52739588e-05 9.99997390e-01 -2.00573086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:63.78, Y:-20.22, Z:-0.20 [[ 9.64522669e-01 -2.63990946e-01 2.19129890e-03 6.37776386e+01] [ 2.63990157e-01 9.64525157e-01 6.46861229e-04 -2.02242693e+01] [-2.28432842e-03 -4.54309785e-05 9.99997390e-01 -2.01842623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:-20.22, Z:-0.20 [[ 9.64524761e-01 -2.63983305e-01 2.19113561e-03 6.38053509e+01] [ 2.63982515e-01 9.64527248e-01 6.47413876e-04 -2.02157556e+01] [-2.28431645e-03 -4.60252249e-05 9.99997390e-01 -2.00949019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:63.83, Y:-20.21, Z:-0.20 [[ 9.64226267e-01 -2.65071510e-01 2.19097285e-03 6.38324598e+01] [ 2.65070722e-01 9.64228755e-01 6.47964209e-04 -2.02070045e+01] [-2.28435588e-03 -4.40213550e-05 9.99997390e-01 -2.03484685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:63.86, Y:-20.20, Z:-0.20 [[ 9.63392413e-01 -2.68086290e-01 2.19081125e-03 6.38599785e+01] [ 2.68085508e-01 9.63394903e-01 6.48510135e-04 -2.01993862e+01] [-2.28447307e-03 -3.74449965e-05 9.99997390e-01 -2.01840516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:-20.19, Z:-0.20 [[ 9.62754756e-01 -2.70367308e-01 2.19065104e-03 6.38880251e+01] [ 2.70366531e-01 9.62757248e-01 6.49050874e-04 -2.01924096e+01] [-2.28454730e-03 -3.25980945e-05 9.99997390e-01 -1.98887820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:63.91, Y:-20.19, Z:-0.20 [[ 9.61937602e-01 -2.73260409e-01 2.19048895e-03 6.39147182e+01] [ 2.73259638e-01 9.61940096e-01 6.49597464e-04 -2.01854659e+01] [-2.28462842e-03 -2.63000110e-05 9.99997390e-01 -2.00554517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:-20.18, Z:-0.20 [[ 9.60000079e-01 -2.79991160e-01 2.19043159e-03 6.39435718e+01] [ 2.79990406e-01 9.60002578e-01 6.49790824e-04 -2.01796761e+01] [-2.28475566e-03 -1.04994136e-05 9.99997390e-01 -1.95215673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:-20.17, Z:-0.20 [[ 9.59017460e-01 -2.83338514e-01 2.19027088e-03 6.39708440e+01] [ 2.83337768e-01 9.59019961e-01 6.50332078e-04 -2.01726155e+01] [-2.28477762e-03 -3.09335618e-06 9.99997390e-01 -1.95194642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:64.00, Y:-20.17, Z:-0.19 [[ 9.56830247e-01 -2.90639090e-01 2.19018587e-03 6.39982586e+01] [ 2.90638362e-01 9.56832754e-01 6.50618256e-04 -2.01656681e+01] [-2.28473667e-03 1.40208054e-05 9.99997390e-01 -1.94552640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-20.16, Z:-0.19 [[ 9.55731434e-01 -2.94232271e-01 2.19000249e-03 6.40262023e+01] [ 2.94231551e-01 9.55733943e-01 6.51234912e-04 -2.01581232e+01] [-2.28467404e-03 2.19621544e-05 9.99997390e-01 -1.93922285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:64.05, Y:-20.15, Z:-0.19 [[ 9.54684621e-01 -2.97611288e-01 2.18984336e-03 6.40531500e+01] [ 2.97610575e-01 9.54687132e-01 6.51769571e-04 -2.01504247e+01] [-2.28458926e-03 2.94861560e-05 9.99997390e-01 -1.94992504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:64.08, Y:-20.14, Z:-0.20 [[ 9.53080738e-01 -3.02708296e-01 2.18975898e-03 6.40806742e+01] [ 3.02707597e-01 9.53083252e-01 6.52052928e-04 -2.01435027e+01] [-2.28440444e-03 4.13975941e-05 9.99997390e-01 -1.96555872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:-20.14, Z:-0.20 [[ 9.52540099e-01 -3.04405264e-01 2.18960264e-03 6.41080228e+01] [ 3.04404568e-01 9.52542615e-01 6.52577512e-04 -2.01361544e+01] [-2.28433785e-03 4.49187970e-05 9.99997390e-01 -1.95748932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:-20.13, Z:-0.20 [[ 9.52109156e-01 -3.05750487e-01 2.18954737e-03 6.41351747e+01] [ 3.05749794e-01 9.52111673e-01 6.52762888e-04 -2.01283433e+01] [-2.28427618e-03 4.79521353e-05 9.99997390e-01 -1.95729790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:64.16, Y:-20.12, Z:-0.20 [[ 9.52182795e-01 -3.05521083e-01 2.18937171e-03 6.41630409e+01] [ 3.05520388e-01 9.52185311e-01 6.53351521e-04 -2.01191568e+01] [-2.28430025e-03 4.67876178e-05 9.99997390e-01 -1.96844645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.19, Y:-20.11, Z:-0.20 [[ 9.52998230e-01 -3.02967954e-01 2.18921883e-03 6.41896241e+01] [ 3.02967251e-01 9.53000744e-01 6.53863408e-04 -2.01091352e+01] [-2.28442683e-03 4.01309394e-05 9.99997390e-01 -1.97865841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:64.22, Y:-20.10, Z:-0.20 [[ 9.53482133e-01 -3.01441584e-01 2.18916485e-03 6.42170182e+01] [ 3.01440877e-01 9.53484646e-01 6.54044078e-04 -2.00997519e+01] [-2.28449115e-03 3.62844297e-05 9.99997390e-01 -1.96412145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.24, Y:-20.09, Z:-0.20 [[ 9.54120549e-01 -2.99414738e-01 2.18900158e-03 6.42430292e+01] [ 2.99414024e-01 9.54123060e-01 6.54590050e-04 -2.00909234e+01] [-2.28457080e-03 3.08599552e-05 9.99997390e-01 -1.96887771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:-20.08, Z:-0.20 [[ 9.54756273e-01 -2.97381350e-01 2.18894375e-03 6.42692655e+01] [ 2.97380630e-01 9.54758782e-01 6.54783378e-04 -2.00821802e+01] [-2.28463364e-03 2.57909346e-05 9.99997390e-01 -1.99475749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.6 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:64.30, Y:-20.07, Z:-0.20 [[ 9.56019139e-01 -2.93296121e-01 2.18888635e-03 6.42959773e+01] [ 2.93295390e-01 9.56021645e-01 6.54975228e-04 -2.00722460e+01] [-2.28472442e-03 1.58214217e-05 9.99997390e-01 -1.96888450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.32, Y:-20.06, Z:-0.20 [[ 9.56864562e-01 -2.90526110e-01 2.18870351e-03 6.43216430e+01] [ 2.90525370e-01 9.56867065e-01 6.55585623e-04 -2.00604411e+01] [-2.28476305e-03 8.56724854e-06 9.99997390e-01 -1.97549654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:-20.05, Z:-0.20 [[ 9.58277613e-01 -2.85830787e-01 2.18576438e-03 6.43503428e+01] [ 2.85830013e-01 9.58280106e-01 6.65387970e-04 -2.00536285e+01] [-2.28476289e-03 -1.28693333e-05 9.99997390e-01 -1.95386639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-20.04, Z:-0.19 [[ 9.58919945e-01 -2.83668380e-01 2.18849161e-03 6.43779404e+01] [ 2.83667621e-01 9.58922442e-01 6.56293684e-04 -2.00445278e+01] [-2.28476349e-03 -8.52889494e-06 9.99997390e-01 -1.94170738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:-20.04, Z:-0.19 [[ 9.59637344e-01 -2.81231895e-01 2.18832995e-03 6.44047363e+01] [ 2.81231128e-01 9.59639839e-01 6.56832279e-04 -2.00357900e+01] [-2.28473079e-03 -1.48942819e-05 9.99997390e-01 -1.93872795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:64.43, Y:-20.03, Z:-0.20 [[ 9.60597729e-01 -2.77933833e-01 2.18814426e-03 6.44314919e+01] [ 2.77933057e-01 9.60600221e-01 6.57450295e-04 -2.00254214e+01] [-2.28465954e-03 -2.33876369e-05 9.99997390e-01 -1.95763185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.46, Y:-20.02, Z:-0.19 [[ 9.61164729e-01 -2.75966618e-01 2.18862317e-03 6.44567788e+01] [ 2.75965840e-01 9.61167220e-01 6.55857266e-04 -2.00173129e+01] [-2.28462756e-03 -2.64016412e-05 9.99997390e-01 -1.94449118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:64.48, Y:-20.01, Z:-0.20 [[ 9.61407665e-01 -2.75119093e-01 2.18793338e-03 6.44826382e+01] [ 2.75118307e-01 9.61410154e-01 6.58150358e-04 -2.00082155e+01] [-2.28457110e-03 -3.08102699e-05 9.99997390e-01 -1.96891405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:64.51, Y:-20.00, Z:-0.20 [[ 9.60785738e-01 -2.77283210e-01 2.18787463e-03 6.45097612e+01] [ 2.77282430e-01 9.60788229e-01 6.58345599e-04 -1.99984963e+01] [-2.28463238e-03 -2.58698675e-05 9.99997390e-01 -1.98389220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:64.54, Y:-19.99, Z:-0.20 [[ 9.60768261e-01 -2.77343767e-01 2.18705991e-03 6.45369070e+01] [ 2.77342981e-01 9.60770750e-01 6.61051661e-04 -1.99911963e+01] [-2.28460174e-03 -2.85517412e-05 9.99997390e-01 -1.98813816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:-19.98, Z:-0.20 [[ 9.59970190e-01 -2.80093642e-01 2.18764298e-03 6.45638470e+01] [ 2.80092867e-01 9.59972683e-01 6.59116408e-04 -1.99839232e+01] [-2.28469182e-03 -1.99889103e-05 9.99997390e-01 -1.98331546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:-19.98, Z:-0.20 [[ 9.59601653e-01 -2.81353662e-01 2.18745456e-03 6.45910136e+01] [ 2.81352889e-01 9.59604146e-01 6.59741124e-04 -1.99765756e+01] [-2.28471105e-03 -1.76420123e-05 9.99997390e-01 -1.98066605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:-19.97, Z:-0.20 [[ 9.58996248e-01 -2.83410325e-01 2.18726583e-03 6.46185666e+01] [ 2.83409556e-01 9.58998742e-01 6.60366255e-04 -1.99695050e+01] [-2.28473979e-03 -1.33967239e-05 9.99997390e-01 -1.98328221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:-19.96, Z:-0.20 [[ 9.58915600e-01 -2.83683078e-01 2.18707773e-03 6.46459319e+01] [ 2.83682308e-01 9.58918094e-01 6.60988628e-04 -1.99611592e+01] [-2.28473970e-03 -1.33970471e-05 9.99997390e-01 -1.98393294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:-19.95, Z:-0.20 [[ 9.58586968e-01 -2.84791577e-01 2.18688955e-03 6.46725986e+01] [ 2.84790808e-01 9.58589463e-01 6.61610638e-04 -1.99535953e+01] [-2.28475042e-03 -1.14052922e-05 9.99997390e-01 -1.98775097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:-19.95, Z:-0.20 [[ 9.58205026e-01 -2.86074022e-01 2.18670136e-03 6.47000550e+01] [ 2.86073255e-01 9.58207521e-01 6.62232060e-04 -1.99455568e+01] [-2.28476108e-03 -8.99731200e-06 9.99997390e-01 -1.99365831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:-19.94, Z:-0.20 [[ 9.57501366e-01 -2.88420447e-01 2.18651308e-03 6.47274033e+01] [ 2.88419685e-01 9.57503862e-01 6.62853119e-04 -1.99380506e+01] [-2.28477511e-03 -4.04935298e-06 9.99997390e-01 -2.00400530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:-19.93, Z:-0.20 [[ 9.57123607e-01 -2.89671573e-01 2.18632449e-03 6.47542864e+01] [ 2.89670813e-01 9.57126104e-01 6.63474588e-04 -1.99307348e+01] [-2.28477797e-03 -1.71279957e-06 9.99997390e-01 -2.00395925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.78, Y:-19.92, Z:-0.20 [[ 9.56607830e-01 -2.91370349e-01 2.18613452e-03 6.47807543e+01] [ 2.91369592e-01 9.56610328e-01 6.64099936e-04 -1.99248475e+01] [-2.28477789e-03 1.68992373e-06 9.99997390e-01 -2.00720257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:-19.92, Z:-0.20 [[ 9.56330898e-01 -2.92278011e-01 2.18600541e-03 6.48079081e+01] [ 2.92277256e-01 9.56333396e-01 6.64524655e-04 -1.99173973e+01] [-2.28477592e-03 3.41420149e-06 9.99997390e-01 -2.00873674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:-19.91, Z:-0.20 [[ 9.56079734e-01 -2.93098558e-01 2.18582050e-03 6.48348289e+01] [ 2.93097804e-01 9.56082232e-01 6.65132331e-04 -1.99098046e+01] [-2.28477347e-03 4.73964453e-06 9.99997390e-01 -2.00724675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:-19.90, Z:-0.20 [[ 9.55906281e-01 -2.93663760e-01 2.18563308e-03 6.48606801e+01] [ 2.93663006e-01 9.55908780e-01 6.65747605e-04 -1.99021514e+01] [-2.28477180e-03 5.44726300e-06 9.99997390e-01 -2.01656393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:64.89, Y:-19.89, Z:-0.20 [[ 9.55807611e-01 -2.93984750e-01 2.18555172e-03 6.48874320e+01] [ 2.93983996e-01 9.55810110e-01 6.66014613e-04 -1.98933994e+01] [-2.28477057e-03 5.93538975e-06 9.99997390e-01 -2.02067979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:-19.88, Z:-0.20 [[ 9.55993652e-01 -2.93379212e-01 2.18536350e-03 6.49137461e+01] [ 2.93378454e-01 9.55996150e-01 6.66631622e-04 -1.98849862e+01] [-2.28477495e-03 3.84296805e-06 9.99997390e-01 -2.02285212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:-19.88, Z:-0.20 [[ 9.56379524e-01 -2.92118863e-01 2.18530542e-03 6.49401406e+01] [ 2.92118102e-01 9.56382021e-01 6.66821962e-04 -1.98763432e+01] [-2.28477809e-03 6.32400200e-07 9.99997390e-01 -2.01123329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:64.97, Y:-19.87, Z:-0.20 [[ 9.56886078e-01 -2.90455260e-01 2.18524843e-03 6.49672714e+01] [ 2.90454494e-01 9.56888574e-01 6.67008665e-04 -1.98669685e+01] [-2.28477543e-03 -3.53607834e-06 9.99997390e-01 -1.99580022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:-19.86, Z:-0.20 [[ 9.57338507e-01 -2.88960564e-01 2.18508520e-03 6.49942880e+01] [ 2.88959793e-01 9.57341001e-01 6.67542992e-04 -1.98581551e+01] [-2.28476525e-03 -7.66284563e-06 9.99997390e-01 -1.98337002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:65.02, Y:-19.85, Z:-0.20 [[ 9.57582694e-01 -2.88150326e-01 2.18499863e-03 6.50213555e+01] [ 2.88149552e-01 9.57585187e-01 6.67826231e-04 -1.98491908e+01] [-2.28475666e-03 -9.89246465e-06 9.99997390e-01 -1.98148347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:-19.84, Z:-0.20 [[ 9.58137450e-01 -2.86300284e-01 2.18481071e-03 6.50487966e+01] [ 2.86299504e-01 9.58139941e-01 6.68440448e-04 -1.98405608e+01] [-2.28472909e-03 -1.49476033e-05 9.99997390e-01 -1.96389771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:65.07, Y:-19.83, Z:-0.20 [[ 9.58918818e-01 -2.83672220e-01 2.18464343e-03 6.50749696e+01] [ 2.83671432e-01 9.58921306e-01 6.68986696e-04 -1.98306960e+01] [-2.28467408e-03 -2.17830013e-05 9.99997390e-01 -1.96312063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.5 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:65.10, Y:-19.82, Z:-0.20 [[ 9.59287793e-01 -2.82421952e-01 2.18445258e-03 6.51020036e+01] [ 2.82421160e-01 9.59290279e-01 6.69609324e-04 -1.98213256e+01] [-2.28463650e-03 -2.54124195e-05 9.99997390e-01 -1.95822477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:-19.81, Z:-0.20 [[ 9.59940905e-01 -2.80194018e-01 2.18426059e-03 6.51278680e+01] [ 2.80193219e-01 9.59943389e-01 6.70234990e-04 -1.98109055e+01] [-2.28456235e-03 -3.13709770e-05 9.99997390e-01 -1.96664839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:-19.80, Z:-0.20 [[ 9.60019838e-01 -2.79923456e-01 2.18406635e-03 6.51529574e+01] [ 2.79922654e-01 9.60022321e-01 6.70867362e-04 -1.98013282e+01] [-2.28454396e-03 -3.26763253e-05 9.99997390e-01 -1.98276130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:-19.79, Z:-0.20 [[ 9.60079559e-01 -2.79718556e-01 2.18398242e-03 6.51791148e+01] [ 2.79717752e-01 9.60082043e-01 6.71140481e-04 -1.97909130e+01] [-2.28453275e-03 -3.34496034e-05 9.99997390e-01 -2.00452156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:-19.78, Z:-0.20 [[ 9.60068939e-01 -2.79755006e-01 2.18379187e-03 6.52056935e+01] [ 2.79754201e-01 9.60071422e-01 6.71759928e-04 -1.97822700e+01] [-2.28452437e-03 -3.40108906e-05 9.99997390e-01 -2.01230290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:65.23, Y:-19.77, Z:-0.20 [[ 9.59886469e-01 -2.80380453e-01 2.18360243e-03 6.52326735e+01] [ 2.80379649e-01 9.59888952e-01 6.72375154e-04 -1.97733862e+01] [-2.28453670e-03 -3.31661284e-05 9.99997390e-01 -2.02122404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67999999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:65.26, Y:-19.76, Z:-0.20 [[ 9.59663568e-01 -2.81142436e-01 2.18341337e-03 6.52596048e+01] [ 2.81141633e-01 9.59666051e-01 6.72988525e-04 -1.97645211e+01] [-2.28455332e-03 -3.19941678e-05 9.99997390e-01 -2.02795972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:65.29, Y:-19.76, Z:-0.20 [[ 9.59402286e-01 -2.82032777e-01 2.18322465e-03 6.52860690e+01] [ 2.82031974e-01 9.59404770e-01 6.73600202e-04 -1.97556394e+01] [-2.28457348e-03 -3.05144159e-05 9.99997390e-01 -2.02784598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:65.31, Y:-19.75, Z:-0.20 [[ 9.58627460e-01 -2.84655278e-01 2.18316617e-03 6.53126256e+01] [ 2.84654482e-01 9.58629945e-01 6.73789696e-04 -1.97466277e+01] [-2.28464626e-03 -2.44652702e-05 9.99997390e-01 -2.03810230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-19.74, Z:-0.20 [[ 9.58316802e-01 -2.85699392e-01 2.18298061e-03 6.53388714e+01] [ 2.85698597e-01 9.58319288e-01 6.74390349e-04 -1.97384318e+01] [-2.28466533e-03 -2.26051067e-05 9.99997390e-01 -2.03389139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:-19.73, Z:-0.20 [[ 9.57815244e-01 -2.87376396e-01 2.18290019e-03 6.53647570e+01] [ 2.87375605e-01 9.57817731e-01 6.74650549e-04 -1.97305994e+01] [-2.28469915e-03 -1.88783180e-05 9.99997390e-01 -2.03833920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:65.39, Y:-19.72, Z:-0.20 [[ 9.56886167e-01 -2.90454985e-01 2.18282030e-03 6.53917263e+01] [ 2.90454201e-01 9.56888657e-01 6.74908929e-04 -1.97239216e+01] [-2.28474665e-03 -1.18016918e-05 9.99997390e-01 -2.03958194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:65.42, Y:-19.72, Z:-0.20 [[ 9.56549084e-01 -2.91563176e-01 2.18263617e-03 6.54187589e+01] [ 2.91562393e-01 9.56551574e-01 6.75503873e-04 -1.97163456e+01] [-2.28475612e-03 -9.77798479e-06 9.99997390e-01 -2.03174927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:-19.71, Z:-0.20 [[ 9.56325249e-01 -2.92296520e-01 2.18244816e-03 6.54447668e+01] [ 2.92295738e-01 9.56327739e-01 6.76110758e-04 -1.97088779e+01] [-2.28476054e-03 -8.66149281e-06 9.99997390e-01 -2.02405944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:65.47, Y:-19.70, Z:-0.20 [[ 9.55884248e-01 -2.93735496e-01 2.18236662e-03 6.54717097e+01] [ 2.93734717e-01 9.55886739e-01 6.76373843e-04 -1.97015245e+01] [-2.28477032e-03 -5.49826005e-06 9.99997390e-01 -2.03104565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:-19.69, Z:-0.20 [[ 9.56030002e-01 -2.93260761e-01 2.18217677e-03 6.54983362e+01] [ 2.93259979e-01 9.56032492e-01 6.76985827e-04 -1.96934481e+01] [-2.28476527e-03 -7.27364822e-06 9.99997390e-01 -2.02314664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:65.53, Y:-19.68, Z:-0.20 [[ 9.55928285e-01 -2.93592155e-01 2.18198399e-03 6.55255844e+01] [ 2.93591373e-01 9.55930775e-01 6.77606596e-04 -1.96849748e+01] [-2.28476563e-03 -7.13163540e-06 9.99997390e-01 -2.03659286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:65.55, Y:-19.68, Z:-0.20 [[ 9.55979782e-01 -2.93424429e-01 2.18179187e-03 6.55523856e+01] [ 2.93423645e-01 9.55982272e-01 6.78224638e-04 -1.96767584e+01] [-2.28476202e-03 -8.17972019e-06 9.99997390e-01 -2.04140716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:65.58, Y:-19.67, Z:-0.20 [[ 9.56381811e-01 -2.92111403e-01 2.18159536e-03 6.55786214e+01] [ 2.92110614e-01 9.56384299e-01 6.78856134e-04 -1.96692701e+01] [-2.28474517e-03 -1.19784980e-05 9.99997390e-01 -2.04974403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:65.60, Y:-19.66, Z:-0.21 [[ 9.55539190e-01 -2.94856061e-01 2.18151028e-03 6.56021122e+01] [ 2.94855279e-01 9.55541681e-01 6.79129433e-04 -1.96587800e+01] [-2.28476943e-03 -5.70496674e-06 9.99997390e-01 -2.09422623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:-19.65, Z:-0.20 [[ 9.57068117e-01 -2.89854936e-01 2.17628722e-03 6.56325405e+01] [ 2.89854103e-01 9.57070590e-01 6.95877415e-04 -1.96545070e+01] [-2.28456400e-03 -3.51963059e-05 9.99997390e-01 -2.03791425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:65.65, Y:-19.64, Z:-0.21 [[ 9.55776943e-01 -2.94084472e-01 2.18123855e-03 6.56537924e+01] [ 2.94083686e-01 9.55779432e-01 6.79994918e-04 -1.96433801e+01] [-2.28475889e-03 -8.45679101e-06 9.99997390e-01 -2.09821361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:65.68, Y:-19.64, Z:-0.21 [[ 9.56513684e-01 -2.91679363e-01 2.17293739e-03 6.56810567e+01] [ 2.91678511e-01 9.56516151e-01 7.06605514e-04 -1.96354612e+01] [-2.28455196e-03 -4.20787006e-05 9.99997390e-01 -2.09114362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:-19.63, Z:-0.20 [[ 9.58350221e-01 -2.85587347e-01 2.17292309e-03 6.57128319e+01] [ 2.85586478e-01 9.58352683e-01 7.06651353e-04 -1.96305951e+01] [-2.28423736e-03 -5.66620264e-05 9.99997390e-01 -2.03348624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:-19.62, Z:-0.20 [[ 9.58449555e-01 -2.85253733e-01 2.18125910e-03 6.57390820e+01] [ 2.85252924e-01 9.58452037e-01 6.79908058e-04 -1.96219687e+01] [-2.28457853e-03 -2.94470413e-05 9.99997390e-01 -2.03216129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:65.76, Y:-19.61, Z:-0.21 [[ 9.57255873e-01 -2.89234224e-01 2.18106869e-03 6.57609566e+01] [ 2.89233424e-01 9.57258358e-01 6.80518315e-04 -1.96103598e+01] [-2.28467542e-03 -2.05921890e-05 9.99997390e-01 -2.08004109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:65.79, Y:-19.61, Z:-0.20 [[ 9.58554549e-01 -2.84900782e-01 2.17262183e-03 6.57928124e+01] [ 2.84899910e-01 9.58557010e-01 7.07533201e-04 -1.96059720e+01] [-2.28415864e-03 -5.92294068e-05 9.99997390e-01 -2.03843601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:-19.60, Z:-0.20 [[ 9.58620353e-01 -2.84679229e-01 2.18084656e-03 6.58200051e+01] [ 2.84678416e-01 9.58622833e-01 6.81201991e-04 -1.95978818e+01] [-2.28453336e-03 -3.21741499e-05 9.99997390e-01 -2.01096907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:65.85, Y:-19.59, Z:-0.20 [[ 9.58035010e-01 -2.86642921e-01 2.18065169e-03 6.58475744e+01] [ 2.86642112e-01 9.58037491e-01 6.81825232e-04 -1.95908322e+01] [-2.28458645e-03 -2.81458380e-05 9.99997390e-01 -2.02354443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:-19.58, Z:-0.20 [[ 9.57991317e-01 -2.86788916e-01 2.18045744e-03 6.58732712e+01] [ 2.86788105e-01 9.57993798e-01 6.82445875e-04 -1.95833541e+01] [-2.28458261e-03 -2.84479661e-05 9.99997390e-01 -2.00433793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:-19.58, Z:-0.20 [[ 9.57511727e-01 -2.88386093e-01 2.18037329e-03 6.59001396e+01] [ 2.88385286e-01 9.57514209e-01 6.82714622e-04 -1.95757879e+01] [-2.28462381e-03 -2.49196820e-05 9.99997390e-01 -2.01347206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:-19.57, Z:-0.20 [[ 9.57222642e-01 -2.89344191e-01 2.18018040e-03 6.59260917e+01] [ 2.89343385e-01 9.57225124e-01 6.83330015e-04 -1.95677485e+01] [-2.28464103e-03 -2.32781851e-05 9.99997390e-01 -2.01691103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:65.95, Y:-19.56, Z:-0.20 [[ 9.56687906e-01 -2.91107365e-01 2.18004901e-03 6.59532069e+01] [ 2.91106563e-01 9.56690390e-01 6.83748953e-04 -1.95593000e+01] [-2.28467629e-03 -1.95077802e-05 9.99997390e-01 -2.04251845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:65.98, Y:-19.55, Z:-0.20 [[ 9.55890151e-01 -2.93716303e-01 2.17985588e-03 6.59792006e+01] [ 2.93715506e-01 9.55892637e-01 6.84364103e-04 -1.95514839e+01] [-2.28471708e-03 -1.39194316e-05 9.99997390e-01 -2.02948303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.01, Y:-19.54, Z:-0.20 [[ 9.55233952e-01 -2.95843447e-01 2.17972493e-03 6.60050432e+01] [ 2.95842654e-01 9.55236439e-01 6.84780954e-04 -1.95435702e+01] [-2.28474063e-03 -9.27040955e-06 9.99997390e-01 -2.03907535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:66.03, Y:-19.54, Z:-0.21 [[ 9.53753803e-01 -3.00580993e-01 2.17959514e-03 6.60318766e+01] [ 3.00580212e-01 9.53756293e-01 6.85193794e-04 -1.95354888e+01] [-2.28475881e-03 1.63698335e-06 9.99997390e-01 -2.05309125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:-19.53, Z:-0.20 [[ 9.53239731e-01 -3.02207322e-01 2.17940104e-03 6.60573240e+01] [ 3.02206544e-01 9.53242222e-01 6.85810630e-04 -1.95273688e+01] [-2.28475408e-03 4.88731475e-06 9.99997390e-01 -2.02589359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:66.08, Y:-19.52, Z:-0.20 [[ 9.52579889e-01 -3.04280802e-01 2.17931704e-03 6.60841932e+01] [ 3.04280029e-01 9.52582381e-01 6.86077452e-04 -1.95189961e+01] [-2.28473921e-03 9.57906843e-06 9.99997390e-01 -2.04709949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:66.11, Y:-19.51, Z:-0.21 [[ 9.51984962e-01 -3.06137034e-01 2.17913262e-03 6.61108007e+01] [ 3.06136264e-01 9.51987456e-01 6.86662718e-04 -1.95101288e+01] [-2.28471980e-03 1.34189354e-05 9.99997390e-01 -2.05421372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:-19.49, Z:-0.21 [[ 9.48667691e-01 -3.16267079e-01 2.17894120e-03 6.61231849e+01] [ 3.16266334e-01 9.48670192e-01 6.87269582e-04 -1.94928635e+01] [-2.28445731e-03 3.71352984e-05 9.99997390e-01 -2.09611540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.7 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:66.16, Y:-19.49, Z:-0.21 [[ 9.51621962e-01 -3.07263713e-01 2.15703993e-03 6.61649738e+01] [ 3.07262787e-01 9.51624405e-01 7.56485530e-04 -1.94917595e+01] [-2.28513240e-03 -5.71101425e-05 9.99997387e-01 -2.07156157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:66.19, Y:-19.48, Z:-0.21 [[ 9.51870331e-01 -3.06493270e-01 2.17896286e-03 6.61916793e+01] [ 3.06492500e-01 9.51872825e-01 6.86947094e-04 -1.94819556e+01] [-2.28464020e-03 1.39512174e-05 9.99997390e-01 -2.07310562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.22, Y:-19.47, Z:-0.21 [[ 9.52161292e-01 -3.05588166e-01 2.17877556e-03 6.62167811e+01] [ 3.05587392e-01 9.52163785e-01 6.87540637e-04 -1.94732022e+01] [-2.28465547e-03 1.11567603e-05 9.99997390e-01 -2.06098353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.24, Y:-19.46, Z:-0.20 [[ 9.52946355e-01 -3.03131155e-01 2.17869414e-03 6.62423612e+01] [ 3.03130375e-01 9.52948846e-01 6.87798554e-04 -1.94633269e+01] [-2.28467723e-03 4.99324515e-06 9.99997390e-01 -2.04750196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:66.26, Y:-19.45, Z:-0.21 [[ 9.50920316e-01 -3.09428192e-01 2.17861325e-03 6.62591848e+01] [ 3.09427428e-01 9.50922812e-01 6.88054679e-04 -1.94475096e+01] [-2.28459655e-03 1.98375198e-05 9.99997390e-01 -2.10884426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:-19.44, Z:-0.21 [[ 9.51636705e-01 -3.07218013e-01 2.16194713e-03 6.62880471e+01] [ 3.07217123e-01 9.51639160e-01 7.40707532e-04 -1.94388599e+01] [-2.28495224e-03 -4.06972985e-05 9.99997389e-01 -2.10326888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:66.32, Y:-19.43, Z:-0.21 [[ 9.54146909e-01 -2.99330910e-01 2.16407483e-03 6.63239852e+01] [ 2.99330015e-01 9.54149361e-01 7.33998329e-04 -1.94341204e+01] [-2.28455901e-03 -5.25696857e-05 9.99997389e-01 -2.07501480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:66.35, Y:-19.43, Z:-0.21 [[ 9.54062286e-01 -2.99600417e-01 2.17818024e-03 6.63512330e+01] [ 2.99599624e-01 9.54064772e-01 6.89434077e-04 -1.94253986e+01] [-2.28467977e-03 -5.18107159e-06 9.99997390e-01 -2.07587734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:-19.42, Z:-0.20 [[ 9.54414814e-01 -2.98475493e-01 2.17798525e-03 6.63782146e+01] [ 2.98474695e-01 9.54417299e-01 6.90049528e-04 -1.94161208e+01] [-2.28466967e-03 -8.52000995e-06 9.99997390e-01 -2.04250309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.40, Y:-19.41, Z:-0.20 [[ 9.54620756e-01 -2.97816168e-01 2.17779008e-03 6.64039647e+01] [ 2.97815367e-01 9.54623240e-01 6.90664924e-04 -1.94075017e+01] [-2.28466020e-03 -1.07437205e-05 9.99997390e-01 -2.04309614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.0 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:66.43, Y:-19.40, Z:-0.21 [[ 9.55242632e-01 -2.95815437e-01 2.17765760e-03 6.64306902e+01] [ 2.95814630e-01 9.55245114e-01 6.91082388e-04 -1.93988285e+01] [-2.28462962e-03 -1.59683829e-05 9.99997390e-01 -2.06779533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:66.46, Y:-19.39, Z:-0.21 [[ 9.55555325e-01 -2.94803800e-01 2.17746335e-03 6.64576764e+01] [ 2.94802989e-01 9.55557805e-01 6.91693869e-04 -1.93899080e+01] [-2.28460608e-03 -1.90290552e-05 9.99997390e-01 -2.08127446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.48, Y:-19.38, Z:-0.21 [[ 9.56365484e-01 -2.92164884e-01 2.17726981e-03 6.64841380e+01] [ 2.92164065e-01 9.56367962e-01 6.92302548e-04 -1.93802716e+01] [-2.28453759e-03 -2.59742615e-05 9.99997390e-01 -2.08428190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:66.51, Y:-19.37, Z:-0.21 [[ 9.56729764e-01 -2.90969792e-01 2.17707304e-03 6.65107177e+01] [ 2.90968968e-01 9.56732240e-01 6.92920772e-04 -1.93709725e+01] [-2.28449498e-03 -2.94772298e-05 9.99997390e-01 -2.09424529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.54, Y:-19.36, Z:-0.21 [[ 9.57099671e-01 -2.89750722e-01 2.17687483e-03 6.65371956e+01] [ 2.89749894e-01 9.57102146e-01 6.93542933e-04 -1.93616521e+01] [-2.28444613e-03 -3.30404626e-05 9.99997390e-01 -2.08550772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:-19.35, Z:-0.21 [[ 9.57426285e-01 -2.88669655e-01 2.17667680e-03 6.65641841e+01] [ 2.88668823e-01 9.57428759e-01 6.94163879e-04 -1.93523234e+01] [-2.28439702e-03 -3.62720143e-05 9.99997390e-01 -2.05469440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:66.59, Y:-19.34, Z:-0.21 [[ 9.57914653e-01 -2.87044909e-01 2.17647838e-03 6.65906094e+01] [ 2.87044071e-01 9.57917125e-01 6.94785460e-04 -1.93439482e+01] [-2.28432054e-03 -4.07999600e-05 9.99997390e-01 -2.07386661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:66.62, Y:-19.34, Z:-0.21 [[ 9.58086691e-01 -2.86470166e-01 2.17628009e-03 6.66172203e+01] [ 2.86469326e-01 9.58089162e-01 6.95405983e-04 -1.93352552e+01] [-2.28428344e-03 -4.28217268e-05 9.99997390e-01 -2.07785575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:66.64, Y:-19.33, Z:-0.21 [[ 9.58576310e-01 -2.84827530e-01 2.17608244e-03 6.66441563e+01] [ 2.84826683e-01 9.58578779e-01 6.96023926e-04 -1.93263107e+01] [-2.28419323e-03 -4.73857018e-05 9.99997390e-01 -2.06117766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:-19.32, Z:-0.21 [[ 9.58069773e-01 -2.86526745e-01 2.17588506e-03 6.66675658e+01] [ 2.86525902e-01 9.58072243e-01 6.96640448e-04 -1.93151978e+01] [-2.28426120e-03 -4.39827275e-05 9.99997390e-01 -2.06228759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.3 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:66.70, Y:-19.31, Z:-0.21 [[ 9.59072489e-01 -2.83152341e-01 2.17106625e-03 6.66973875e+01] [ 2.83151455e-01 9.59074943e-01 7.11669620e-04 -1.93086819e+01] [-2.28372616e-03 -6.78021861e-05 9.99997390e-01 -2.07550907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.72, Y:-19.30, Z:-0.21 [[ 9.59384723e-01 -2.82092572e-01 2.17564167e-03 6.67238824e+01] [ 2.82091715e-01 9.59387189e-01 6.97395851e-04 -1.92995721e+01] [-2.28401293e-03 -5.53404352e-05 9.99997390e-01 -2.06830075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.75, Y:-19.29, Z:-0.21 [[ 9.59980148e-01 -2.80059605e-01 2.17544696e-03 6.67500387e+01] [ 2.80058742e-01 9.59982611e-01 6.98002697e-04 -1.92897629e+01] [-2.28387361e-03 -6.08157941e-05 9.99997390e-01 -2.08206822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.78, Y:-19.28, Z:-0.21 [[ 9.60066623e-01 -2.79763020e-01 2.17538649e-03 6.67765780e+01] [ 2.79762155e-01 9.60069086e-01 6.98191093e-04 -1.92808713e+01] [-2.28384937e-03 -6.17191508e-05 9.99997390e-01 -2.10026477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:-19.27, Z:-0.21 [[ 9.60324621e-01 -2.78876122e-01 2.17519488e-03 6.68026940e+01] [ 2.78875254e-01 9.60327082e-01 6.98787541e-04 -1.92725999e+01] [-2.28377371e-03 -6.44548539e-05 9.99997390e-01 -2.08368119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:-19.26, Z:-0.21 [[ 9.59579039e-01 -2.81430904e-01 2.17145768e-03 6.68302060e+01] [ 2.81430016e-01 9.59581493e-01 7.10404536e-04 -1.92641142e+01] [-2.28362039e-03 -7.05759320e-05 9.99997390e-01 -2.08083651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:66.86, Y:-19.26, Z:-0.21 [[ 9.58819492e-01 -2.84007838e-01 2.17493807e-03 6.68568874e+01] [ 2.84006981e-01 9.58821957e-01 6.99584354e-04 -1.92561646e+01] [-2.28406582e-03 -5.30775188e-05 9.99997390e-01 -2.13100250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:66.88, Y:-19.25, Z:-0.21 [[ 9.57154346e-01 -2.89570076e-01 2.17474811e-03 6.68838243e+01] [ 2.89569233e-01 9.57156815e-01 7.00174358e-04 -1.92499851e+01] [-2.28432452e-03 -4.04347862e-05 9.99997390e-01 -2.12049024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:-19.24, Z:-0.21 [[ 9.54674784e-01 -2.97642954e-01 2.17466587e-03 6.69043833e+01] [ 2.97642131e-01 9.54677260e-01 7.00429692e-04 -1.92391302e+01] [-2.28458202e-03 -2.14103792e-05 9.99997390e-01 -2.11813291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:-19.24, Z:-0.20 [[ 9.53886492e-01 -3.00159754e-01 2.16398834e-03 6.69392564e+01] [ 3.00158862e-01 9.53888945e-01 7.33514162e-04 -1.92381760e+01] [-2.28437598e-03 -5.01489738e-05 9.99997390e-01 -2.04689144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.6 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:66.97, Y:-19.23, Z:-0.21 [[ 9.52554906e-01 -3.04359036e-01 2.17452548e-03 6.69656811e+01] [ 3.04358230e-01 9.52557388e-01 7.00819150e-04 -1.92310934e+01] [-2.28466096e-03 -5.73399221e-06 9.99997390e-01 -2.07293301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:66.99, Y:-19.22, Z:-0.20 [[ 9.51288590e-01 -3.08294163e-01 2.17439040e-03 6.69927474e+01] [ 3.08293365e-01 9.51291075e-01 7.01238017e-04 -1.92239174e+01] [-2.28466577e-03 3.27041052e-06 9.99997390e-01 -2.04367728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:67.01, Y:-19.21, Z:-0.21 [[ 9.46572767e-01 -3.22482976e-01 2.17419821e-03 6.70102987e+01] [ 3.22482215e-01 9.46575263e-01 7.01833411e-04 -1.92122617e+01] [-2.28437157e-03 3.68038589e-05 9.99997390e-01 -2.08960714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:67.04, Y:-19.20, Z:-0.21 [[ 9.45361957e-01 -3.26015498e-01 2.15994771e-03 6.70379435e+01] [ 3.26014644e-01 9.45364424e-01 7.45981696e-04 -1.92045445e+01] [-2.28513932e-03 -1.04813023e-06 9.99997389e-01 -2.07941157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:-19.20, Z:-0.20 [[ 9.43456382e-01 -3.31489653e-01 2.15997633e-03 6.70663604e+01] [ 3.31488814e-01 9.43458854e-01 7.45892901e-04 -1.91981075e+01] [-2.28510458e-03 1.22905760e-05 9.99997389e-01 -2.04519452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:-19.20, Z:-0.20 [[ 9.44938231e-01 -3.27241612e-01 2.16032125e-03 6.71022887e+01] [ 3.27240764e-01 9.44940700e-01 7.44822807e-04 -1.91954228e+01] [-2.28511249e-03 3.13363210e-06 9.99997389e-01 -1.98355116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:67.13, Y:-19.19, Z:-0.20 [[ 9.44006682e-01 -3.29919163e-01 2.17484625e-03 6.71292333e+01] [ 3.29918426e-01 9.44009186e-01 6.99673704e-04 -1.91867630e+01] [-2.28391060e-03 5.70252008e-05 9.99997390e-01 -2.02024792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:67.16, Y:-19.18, Z:-0.20 [[ 9.43499793e-01 -3.31365977e-01 2.17464800e-03 6.71551089e+01] [ 3.31365242e-01 9.43502298e-01 7.00289347e-04 -1.91784477e+01] [-2.28383745e-03 5.98799080e-05 9.99997390e-01 -2.01944455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:67.18, Y:-19.17, Z:-0.20 [[ 9.43100337e-01 -3.32501167e-01 2.17456219e-03 6.71828155e+01] [ 3.32500434e-01 9.43102842e-01 7.00555723e-04 -1.91686676e+01] [-2.28377137e-03 6.23485332e-05 9.99997390e-01 -2.01342377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:67.21, Y:-19.16, Z:-0.20 [[ 9.42964196e-01 -3.32887064e-01 2.17446677e-03 6.72089493e+01] [ 3.32886332e-01 9.42966701e-01 7.00851777e-04 -1.91591355e+01] [-2.28375424e-03 6.29721343e-05 9.99997390e-01 -2.04819072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:-19.15, Z:-0.20 [[ 9.43182907e-01 -3.32266877e-01 2.17426971e-03 6.72358535e+01] [ 3.32266142e-01 9.43185411e-01 7.01462579e-04 -1.91495564e+01] [-2.28381225e-03 6.08286930e-05 9.99997390e-01 -2.02365180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:-19.13, Z:-0.21 [[ 9.41433097e-01 -3.37192818e-01 2.17407132e-03 6.72525398e+01] [ 3.37192095e-01 9.41435605e-01 7.02076924e-04 -1.91336446e+01] [-2.28348344e-03 7.21212077e-05 9.99997390e-01 -2.11165941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:67.29, Y:-19.13, Z:-0.21 [[ 9.44422371e-01 -3.28727438e-01 2.15792743e-03 6.72897703e+01] [ 3.28726578e-01 9.44424836e-01 7.51948953e-04 -1.91296305e+01] [-2.28518652e-03 -7.89311535e-07 9.99997389e-01 -2.05246159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:-19.12, Z:-0.20 [[ 9.45610448e-01 -3.25293951e-01 2.17402214e-03 6.73152949e+01] [ 3.25293197e-01 9.45612946e-01 7.02113363e-04 -1.91185921e+01] [-2.28417671e-03 4.32688790e-05 9.99997390e-01 -2.03064506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:-19.10, Z:-0.21 [[ 9.44032730e-01 -3.29844629e-01 2.17382521e-03 6.73333479e+01] [ 3.29843885e-01 9.44035231e-01 7.02722556e-04 -1.91031696e+01] [-2.28395684e-03 5.36298571e-05 9.99997390e-01 -2.09408441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:-19.09, Z:-0.21 [[ 9.44719134e-01 -3.27873587e-01 2.16049217e-03 6.73594734e+01] [ 3.27872743e-01 9.44721605e-01 7.43957443e-04 -1.90927329e+01] [-2.28498763e-03 5.53566470e-06 9.99997389e-01 -2.08711355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:67.39, Y:-19.09, Z:-0.20 [[ 9.48371636e-01 -3.17153870e-01 2.15938435e-03 6.73944796e+01] [ 3.17152990e-01 9.48374094e-01 7.47381625e-04 -1.90857316e+01] [-2.28493915e-03 -2.39403304e-05 9.99997389e-01 -2.03939892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:67.41, Y:-19.07, Z:-0.21 [[ 9.47006414e-01 -3.21207292e-01 2.17406696e-03 6.74115350e+01] [ 3.21206527e-01 9.47008909e-01 7.01903942e-04 -1.90700923e+01] [-2.28431745e-03 3.36169622e-05 9.99997390e-01 -2.09607640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:67.45, Y:-19.07, Z:-0.20 [[ 9.49914574e-01 -3.12502218e-01 2.15999861e-03 6.74466119e+01] [ 3.12501331e-01 9.49917029e-01 7.45392037e-04 -1.90651368e+01] [-2.28475613e-03 -3.30563179e-05 9.99997389e-01 -2.01851839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:67.47, Y:-19.05, Z:-0.20 [[ 9.51461357e-01 -3.07760557e-01 2.17404684e-03 6.74723545e+01] [ 3.07759757e-01 9.51463840e-01 7.01878077e-04 -1.90520520e+01] [-2.28453734e-03 1.27425833e-06 9.99997390e-01 -2.03479523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.2 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:67.50, Y:-19.04, Z:-0.20 [[ 9.52308215e-01 -3.05130034e-01 2.17384903e-03 6.74979383e+01] [ 3.05129226e-01 9.52310696e-01 7.02490184e-04 -1.90413568e+01] [-2.28453054e-03 -5.68230253e-06 9.99997390e-01 -2.04075344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:-19.03, Z:-0.20 [[ 9.54259693e-01 -2.98971091e-01 2.17365142e-03 6.75222625e+01] [ 2.98970265e-01 9.54262169e-01 7.03101114e-04 -1.90283133e+01] [-2.28444022e-03 -2.10839138e-05 9.99997390e-01 -2.01149463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25999999999999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:67.55, Y:-19.02, Z:-0.21 [[ 9.54879544e-01 -2.96985408e-01 2.17356576e-03 6.75482963e+01] [ 2.96984576e-01 9.54882017e-01 7.03365816e-04 -1.90171046e+01] [-2.28438824e-03 -2.61141248e-05 9.99997390e-01 -2.07139773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:-19.01, Z:-0.20 [[ 9.55748405e-01 -2.94177264e-01 2.17347487e-03 6.75742562e+01] [ 2.94176424e-01 9.55750876e-01 7.03646569e-04 -1.90064471e+01] [-2.28429733e-03 -3.31240215e-05 9.99997390e-01 -2.02688571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:67.60, Y:-18.99, Z:-0.21 [[ 9.56623435e-01 -2.91319206e-01 2.17327877e-03 6.75996106e+01] [ 2.91318357e-01 9.56625903e-01 7.04251709e-04 -1.89941263e+01] [-2.28417682e-03 -4.05876879e-05 9.99997390e-01 -2.07401247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:67.63, Y:-18.98, Z:-0.21 [[ 9.56727937e-01 -2.90975826e-01 2.17321796e-03 6.76256638e+01] [ 2.90974976e-01 9.56730405e-01 7.04439326e-04 -1.89839772e+01] [-2.28415851e-03 -4.16047405e-05 9.99997390e-01 -2.09511590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:67.65, Y:-18.97, Z:-0.21 [[ 9.56806502e-01 -2.90717383e-01 2.17301937e-03 6.76518559e+01] [ 2.90716531e-01 9.56808968e-01 7.05051378e-04 -1.89739650e+01] [-2.28413511e-03 -4.28650893e-05 9.99997390e-01 -2.09624013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:-18.96, Z:-0.21 [[ 9.57178649e-01 -2.89489744e-01 2.17282040e-03 6.76766688e+01] [ 2.89488888e-01 9.57181115e-01 7.05664020e-04 -1.89639177e+01] [-2.28406515e-03 -4.64391716e-05 9.99997390e-01 -2.06796891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:67.70, Y:-18.95, Z:-0.21 [[ 9.56825565e-01 -2.90654638e-01 2.17268554e-03 6.77040488e+01] [ 2.90653783e-01 9.56828030e-01 7.06079024e-04 -1.89532313e+01] [-2.28411157e-03 -4.40951896e-05 9.99997390e-01 -2.12779884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:67.73, Y:-18.94, Z:-0.21 [[ 9.56654054e-01 -2.91218650e-01 2.17251286e-03 6.77290155e+01] [ 2.91217796e-01 9.56656519e-01 7.06609925e-04 -1.89435466e+01] [-2.28412658e-03 -4.33068419e-05 9.99997390e-01 -2.12175860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.5 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:67.76, Y:-18.93, Z:-0.21 [[ 9.56172352e-01 -2.92796368e-01 2.17242708e-03 6.77554097e+01] [ 2.92795518e-01 9.56174819e-01 7.06873546e-04 -1.89343280e+01] [-2.28419008e-03 -3.98160284e-05 9.99997390e-01 -2.13310031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:67.78, Y:-18.93, Z:-0.21 [[ 9.55601094e-01 -2.94655442e-01 2.17223328e-03 6.77823723e+01] [ 2.94654595e-01 9.55603563e-01 7.07468610e-04 -1.89252160e+01] [-2.28425334e-03 -3.59992603e-05 9.99997390e-01 -2.14149683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:-18.92, Z:-0.21 [[ 9.55369505e-01 -2.95405469e-01 2.17203569e-03 6.78086748e+01] [ 2.95404622e-01 9.55371973e-01 7.08074720e-04 -1.89173449e+01] [-2.28427117e-03 -3.48436117e-05 9.99997390e-01 -2.09753101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:67.83, Y:-18.91, Z:-0.21 [[ 9.53685044e-01 -3.00799135e-01 2.17197454e-03 6.78349393e+01] [ 3.00798302e-01 9.53687517e-01 7.08262229e-04 -1.89085652e+01] [-2.28442968e-03 -2.21328410e-05 9.99997390e-01 -2.11087206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.86, Y:-18.90, Z:-0.21 [[ 9.53007973e-01 -3.02937431e-01 2.17177352e-03 6.78626082e+01] [ 3.02936602e-01 9.53010447e-01 7.08878113e-04 -1.88998395e+01] [-2.28446856e-03 -1.76568034e-05 9.99997390e-01 -2.07912888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64999999999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:67.89, Y:-18.89, Z:-0.21 [[ 9.51849783e-01 -3.06557131e-01 2.17159761e-03 6.78893961e+01] [ 3.06556310e-01 9.51852260e-01 7.09416570e-04 -1.88903784e+01] [-2.28451680e-03 -9.54105682e-06 9.99997390e-01 -2.10825519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:67.92, Y:-18.88, Z:-0.21 [[ 9.50271515e-01 -3.11415050e-01 2.17139616e-03 6.79160270e+01] [ 3.11414241e-01 9.50273996e-01 7.10032653e-04 -1.88818188e+01] [-2.28453616e-03 1.47988092e-06 9.99997390e-01 -2.09117454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:67.94, Y:-18.87, Z:-0.21 [[ 9.49465576e-01 -3.13863673e-01 2.17130293e-03 6.79433393e+01] [ 3.13862869e-01 9.49468059e-01 7.10317628e-04 -1.88731879e+01] [-2.28452568e-03 7.06923286e-06 9.99997390e-01 -2.07060074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:67.97, Y:-18.86, Z:-0.21 [[ 9.47858650e-01 -3.18683645e-01 2.17112911e-03 6.79703409e+01] [ 3.18682852e-01 9.47861137e-01 7.10848542e-04 -1.88634160e+01] [-2.28446471e-03 1.81176764e-05 9.99997390e-01 -2.06750341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:68.00, Y:-18.85, Z:-0.21 [[ 9.47057565e-01 -3.21056467e-01 2.17095402e-03 6.79953776e+01] [ 3.21055680e-01 9.47060053e-01 7.11382861e-04 -1.88540897e+01] [-2.28441790e-03 2.32765985e-05 9.99997390e-01 -2.07210465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.8 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:68.02, Y:-18.85, Z:-0.21 [[ 9.46968251e-01 -3.21319808e-01 2.17086724e-03 6.80225277e+01] [ 3.21319021e-01 9.46970739e-01 7.11647587e-04 -1.88451095e+01] [-2.28441422e-03 2.36332654e-05 9.99997390e-01 -2.07275681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.05, Y:-18.84, Z:-0.21 [[ 9.46288915e-01 -3.23314982e-01 2.17066918e-03 6.80486996e+01] [ 3.23314199e-01 9.46291404e-01 7.12251197e-04 -1.88355819e+01] [-2.28436707e-03 2.78127534e-05 9.99997390e-01 -2.07206055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:-18.83, Z:-0.20 [[ 9.45269274e-01 -3.26284062e-01 2.17046654e-03 6.80750011e+01] [ 3.26283285e-01 9.45271765e-01 7.12868158e-04 -1.88256808e+01] [-2.28427826e-03 3.43345873e-05 9.99997390e-01 -2.04369915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.10, Y:-18.82, Z:-0.21 [[ 9.44454921e-01 -3.28633826e-01 2.17026393e-03 6.81002967e+01] [ 3.28633054e-01 9.44457414e-01 7.13484449e-04 -1.88160604e+01] [-2.28419699e-03 3.93665656e-05 9.99997390e-01 -2.08036921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:68.13, Y:-18.81, Z:-0.21 [[ 9.43855324e-01 -3.30351959e-01 2.17017619e-03 6.81263396e+01] [ 3.30351191e-01 9.43857818e-01 7.13751221e-04 -1.88064259e+01] [-2.28412688e-03 4.32423998e-05 9.99997390e-01 -2.08873393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:68.15, Y:-18.80, Z:-0.21 [[ 9.43149731e-01 -3.32361062e-01 2.16997891e-03 6.81519280e+01] [ 3.32360297e-01 9.43152227e-01 7.14350515e-04 -1.87957351e+01] [-2.28404274e-03 4.74753395e-05 9.99997390e-01 -2.09150859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.18, Y:-18.79, Z:-0.21 [[ 9.42998183e-01 -3.32790802e-01 2.16977610e-03 6.81786562e+01] [ 3.32790038e-01 9.43000679e-01 7.14965985e-04 -1.87856390e+01] [-2.28403444e-03 4.78682458e-05 9.99997390e-01 -2.09230919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00999999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.20, Y:-18.78, Z:-0.21 [[ 9.43221271e-01 -3.32157985e-01 2.16957290e-03 6.82034640e+01] [ 3.32157217e-01 9.43223765e-01 7.15582080e-04 -1.87760804e+01] [-2.28407902e-03 4.56870575e-05 9.99997390e-01 -2.08046995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03999999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.22, Y:-18.76, Z:-0.22 [[ 9.41598519e-01 -3.36730637e-01 2.16948487e-03 6.82208086e+01] [ 3.36729881e-01 9.41601017e-01 7.15848877e-04 -1.87590915e+01] [-2.28383741e-03 5.64881381e-05 9.99997390e-01 -2.15921527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:-18.75, Z:-0.21 [[ 9.44785761e-01 -3.27681595e-01 2.15384071e-03 6.82575196e+01] [ 3.27680707e-01 9.44788215e-01 7.63157970e-04 -1.87541228e+01] [-2.28499614e-03 -1.52487363e-05 9.99997389e-01 -2.07663288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:-18.74, Z:-0.21 [[ 9.45035183e-01 -3.26961461e-01 2.16943966e-03 6.82794642e+01] [ 3.26960679e-01 9.45037672e-01 7.15886553e-04 -1.87399734e+01] [-2.28426952e-03 3.27834853e-05 9.99997391e-01 -2.12059533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:-18.73, Z:-0.21 [[ 9.46055317e-01 -3.23997933e-01 2.16241260e-03 6.83066557e+01] [ 3.23997094e-01 9.46057789e-01 7.37156407e-04 -1.87302594e+01] [-2.28460444e-03 3.22466096e-06 9.99997390e-01 -2.10526764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:68.34, Y:-18.72, Z:-0.21 [[ 9.47569613e-01 -3.19542088e-01 2.16377742e-03 6.83353519e+01] [ 3.19541247e-01 9.47572084e-01 7.33025753e-04 -1.87221225e+01] [-2.28456766e-03 -3.17679442e-06 9.99997390e-01 -2.12352398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.36, Y:-18.71, Z:-0.21 [[ 9.48324525e-01 -3.17294642e-01 2.16920666e-03 6.83613532e+01] [ 3.17293833e-01 9.48327006e-01 7.16590782e-04 -1.87122530e+01] [-2.28448767e-03 8.71528391e-06 9.99997391e-01 -2.11941972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:68.39, Y:-18.70, Z:-0.21 [[ 9.49636455e-01 -3.13346291e-01 2.16914448e-03 6.83870463e+01] [ 3.13345471e-01 9.49638932e-01 7.16778963e-04 -1.87012386e+01] [-2.28450408e-03 -9.87835775e-07 9.99997391e-01 -2.12894595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:68.41, Y:-18.69, Z:-0.21 [[ 9.50163889e-01 -3.11743291e-01 2.16894477e-03 6.84127904e+01] [ 3.11742466e-01 9.50166364e-01 7.17382749e-04 -1.86912114e+01] [-2.28449763e-03 -5.47898996e-06 9.99997391e-01 -2.13455684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.44, Y:-18.68, Z:-0.21 [[ 9.51690867e-01 -3.07050142e-01 2.16874432e-03 6.84384795e+01] [ 3.07049303e-01 9.51693338e-01 7.17988236e-04 -1.86814326e+01] [-2.28443791e-03 -1.73914144e-05 9.99997391e-01 -2.10081441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.46, Y:-18.67, Z:-0.21 [[ 9.52354324e-01 -3.04986128e-01 2.16865113e-03 6.84648834e+01] [ 3.04985283e-01 9.52356793e-01 7.18269603e-04 -1.86717039e+01] [-2.28439190e-03 -2.26404839e-05 9.99997391e-01 -2.09829231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:-18.66, Z:-0.21 [[ 9.53104522e-01 -3.02633553e-01 2.16845432e-03 6.84917171e+01] [ 3.02632701e-01 9.53106988e-01 7.18863282e-04 -1.86617888e+01] [-2.28432112e-03 -2.89066574e-05 9.99997391e-01 -2.08347126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36999999999999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:68.52, Y:-18.65, Z:-0.21 [[ 9.54227723e-01 -2.99073153e-01 2.16824958e-03 6.85165781e+01] [ 2.99072290e-01 9.54230186e-01 7.19480298e-04 -1.86512123e+01] [-2.28418644e-03 -3.80846803e-05 9.99997391e-01 -2.12020799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39999999999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:68.54, Y:-18.64, Z:-0.21 [[ 9.54601299e-01 -2.97878596e-01 2.16816078e-03 6.85426803e+01] [ 2.97877730e-01 9.54603761e-01 7.19747788e-04 -1.86421367e+01] [-2.28413190e-03 -4.12253627e-05 9.99997391e-01 -2.13217485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42999999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:68.57, Y:-18.63, Z:-0.21 [[ 9.54928853e-01 -2.96826861e-01 2.16796117e-03 6.85691165e+01] [ 2.96825990e-01 9.54931313e-01 7.20348545e-04 -1.86334537e+01] [-2.28407280e-03 -4.43743887e-05 9.99997391e-01 -2.12735786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:68.60, Y:-18.62, Z:-0.22 [[ 9.55326889e-01 -2.95543291e-01 2.16776112e-03 6.85970889e+01] [ 2.95542415e-01 9.55329347e-01 7.20950042e-04 -1.86244966e+01] [-2.28399777e-03 -4.80776020e-05 9.99997391e-01 -2.15353578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:68.62, Y:-18.62, Z:-0.22 [[ 9.55312286e-01 -2.95590490e-01 2.16758474e-03 6.86240537e+01] [ 2.95589614e-01 9.55314744e-01 7.21479972e-04 -1.86159753e+01] [-2.28398828e-03 -4.85231471e-05 9.99997391e-01 -2.16097409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:-18.61, Z:-0.21 [[ 9.55481492e-01 -2.95043082e-01 2.16738457e-03 6.86512456e+01] [ 2.95042202e-01 9.55483949e-01 7.22080781e-04 -1.86097801e+01] [-2.28394611e-03 -5.04649055e-05 9.99997391e-01 -2.12032699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:68.68, Y:-18.60, Z:-0.22 [[ 9.55104287e-01 -2.96261885e-01 2.16717998e-03 6.86783222e+01] [ 2.96261007e-01 9.55106744e-01 7.22694310e-04 -1.86013284e+01] [-2.28399499e-03 -4.81975110e-05 9.99997391e-01 -2.15905037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:68.70, Y:-18.59, Z:-0.21 [[ 9.55065996e-01 -2.96385302e-01 2.16697604e-03 6.87044817e+01] [ 2.96384423e-01 9.55068453e-01 7.23305304e-04 -1.85940219e+01] [-2.28398751e-03 -4.85463578e-05 9.99997391e-01 -2.14650084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:68.73, Y:-18.59, Z:-0.21 [[ 9.54927030e-01 -2.96832734e-01 2.16688764e-03 6.87315301e+01] [ 2.96831856e-01 9.54929487e-01 7.23570032e-04 -1.85862825e+01] [-2.28400417e-03 -4.77553032e-05 9.99997391e-01 -2.14939525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:68.76, Y:-18.58, Z:-0.22 [[ 9.54806230e-01 -2.97221076e-01 2.16668616e-03 6.87594160e+01] [ 2.97220197e-01 9.54808688e-01 7.24172828e-04 -1.85800217e+01] [-2.28401020e-03 -4.74618391e-05 9.99997391e-01 -2.15203504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:68.79, Y:-18.57, Z:-0.22 [[ 9.54472451e-01 -2.98291212e-01 2.16648600e-03 6.87875005e+01] [ 2.98290335e-01 9.54474908e-01 7.24771157e-04 -1.85730771e+01] [-2.28404939e-03 -4.55322669e-05 9.99997391e-01 -2.16402710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.7 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:68.81, Y:-18.57, Z:-0.22 [[ 9.54181041e-01 -2.99222071e-01 2.16630749e-03 6.88147457e+01] [ 2.99221195e-01 9.54183499e-01 7.25304332e-04 -1.85654493e+01] [-2.28408192e-03 -4.38665266e-05 9.99997391e-01 -2.15426662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:68.84, Y:-18.56, Z:-0.22 [[ 9.53651587e-01 -3.00905231e-01 2.16610445e-03 6.88413856e+01] [ 3.00904358e-01 9.53654046e-01 7.25910186e-04 -1.85581071e+01] [-2.28414445e-03 -4.04751302e-05 9.99997391e-01 -2.16675166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75999999999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.87, Y:-18.55, Z:-0.22 [[ 9.53252384e-01 -3.02167504e-01 2.16590287e-03 6.88686804e+01] [ 3.02166633e-01 9.53254844e-01 7.26511167e-04 -1.85515297e+01] [-2.28418546e-03 -3.80849264e-05 9.99997391e-01 -2.15329398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:68.90, Y:-18.55, Z:-0.22 [[ 9.51931825e-01 -3.06302318e-01 2.16584174e-03 6.88954205e+01] [ 3.06301457e-01 9.51934288e-01 7.26693358e-04 -1.85476110e+01] [-2.28432687e-03 -2.83620552e-05 9.99997391e-01 -2.15039603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:68.92, Y:-18.54, Z:-0.22 [[ 9.50935183e-01 -3.09382590e-01 2.16575700e-03 6.89237229e+01] [ 3.09381737e-01 9.50937649e-01 7.26945805e-04 -1.85403526e+01] [-2.28440425e-03 -2.12326789e-05 9.99997391e-01 -2.16459715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:-18.54, Z:-0.21 [[ 9.49382060e-01 -3.14116243e-01 2.16558336e-03 6.89513912e+01] [ 3.14115401e-01 9.49384530e-01 7.27462719e-04 -1.85366643e+01] [-2.28447920e-03 -1.03969698e-05 9.99997391e-01 -2.11105261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:68.98, Y:-18.53, Z:-0.21 [[ 9.48052058e-01 -3.18107854e-01 2.16550962e-03 6.89780822e+01] [ 3.18107021e-01 9.48054531e-01 7.27682150e-04 -1.85293731e+01] [-2.28450262e-03 -1.01674358e-06 9.99997391e-01 -2.12821837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:69.01, Y:-18.52, Z:-0.21 [[ 9.46700712e-01 -3.22107240e-01 2.16531491e-03 6.90053208e+01] [ 3.22106417e-01 9.46703188e-01 7.28261070e-04 -1.85218522e+01] [-2.28448870e-03 8.01655582e-06 9.99997391e-01 -2.14680949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:69.03, Y:-18.52, Z:-0.21 [[ 9.44207786e-01 -3.29343239e-01 2.16512144e-03 6.90326991e+01] [ 3.29342433e-01 9.44210268e-01 7.28835804e-04 -1.85164548e+01] [-2.28436704e-03 2.48939235e-05 9.99997391e-01 -2.13764123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:-18.50, Z:-0.22 [[ 9.41365082e-01 -3.37382713e-01 2.16492864e-03 6.90516551e+01] [ 3.37381927e-01 9.41367571e-01 7.29408046e-04 -1.85042842e+01] [-2.28408328e-03 4.37685323e-05 9.99997391e-01 -2.18898296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.0 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:69.09, Y:-18.50, Z:-0.22 [[ 9.40812417e-01 -3.38920878e-01 2.15289438e-03 6.90887656e+01] [ 3.38920014e-01 9.40814880e-01 7.65061176e-04 -1.85032949e+01] [-2.28477027e-03 9.87993916e-06 9.99997390e-01 -2.15158208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:-18.50, Z:-0.21 [[ 9.40190387e-01 -3.40642554e-01 2.16486274e-03 6.91170357e+01] [ 3.40641777e-01 9.40192878e-01 7.29546147e-04 -1.84955369e+01] [-2.28390299e-03 5.15304151e-05 9.99997391e-01 -2.11131233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:69.14, Y:-18.49, Z:-0.21 [[ 9.38897692e-01 -3.44189539e-01 2.16469960e-03 6.91440913e+01] [ 3.44188770e-01 9.38900185e-01 7.30029875e-04 -1.84878701e+01] [-2.28370551e-03 5.96419284e-05 9.99997391e-01 -2.14936526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:-18.48, Z:-0.21 [[ 9.38631934e-01 -3.44913623e-01 2.16451426e-03 6.91731381e+01] [ 3.44912855e-01 9.38634428e-01 7.30579009e-04 -1.84795207e+01] [-2.28367425e-03 6.08240037e-05 9.99997391e-01 -2.11593961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11999999999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:69.20, Y:-18.47, Z:-0.21 [[ 9.38880861e-01 -3.44235436e-01 2.16637994e-03 6.91978277e+01] [ 3.44234679e-01 9.38883358e-01 7.25053545e-04 -1.84712375e+01] [-2.28356719e-03 6.50042038e-05 9.99997391e-01 -2.13654249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14999999999999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:69.22, Y:-18.46, Z:-0.21 [[ 9.39705925e-01 -3.41976739e-01 2.16426756e-03 6.92233902e+01] [ 3.41975961e-01 9.39708416e-01 7.31305031e-04 -1.84636472e+01] [-2.28386975e-03 5.29158077e-05 9.99997391e-01 -2.14613469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:-18.45, Z:-0.21 [[ 9.40387017e-01 -3.40099359e-01 2.16418786e-03 6.92511682e+01] [ 3.40098576e-01 9.40389506e-01 7.31540819e-04 -1.84547958e+01] [-2.28397612e-03 4.81057209e-05 9.99997391e-01 -2.11323009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:69.28, Y:-18.45, Z:-0.21 [[ 9.40906807e-01 -3.38658673e-01 2.16402931e-03 6.92777595e+01] [ 3.38657885e-01 9.40909295e-01 7.32009537e-04 -1.84456803e+01] [-2.28405667e-03 4.41128336e-05 9.99997391e-01 -2.14051796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:69.30, Y:-18.44, Z:-0.21 [[ 9.41743417e-01 -3.36325222e-01 2.16384850e-03 6.93045812e+01] [ 3.36324426e-01 9.41745902e-01 7.32543621e-04 -1.84367071e+01] [-2.28416836e-03 3.78869738e-05 9.99997391e-01 -2.14972472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:69.33, Y:-18.43, Z:-0.22 [[ 9.43915095e-01 -3.30181181e-01 2.16366809e-03 6.93297291e+01] [ 3.30180368e-01 9.43917574e-01 7.33076123e-04 -1.84274558e+01] [-2.28437227e-03 2.24391076e-05 9.99997391e-01 -2.15835629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.3 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:69.36, Y:-18.42, Z:-0.21 [[ 9.45105718e-01 -3.26757557e-01 2.16358978e-03 6.93558985e+01] [ 3.26756734e-01 9.45108194e-01 7.33307175e-04 -1.84184487e+01] [-2.28444009e-03 1.39147256e-05 9.99997391e-01 -2.14062778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:69.38, Y:-18.41, Z:-0.21 [[ 9.46351317e-01 -3.23132333e-01 2.16338741e-03 6.93825861e+01] [ 3.23131499e-01 9.46353790e-01 7.33903717e-04 -1.84093561e+01] [-2.28447789e-03 4.52786688e-06 9.99997391e-01 -2.14851687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:69.41, Y:-18.40, Z:-0.22 [[ 9.48923210e-01 -3.15499701e-01 2.16318152e-03 6.94097366e+01] [ 3.15498846e-01 9.48925676e-01 7.34510076e-04 -1.84006060e+01] [-2.28443619e-03 -1.45123870e-05 9.99997391e-01 -2.16102457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:69.44, Y:-18.39, Z:-0.22 [[ 9.50101267e-01 -3.11934134e-01 2.16299872e-03 6.94361499e+01] [ 3.11933269e-01 9.50103729e-01 7.35047977e-04 -1.83917571e+01] [-2.28435971e-03 -2.36587519e-05 9.99997391e-01 -2.17898648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:69.46, Y:-18.38, Z:-0.22 [[ 9.51149609e-01 -3.08722762e-01 2.16293402e-03 6.94638252e+01] [ 3.08721888e-01 9.51152067e-01 7.35238317e-04 -1.83828166e+01] [-2.28426397e-03 -3.15765631e-05 9.99997391e-01 -2.15612831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:69.49, Y:-18.38, Z:-0.22 [[ 9.52694121e-01 -3.03923073e-01 2.16275240e-03 6.94899432e+01] [ 3.03922185e-01 9.52696575e-01 7.35772170e-04 -1.83759359e+01] [-2.28406494e-03 -4.36573847e-05 9.99997391e-01 -2.18322862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:69.52, Y:-18.37, Z:-0.22 [[ 9.53326419e-01 -3.01933869e-01 2.16261144e-03 6.95174800e+01] [ 3.01932976e-01 9.53328871e-01 7.36186248e-04 -1.83678558e+01] [-2.28395949e-03 -4.88620916e-05 9.99997391e-01 -2.15359762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:69.54, Y:-18.36, Z:-0.22 [[ 9.53768070e-01 -3.00535844e-01 2.16243284e-03 6.95447484e+01] [ 3.00534945e-01 9.53770520e-01 7.36710491e-04 -1.83595723e+01] [-2.28387260e-03 -5.27643075e-05 9.99997391e-01 -2.15131710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:69.57, Y:-18.35, Z:-0.22 [[ 9.54681297e-01 -2.97622152e-01 2.16222907e-03 6.95722052e+01] [ 2.97621245e-01 9.54683744e-01 7.37308078e-04 -1.83518889e+01] [-2.28368416e-03 -6.03689255e-05 9.99997391e-01 -2.15827362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:69.60, Y:-18.34, Z:-0.22 [[ 9.55244468e-01 -2.95809621e-01 2.16202106e-03 6.95992942e+01] [ 2.95808708e-01 9.55246913e-01 7.37917524e-04 -1.83435552e+01] [-2.28354704e-03 -6.53469777e-05 9.99997391e-01 -2.15245496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:-18.33, Z:-0.22 [[ 9.54895740e-01 -2.96933412e-01 2.16195657e-03 6.96195189e+01] [ 2.96932501e-01 9.54898186e-01 7.38106411e-04 -1.83322332e+01] [-2.28361686e-03 -6.28594952e-05 9.99997391e-01 -2.16209220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:69.65, Y:-18.33, Z:-0.22 [[ 9.56616711e-01 -2.91341462e-01 2.14952798e-03 6.96537074e+01] [ 2.91340455e-01 9.56619119e-01 7.74443998e-04 -1.83273612e+01] [-2.28190721e-03 -1.14601610e-04 9.99997390e-01 -2.15490528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.68, Y:-18.32, Z:-0.21 [[ 9.56848044e-01 -2.90580705e-01 2.16193492e-03 6.96812721e+01] [ 2.90579778e-01 9.56850483e-01 7.38103587e-04 -1.83197551e+01] [-2.28312713e-03 -7.80384056e-05 9.99997391e-01 -2.14619216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:-18.31, Z:-0.22 [[ 9.56652969e-01 -2.91222292e-01 2.16172465e-03 6.97077558e+01] [ 2.91221366e-01 9.56655408e-01 7.38718899e-04 -1.83118881e+01] [-2.28315699e-03 -7.71572239e-05 9.99997391e-01 -2.17182874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:-18.30, Z:-0.22 [[ 9.56574819e-01 -2.91478889e-01 2.16162722e-03 6.97347870e+01] [ 2.91477962e-01 9.56577259e-01 7.39003874e-04 -1.83025441e+01] [-2.28316747e-03 -7.68458005e-05 9.99997391e-01 -2.17248077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:69.76, Y:-18.29, Z:-0.22 [[ 9.55957374e-01 -2.93497575e-01 2.16142884e-03 6.97622439e+01] [ 2.93496652e-01 9.55959815e-01 7.39583643e-04 -1.82943190e+01] [-2.28330512e-03 -7.26383079e-05 9.99997391e-01 -2.22012479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:69.78, Y:-18.28, Z:-0.22 [[ 9.53966703e-01 -2.99904749e-01 2.16125168e-03 6.97817439e+01] [ 2.99903841e-01 9.53969150e-01 7.40100981e-04 -1.82829341e+01] [-2.28372723e-03 -5.78640118e-05 9.99997391e-01 -2.23137489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:69.81, Y:-18.28, Z:-0.22 [[ 9.52732384e-01 -3.03803213e-01 2.14764477e-03 6.98102202e+01] [ 3.03802226e-01 9.52734800e-01 7.79759317e-04 -1.82780967e+01] [-2.28302930e-03 -9.04426908e-05 9.99997390e-01 -2.24131893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:69.85, Y:-18.28, Z:-0.22 [[ 9.53706128e-01 -3.00732458e-01 2.14704299e-03 6.98465580e+01] [ 3.00731459e-01 9.53708540e-01 7.81508418e-04 -1.82753382e+01] [-2.28267818e-03 -9.96459985e-05 9.99997390e-01 -2.21626389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:-18.27, Z:-0.22 [[ 9.52497523e-01 -3.04538668e-01 2.16059506e-03 6.98735570e+01] [ 3.04537768e-01 9.52499972e-01 7.42049397e-04 -1.82695426e+01] [-2.28394947e-03 -4.88174165e-05 9.99997391e-01 -2.19889248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:69.90, Y:-18.26, Z:-0.22 [[ 9.51641311e-01 -3.07203755e-01 2.16052951e-03 6.99003737e+01] [ 3.07202861e-01 9.51643763e-01 7.42240216e-04 -1.82604931e+01] [-2.28407341e-03 -4.26256068e-05 9.99997391e-01 -2.21695330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:69.93, Y:-18.25, Z:-0.22 [[ 9.51116127e-01 -3.08825915e-01 2.16031977e-03 6.99266318e+01] [ 3.08825024e-01 9.51118580e-01 7.42850154e-04 -1.82513433e+01] [-2.28413165e-03 -3.93759552e-05 9.99997391e-01 -2.21100900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:69.95, Y:-18.24, Z:-0.22 [[ 9.48788035e-01 -3.15905996e-01 2.16025505e-03 6.99451368e+01] [ 3.15905123e-01 9.48790494e-01 7.43038313e-04 -1.82361209e+01] [-2.28435972e-03 -2.25502214e-05 9.99997391e-01 -2.22564724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:-18.23, Z:-0.21 [[ 9.50357490e-01 -3.11152745e-01 2.14712968e-03 6.99796173e+01] [ 3.11151773e-01 9.50359913e-01 7.81128456e-04 -1.82298429e+01] [-2.28359623e-03 -7.42680740e-05 9.99997390e-01 -2.14496883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:70.01, Y:-18.22, Z:-0.22 [[ 9.50030490e-01 -3.12149645e-01 2.16023899e-03 7.00058624e+01] [ 3.12148762e-01 9.50032946e-01 7.43014473e-04 -1.82186242e+01] [-2.28422991e-03 -3.15704786e-05 9.99997391e-01 -2.16883866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:70.03, Y:-18.21, Z:-0.22 [[ 9.50094140e-01 -3.11955862e-01 2.16002432e-03 7.00314072e+01] [ 3.11954978e-01 9.50096594e-01 7.43638002e-04 -1.82071637e+01] [-2.28421399e-03 -3.26957673e-05 9.99997391e-01 -2.15227994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:70.06, Y:-18.20, Z:-0.21 [[ 9.50381352e-01 -3.11079766e-01 2.15992500e-03 7.00567799e+01] [ 3.11078879e-01 9.50383806e-01 7.43926366e-04 -1.81977479e+01] [-2.28417818e-03 -3.51066973e-05 9.99997391e-01 -2.14684727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:70.08, Y:-18.19, Z:-0.22 [[ 9.50848758e-01 -3.09648148e-01 2.15983319e-03 7.00828355e+01] [ 3.09647256e-01 9.50851210e-01 7.44192828e-04 -1.81872777e+01] [-2.28411793e-03 -3.88284054e-05 9.99997391e-01 -2.16368740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:70.11, Y:-18.18, Z:-0.22 [[ 9.51227899e-01 -3.08481474e-01 2.15962391e-03 7.01090627e+01] [ 3.08480578e-01 9.51230350e-01 7.44799666e-04 -1.81771608e+01] [-2.28405670e-03 -4.22721905e-05 9.99997391e-01 -2.17092947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:70.14, Y:-18.17, Z:-0.22 [[ 9.51516326e-01 -3.07590666e-01 2.15941218e-03 7.01363102e+01] [ 3.07589766e-01 9.51518776e-01 7.45413027e-04 -1.81660752e+01] [-2.28400332e-03 -4.50595778e-05 9.99997391e-01 -2.17804809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.2 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:70.16, Y:-18.15, Z:-0.22 [[ 9.51992964e-01 -3.06112291e-01 2.15922755e-03 7.01616747e+01] [ 3.06111386e-01 9.51995411e-01 7.45947450e-04 -1.81541116e+01] [-2.28391841e-03 -4.91725835e-05 9.99997391e-01 -2.22012669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:70.19, Y:-18.14, Z:-0.22 [[ 9.51930328e-01 -3.06307017e-01 2.15916233e-03 7.01881993e+01] [ 3.06306112e-01 9.51932775e-01 7.46136189e-04 -1.81438957e+01] [-2.28392414e-03 -4.89050481e-05 9.99997391e-01 -2.20142496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:-18.13, Z:-0.22 [[ 9.51813560e-01 -3.06669669e-01 2.15894720e-03 7.02135248e+01] [ 3.06668763e-01 9.51816007e-01 7.46758163e-04 -1.81346966e+01] [-2.28392858e-03 -4.86928791e-05 9.99997391e-01 -2.18629573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:70.24, Y:-18.13, Z:-0.22 [[ 9.50630329e-01 -3.10318091e-01 2.15880131e-03 7.02406549e+01] [ 3.10317194e-01 9.50632779e-01 7.47179667e-04 -1.81256818e+01] [-2.28409066e-03 -4.03784872e-05 9.99997391e-01 -2.20826672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:70.27, Y:-18.12, Z:-0.22 [[ 9.49916453e-01 -3.12496516e-01 2.15860102e-03 7.02672611e+01] [ 3.12495623e-01 9.49918905e-01 7.47757857e-04 -1.81172331e+01] [-2.28416764e-03 -3.57541192e-05 9.99997391e-01 -2.20778264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:70.29, Y:-18.11, Z:-0.22 [[ 9.49038926e-01 -3.15151484e-01 2.15850125e-03 7.02941220e+01] [ 3.15150598e-01 9.49041380e-01 7.48045760e-04 -1.81082248e+01] [-2.28425473e-03 -2.96715866e-05 9.99997391e-01 -2.19674779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:-18.09, Z:-0.22 [[ 9.44900212e-01 -3.27351387e-01 2.15843575e-03 7.03113157e+01] [ 3.27350532e-01 9.44902677e-01 7.48234688e-04 -1.80942770e+01] [-2.28444738e-03 -4.42022493e-07 9.99997391e-01 -2.22929222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:70.35, Y:-18.09, Z:-0.22 [[ 9.46029932e-01 -3.24072188e-01 2.14107147e-03 7.03485741e+01] [ 3.24071211e-01 9.46032353e-01 7.98195794e-04 -1.80904073e+01] [-2.28419594e-03 -6.12574889e-05 9.99997389e-01 -2.20121696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:70.37, Y:-18.08, Z:-0.22 [[ 9.41453373e-01 -3.37136304e-01 2.15833243e-03 7.03651033e+01] [ 3.37135474e-01 9.41455847e-01 7.48417599e-04 -1.80765769e+01] [-2.28429343e-03 2.30501534e-05 9.99997391e-01 -2.24655359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:70.39, Y:-18.07, Z:-0.22 [[ 9.40897993e-01 -3.38683306e-01 2.14131277e-03 7.03939631e+01] [ 3.38682368e-01 9.40900429e-01 7.97496446e-04 -1.80693100e+01] [-2.28486084e-03 -2.51379236e-05 9.99997389e-01 -2.22595267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.5 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:70.43, Y:-18.07, Z:-0.22 [[ 9.42103927e-01 -3.35314173e-01 2.14374489e-03 7.04298015e+01] [ 3.35313243e-01 9.42106366e-01 7.90481999e-04 -1.80661403e+01] [-2.28469553e-03 -2.58901456e-05 9.99997390e-01 -2.15363098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:70.45, Y:-18.05, Z:-0.22 [[ 9.38778692e-01 -3.44514017e-01 2.15874169e-03 7.04478508e+01] [ 3.44513209e-01 9.38781173e-01 7.47151845e-04 -1.80524802e+01] [-2.28399034e-03 4.23047944e-05 9.99997391e-01 -2.21584764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:-18.04, Z:-0.22 [[ 9.38142992e-01 -3.46241444e-01 2.14235158e-03 7.04752207e+01] [ 3.46240533e-01 9.38145438e-01 7.94408368e-04 -1.80440048e+01] [-2.28489446e-03 -3.49969012e-06 9.99997390e-01 -2.20599436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:70.51, Y:-18.04, Z:-0.22 [[ 9.40003336e-01 -3.41158513e-01 2.14413802e-03 7.05107974e+01] [ 3.41157600e-01 9.40005781e-01 7.89259390e-04 -1.80391444e+01] [-2.28476470e-03 -1.04174770e-05 9.99997390e-01 -2.18523097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:70.53, Y:-18.03, Z:-0.23 [[ 9.38100387e-01 -3.46356760e-01 2.15854433e-03 7.05313085e+01] [ 3.46355956e-01 9.38102869e-01 7.47667867e-04 -1.80254870e+01] [-2.28389645e-03 4.62371692e-05 9.99997391e-01 -2.26659355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-18.02, Z:-0.22 [[ 9.38292372e-01 -3.45836396e-01 2.14748957e-03 7.05589012e+01] [ 3.45835518e-01 9.38294829e-01 7.79524250e-04 -1.80165063e+01] [-2.28456622e-03 1.12565115e-05 9.99997390e-01 -2.24323304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:70.59, Y:-18.01, Z:-0.22 [[ 9.39875155e-01 -3.41511465e-01 2.14775533e-03 7.05920296e+01] [ 3.41510577e-01 9.39877609e-01 7.78758365e-04 -1.80116623e+01] [-2.28458205e-03 1.54552227e-06 9.99997390e-01 -2.20784914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:70.62, Y:-18.00, Z:-0.22 [[ 9.39520304e-01 -3.42486407e-01 2.15844456e-03 7.06199194e+01] [ 3.42485592e-01 9.39522783e-01 7.47909560e-04 -1.80031299e+01] [-2.28405670e-03 3.65599456e-05 9.99997391e-01 -2.20373702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:70.65, Y:-17.99, Z:-0.22 [[ 9.39268890e-01 -3.43175310e-01 2.15826211e-03 7.06464319e+01] [ 3.43174496e-01 9.39271369e-01 7.48435692e-04 -1.79943863e+01] [-2.28403846e-03 3.76781504e-05 9.99997391e-01 -2.21415689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:70.67, Y:-17.98, Z:-0.23 [[ 9.37696190e-01 -3.47449562e-01 2.15804953e-03 7.06688736e+01] [ 3.47448758e-01 9.37698672e-01 7.49048140e-04 -1.79821581e+01] [-2.28385663e-03 4.74320434e-05 9.99997391e-01 -2.25166308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.8 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:70.70, Y:-17.98, Z:-0.22 [[ 9.39202592e-01 -3.43356770e-01 2.14924050e-03 7.07004730e+01] [ 3.43355897e-01 9.39205051e-01 7.74377525e-04 -1.79758500e+01] [-2.28446530e-03 1.06570193e-05 9.99997391e-01 -2.19393815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:70.73, Y:-17.97, Z:-0.22 [[ 9.39403878e-01 -3.42805627e-01 2.15783398e-03 7.07272370e+01] [ 3.42804809e-01 9.39406356e-01 7.49641278e-04 -1.79664333e+01] [-2.28406420e-03 3.54999429e-05 9.99997391e-01 -2.17864397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:70.75, Y:-17.96, Z:-0.22 [[ 9.39816302e-01 -3.41673327e-01 2.15776876e-03 7.07546824e+01] [ 3.41672506e-01 9.39818779e-01 7.49828970e-04 -1.79569278e+01] [-2.28410816e-03 3.25487694e-05 9.99997391e-01 -2.15431977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:70.78, Y:-17.95, Z:-0.22 [[ 9.40035163e-01 -3.41070722e-01 2.15758354e-03 7.07803396e+01] [ 3.41069898e-01 9.40037638e-01 7.50361547e-04 -1.79479879e+01] [-2.28413609e-03 3.05205593e-05 9.99997391e-01 -2.16597054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:70.81, Y:-17.94, Z:-0.22 [[ 9.40924786e-01 -3.38608759e-01 2.15749168e-03 7.08076390e+01] [ 3.38607928e-01 9.40927259e-01 7.50625587e-04 -1.79373777e+01] [-2.28421113e-03 2.42615662e-05 9.99997391e-01 -2.15036276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:-17.93, Z:-0.21 [[ 9.41752849e-01 -3.36298852e-01 2.15730909e-03 7.08346987e+01] [ 3.36298013e-01 9.41755320e-01 7.51149975e-04 -1.79269288e+01] [-2.28426819e-03 1.81011318e-05 9.99997391e-01 -2.12318818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:70.86, Y:-17.92, Z:-0.22 [[ 9.42262333e-01 -3.34868695e-01 2.15712544e-03 7.08606916e+01] [ 3.34867851e-01 9.42264802e-01 7.51676999e-04 -1.79169027e+01] [-2.28429647e-03 1.40750388e-05 9.99997391e-01 -2.15229543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00999999999999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:70.89, Y:-17.91, Z:-0.22 [[ 9.43143187e-01 -3.32379717e-01 2.15691676e-03 7.08862099e+01] [ 3.32378866e-01 9.43145653e-01 7.52275342e-04 -1.79070135e+01] [-2.28432773e-03 7.41018150e-06 9.99997391e-01 -2.16080805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:70.91, Y:-17.90, Z:-0.21 [[ 9.44927431e-01 -3.27272820e-01 2.15677487e-03 7.09124071e+01] [ 3.27271954e-01 9.44929892e-01 7.52681914e-04 -1.78959438e+01] [-2.28433338e-03 -5.37786038e-06 9.99997391e-01 -2.14249967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:70.94, Y:-17.89, Z:-0.21 [[ 9.45759848e-01 -3.24859445e-01 2.15656074e-03 7.09374125e+01] [ 3.24858572e-01 9.45762307e-01 7.53294922e-04 -1.78865826e+01] [-2.28430883e-03 -1.18588494e-05 9.99997391e-01 -2.14925051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:-17.88, Z:-0.21 [[ 9.47390054e-01 -3.20074109e-01 2.15646777e-03 7.09630907e+01] [ 3.20073223e-01 9.47392508e-01 7.53560970e-04 -1.78765772e+01] [-2.28421677e-03 -2.36885777e-05 9.99997391e-01 -2.13332195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:70.99, Y:-17.87, Z:-0.22 [[ 9.47541621e-01 -3.19625135e-01 2.15640221e-03 7.09902056e+01] [ 3.19624247e-01 9.47544074e-01 7.53748543e-04 -1.78660837e+01] [-2.28420311e-03 -2.49696834e-05 9.99997391e-01 -2.17506690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:-17.85, Z:-0.22 [[ 9.46761702e-01 -3.21927989e-01 2.15622067e-03 7.10117789e+01] [ 3.21927106e-01 9.46764157e-01 7.54267502e-04 -1.78530722e+01] [-2.28425227e-03 -1.99657022e-05 9.99997391e-01 -2.20306716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:71.04, Y:-17.85, Z:-0.22 [[ 9.48745894e-01 -3.16032621e-01 2.14722993e-03 7.10438418e+01] [ 3.16031664e-01 9.48748322e-01 7.79935275e-04 -1.78459383e+01] [-2.28366578e-03 -6.13677408e-05 9.99997391e-01 -2.15780944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:71.07, Y:-17.84, Z:-0.22 [[ 9.48824376e-01 -3.15796856e-01 2.15603741e-03 7.10706179e+01] [ 3.15795956e-01 9.48826825e-01 7.54776512e-04 -1.78362907e+01] [-2.28406218e-03 -3.52824596e-05 9.99997391e-01 -2.17267071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:71.10, Y:-17.83, Z:-0.21 [[ 9.49056689e-01 -3.15098007e-01 2.15582157e-03 7.10979055e+01] [ 3.15097104e-01 9.49059137e-01 7.55392502e-04 -1.78264923e+01] [-2.28402483e-03 -3.76171750e-05 9.99997391e-01 -2.14850018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:71.12, Y:-17.82, Z:-0.22 [[ 9.48874616e-01 -3.15645871e-01 2.15563229e-03 7.11248257e+01] [ 3.15644968e-01 9.48877064e-01 7.55932233e-04 -1.78168619e+01] [-2.28403693e-03 -3.68704217e-05 9.99997391e-01 -2.15596758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:71.15, Y:-17.81, Z:-0.22 [[ 9.48644561e-01 -3.16336612e-01 2.15541653e-03 7.11517486e+01] [ 3.16335709e-01 9.48647008e-01 7.56546961e-04 -1.78069109e+01] [-2.28405294e-03 -3.58589442e-05 9.99997391e-01 -2.15597348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:71.17, Y:-17.79, Z:-0.22 [[ 9.46730775e-01 -3.22018934e-01 2.15522774e-03 7.11734276e+01] [ 3.22018045e-01 9.46733228e-01 7.57084388e-04 -1.77945355e+01] [-2.28422122e-03 -2.27328664e-05 9.99997391e-01 -2.20635307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36999999999999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:71.20, Y:-17.79, Z:-0.22 [[ 9.46237492e-01 -3.23465605e-01 2.14716317e-03 7.11998772e+01] [ 3.23464668e-01 9.46239927e-01 7.80000518e-04 -1.77851837e+01] [-2.28403487e-03 -4.35343117e-05 9.99997391e-01 -2.22922477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:71.23, Y:-17.78, Z:-0.22 [[ 9.47184443e-01 -3.20682116e-01 2.14730518e-03 7.12312468e+01] [ 3.20681172e-01 9.47186876e-01 7.79597200e-04 -1.77790097e+01] [-2.28390216e-03 -4.98219981e-05 9.99997391e-01 -2.17962151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:71.26, Y:-17.77, Z:-0.22 [[ 9.46121464e-01 -3.23804773e-01 2.15490582e-03 7.12587988e+01] [ 3.23803887e-01 9.46123918e-01 7.57989166e-04 -1.77713101e+01] [-2.28424844e-03 -1.93829405e-05 9.99997391e-01 -2.19436745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.28, Y:-17.76, Z:-0.22 [[ 9.44408239e-01 -3.28768058e-01 2.15472116e-03 7.12821404e+01] [ 3.28767183e-01 9.44410697e-01 7.58513736e-04 -1.77596874e+01] [-2.28431680e-03 -7.94501781e-06 9.99997391e-01 -2.22233850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:71.31, Y:-17.75, Z:-0.22 [[ 9.43789246e-01 -3.30540841e-01 2.14746783e-03 7.13093627e+01] [ 3.30539924e-01 9.43791689e-01 7.79116169e-04 -1.77516057e+01] [-2.28429201e-03 -2.54976080e-05 9.99997391e-01 -2.20876475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.34, Y:-17.75, Z:-0.22 [[ 9.44498483e-01 -3.28508757e-01 2.14771755e-03 7.13394484e+01] [ 3.28507836e-01 9.44500924e-01 7.78407088e-04 -1.77450376e+01] [-2.28423476e-03 -2.96622690e-05 9.99997391e-01 -2.17288231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:71.37, Y:-17.74, Z:-0.22 [[ 9.43944059e-01 -3.30098427e-01 2.15473176e-03 7.13664126e+01] [ 3.30097555e-01 9.43946518e-01 7.58480744e-04 -1.77362295e+01] [-2.28432485e-03 -4.69170404e-06 9.99997391e-01 -2.18787251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:71.39, Y:-17.73, Z:-0.22 [[ 9.43174487e-01 -3.32290906e-01 2.15451966e-03 7.13936289e+01] [ 3.32290039e-01 9.43176947e-01 7.59082768e-04 -1.77276994e+01] [-2.28432957e-03 -2.20789948e-08 9.99997391e-01 -2.19723947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:71.42, Y:-17.72, Z:-0.22 [[ 9.43082371e-01 -3.32552254e-01 2.15430831e-03 7.14205792e+01] [ 3.32551386e-01 9.43084831e-01 7.59682120e-04 -1.77181131e+01] [-2.28432949e-03 -2.46017018e-08 9.99997391e-01 -2.19789006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:71.45, Y:-17.71, Z:-0.22 [[ 9.42710997e-01 -3.33603560e-01 2.15409763e-03 7.14469105e+01] [ 3.33602694e-01 9.42713459e-01 7.60279035e-04 -1.77094039e+01] [-2.28432862e-03 1.88936315e-06 9.99997391e-01 -2.19030406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:71.47, Y:-17.70, Z:-0.22 [[ 9.41437106e-01 -3.37181756e-01 2.15388301e-03 7.14708826e+01] [ 3.37180898e-01 9.41439570e-01 7.60886555e-04 -1.76987584e+01] [-2.28430776e-03 9.92137118e-06 9.99997391e-01 -2.19431280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.7 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:71.49, Y:-17.69, Z:-0.22 [[ 9.40571602e-01 -3.39588647e-01 2.14784504e-03 7.14941231e+01] [ 3.39587756e-01 9.40574054e-01 7.77965290e-04 -1.76902882e+01] [-2.28439550e-03 -2.35018067e-06 9.99997391e-01 -2.23001908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:-17.68, Z:-0.22 [[ 9.41167588e-01 -3.37933394e-01 2.14294478e-03 7.15239663e+01] [ 3.37932467e-01 9.41170028e-01 7.91829182e-04 -1.76823233e+01] [-2.28446092e-03 -2.10733466e-05 9.99997390e-01 -2.16884798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-17.68, Z:-0.21 [[ 9.42159995e-01 -3.35156579e-01 2.14726521e-03 7.15547549e+01] [ 3.35155672e-01 9.42162442e-01 7.79602741e-04 -1.76764865e+01] [-2.28436162e-03 -1.48423992e-05 9.99997391e-01 -2.12013574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:71.58, Y:-17.67, Z:-0.21 [[ 9.41898740e-01 -3.35890047e-01 2.15395031e-03 7.15801676e+01] [ 3.35889186e-01 9.41901203e-01 7.60672957e-04 -1.76685361e+01] [-2.28431086e-03 7.01171579e-06 9.99997391e-01 -2.13606453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:71.61, Y:-17.66, Z:-0.21 [[ 9.41896748e-01 -3.35895634e-01 2.15385768e-03 7.16063404e+01] [ 3.35894772e-01 9.41899211e-01 7.60935152e-04 -1.76600757e+01] [-2.28431164e-03 6.74718939e-06 9.99997391e-01 -2.12365113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:71.63, Y:-17.65, Z:-0.22 [[ 9.40601791e-01 -3.39504982e-01 2.15379189e-03 7.16284951e+01] [ 3.39504129e-01 9.40604256e-01 7.61121338e-04 -1.76485389e+01] [-2.28427030e-03 1.53091453e-05 9.99997391e-01 -2.16787272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:-17.64, Z:-0.21 [[ 9.42137263e-01 -3.35220486e-01 2.14569807e-03 7.16593210e+01] [ 3.35219570e-01 9.42139706e-01 7.83987055e-04 -1.76413067e+01] [-2.28435587e-03 -1.93434310e-05 9.99997391e-01 -2.10406042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:71.69, Y:-17.63, Z:-0.21 [[ 9.42200883e-01 -3.35041577e-01 2.15347377e-03 7.16854755e+01] [ 3.35040711e-01 9.42203344e-01 7.62012668e-04 -1.76321117e+01] [-2.28431612e-03 3.53237436e-06 9.99997391e-01 -2.14271907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:71.71, Y:-17.62, Z:-0.21 [[ 9.42278356e-01 -3.34823630e-01 2.15325894e-03 7.17116949e+01] [ 3.34822762e-01 9.42280816e-01 7.62619265e-04 -1.76227245e+01] [-2.28431754e-03 2.36047611e-06 9.99997391e-01 -2.14806153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:71.74, Y:-17.61, Z:-0.22 [[ 9.42234668e-01 -3.34946555e-01 2.15304539e-03 7.17375234e+01] [ 3.34945686e-01 9.42237128e-01 7.63221680e-04 -1.76134119e+01] [-2.28431778e-03 2.01933724e-06 9.99997391e-01 -2.15117527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.0 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:71.76, Y:-17.60, Z:-0.21 [[ 9.42060511e-01 -3.35436072e-01 2.15295273e-03 7.17639956e+01] [ 3.35435204e-01 9.42062971e-01 7.63482964e-04 -1.76037228e+01] [-2.28431677e-03 2.92898695e-06 9.99997391e-01 -2.14039159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:71.79, Y:-17.59, Z:-0.21 [[ 9.41600371e-01 -3.36725565e-01 2.15273553e-03 7.17890446e+01] [ 3.36724698e-01 9.41602832e-01 7.64094885e-04 -1.75943949e+01] [-2.28431216e-03 5.40719585e-06 9.99997391e-01 -2.13422020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:71.81, Y:-17.58, Z:-0.21 [[ 9.41034408e-01 -3.38304018e-01 2.15258826e-03 7.18138743e+01] [ 3.38303154e-01 9.41036870e-01 7.64509552e-04 -1.75847737e+01] [-2.28430157e-03 8.79760523e-06 9.99997391e-01 -2.13740045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:71.84, Y:-17.57, Z:-0.22 [[ 9.40702670e-01 -3.39225371e-01 2.15249504e-03 7.18400566e+01] [ 3.39224509e-01 9.40705133e-01 7.64771930e-04 -1.75747769e+01] [-2.28429318e-03 1.07560776e-05 9.99997391e-01 -2.15377420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:71.87, Y:-17.56, Z:-0.21 [[ 9.40407558e-01 -3.40042633e-01 2.15228361e-03 7.18664561e+01] [ 3.40041772e-01 9.40410021e-01 7.65366480e-04 -1.75646120e+01] [-2.28428631e-03 1.21099112e-05 9.99997391e-01 -2.14417379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14999999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:71.89, Y:-17.55, Z:-0.22 [[ 9.40060531e-01 -3.41000831e-01 2.15206901e-03 7.18927923e+01] [ 3.40999971e-01 9.40062994e-01 7.65969428e-04 -1.75547267e+01] [-2.28427665e-03 1.37978426e-05 9.99997391e-01 -2.15668860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-17.54, Z:-0.21 [[ 9.39601562e-01 -3.42263457e-01 2.15185205e-03 7.19197871e+01] [ 3.42262599e-01 9.39604026e-01 7.66578467e-04 -1.75440521e+01] [-2.28426064e-03 1.62201493e-05 9.99997391e-01 -2.12740488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:71.95, Y:-17.53, Z:-0.22 [[ 9.39114433e-01 -3.43597807e-01 2.15166054e-03 7.19461097e+01] [ 3.43596951e-01 9.39116897e-01 7.67115615e-04 -1.75347872e+01] [-2.28424002e-03 1.88946571e-05 9.99997391e-01 -2.15141316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:71.97, Y:-17.52, Z:-0.21 [[ 9.38983853e-01 -3.43954495e-01 2.15144112e-03 7.19732508e+01] [ 3.43953639e-01 9.38986318e-01 7.67730507e-04 -1.75246762e+01] [-2.28423813e-03 1.91094537e-05 9.99997391e-01 -2.14474688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:72.00, Y:-17.51, Z:-0.21 [[ 9.39302977e-01 -3.43082045e-01 2.15125050e-03 7.19989141e+01] [ 3.43081186e-01 9.39305440e-01 7.68264277e-04 -1.75148820e+01] [-2.28425898e-03 1.64206489e-05 9.99997391e-01 -2.13599106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.3 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:72.03, Y:-17.50, Z:-0.21 [[ 9.39699734e-01 -3.41993834e-01 2.15118306e-03 7.20251721e+01] [ 3.41992971e-01 9.39702196e-01 7.68453075e-04 -1.75044242e+01] [-2.28427765e-03 1.35743338e-05 9.99997391e-01 -2.14147682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:72.05, Y:-17.49, Z:-0.22 [[ 9.41212351e-01 -3.37808649e-01 2.15096627e-03 7.20509778e+01] [ 3.37807773e-01 9.41214809e-01 7.69059405e-04 -1.74925875e+01] [-2.28431622e-03 2.76491451e-06 9.99997391e-01 -2.16952157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:72.08, Y:-17.48, Z:-0.22 [[ 9.42178472e-01 -3.35104611e-01 2.15089897e-03 7.20772668e+01] [ 3.35103728e-01 9.42180927e-01 7.69247577e-04 -1.74818739e+01] [-2.28431440e-03 -3.99424274e-06 9.99997391e-01 -2.17011628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:72.10, Y:-17.47, Z:-0.22 [[ 9.44140341e-01 -3.29536632e-01 2.15068059e-03 7.21028184e+01] [ 3.29535733e-01 9.44142790e-01 7.69857648e-04 -1.74708501e+01] [-2.28424587e-03 -1.81275570e-05 9.99997391e-01 -2.19042955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:72.13, Y:-17.46, Z:-0.22 [[ 9.44848210e-01 -3.27501502e-01 2.15061286e-03 7.21291518e+01] [ 3.27500598e-01 9.44850658e-01 7.70046807e-04 -1.74609967e+01] [-2.28419946e-03 -2.32503505e-05 9.99997391e-01 -2.20594922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:72.16, Y:-17.45, Z:-0.22 [[ 9.45320151e-01 -3.26136761e-01 2.15054706e-03 7.21558662e+01] [ 3.26135853e-01 9.45322597e-01 7.70230527e-04 -1.74508222e+01] [-2.28416122e-03 -2.67439400e-05 9.99997391e-01 -2.21003284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:72.18, Y:-17.44, Z:-0.22 [[ 9.46280621e-01 -3.23339392e-01 2.15036016e-03 7.21821587e+01] [ 3.23338475e-01 9.46283063e-01 7.70751958e-04 -1.74409553e+01] [-2.28406387e-03 -3.40534645e-05 9.99997391e-01 -2.19787669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50999999999999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:72.21, Y:-17.43, Z:-0.22 [[ 9.46518467e-01 -3.22642477e-01 2.15014060e-03 7.22073669e+01] [ 3.22641557e-01 9.46520909e-01 7.71363972e-04 -1.74316846e+01] [-2.28402782e-03 -3.63855332e-05 9.99997391e-01 -2.20056515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:72.23, Y:-17.42, Z:-0.22 [[ 9.46715466e-01 -3.22063976e-01 2.15004519e-03 7.22347608e+01] [ 3.22063054e-01 9.46717906e-01 7.71629833e-04 -1.74219078e+01] [-2.28400045e-03 -3.80637775e-05 9.99997391e-01 -2.18904710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:72.26, Y:-17.41, Z:-0.22 [[ 9.46541436e-01 -3.22575088e-01 2.14985373e-03 7.22624175e+01] [ 3.22574166e-01 9.46543877e-01 7.72162898e-04 -1.74125546e+01] [-2.28401140e-03 -3.73969061e-05 9.99997391e-01 -2.17348701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:-17.40, Z:-0.22 [[ 9.44562385e-01 -3.28324960e-01 2.14966144e-03 7.22829879e+01] [ 3.28324051e-01 9.44564831e-01 7.72697843e-04 -1.74010398e+01] [-2.28419058e-03 -2.40757652e-05 9.99997391e-01 -2.17324460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:72.32, Y:-17.40, Z:-0.21 [[ 9.45701326e-01 -3.25029890e-01 2.13850094e-03 7.23155484e+01] [ 3.25028903e-01 9.45703741e-01 8.03682543e-04 -1.73954489e+01] [-2.28360919e-03 -6.49690299e-05 9.99997390e-01 -2.13305138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:72.34, Y:-17.39, Z:-0.21 [[ 9.45087839e-01 -3.26809357e-01 2.14944819e-03 7.23416483e+01] [ 3.26808443e-01 9.45090283e-01 7.73251926e-04 -1.73862968e+01] [-2.28412856e-03 -2.83331750e-05 9.99997391e-01 -2.13549386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:72.37, Y:-17.38, Z:-0.21 [[ 9.44361302e-01 -3.28902893e-01 2.14922868e-03 7.23671515e+01] [ 3.28901983e-01 9.44363747e-01 7.73861568e-04 -1.73781959e+01] [-2.28417896e-03 -2.39193425e-05 9.99997391e-01 -2.13290743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:72.39, Y:-17.37, Z:-0.21 [[ 9.43752750e-01 -3.30645025e-01 2.14823589e-03 7.23948751e+01] [ 3.30644113e-01 9.43755194e-01 7.76617068e-04 -1.73687574e+01] [-2.28419335e-03 -2.26329403e-05 9.99997391e-01 -2.13103177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:72.42, Y:-17.36, Z:-0.21 [[ 9.43298462e-01 -3.31938831e-01 2.15053596e-03 7.24215816e+01] [ 3.31937937e-01 9.43300913e-01 7.70236670e-04 -1.73592931e+01] [-2.28427399e-03 -1.27185964e-05 9.99997391e-01 -2.14669272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:-17.35, Z:-0.21 [[ 9.42999599e-01 -3.32786927e-01 2.14870721e-03 7.24476420e+01] [ 3.32786025e-01 9.43002047e-01 7.75304915e-04 -1.73500289e+01] [-2.28424664e-03 -1.60524932e-05 9.99997391e-01 -2.11964644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:72.47, Y:-17.34, Z:-0.22 [[ 9.41537587e-01 -3.36901108e-01 2.14848507e-03 7.24745068e+01] [ 3.36900215e-01 9.41540038e-01 7.75920025e-04 -1.73412363e+01] [-2.28429303e-03 -6.73278831e-06 9.99997391e-01 -2.18693216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:72.50, Y:-17.33, Z:-0.22 [[ 9.40705361e-01 -3.39217935e-01 2.14841640e-03 7.25012694e+01] [ 3.39217047e-01 9.40707815e-01 7.76110110e-04 -1.73322430e+01] [-2.28430256e-03 -1.31147430e-06 9.99997391e-01 -2.18121912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:72.53, Y:-17.32, Z:-0.22 [[ 9.38941183e-01 -3.44070980e-01 2.14819902e-03 7.25275521e+01] [ 3.44070103e-01 9.38943641e-01 7.76711317e-04 -1.73243636e+01] [-2.28428164e-03 9.84481642e-06 9.99997391e-01 -2.18839303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:-17.31, Z:-0.22 [[ 9.35976199e-01 -3.52056729e-01 2.14813180e-03 7.25459145e+01] [ 3.52055873e-01 9.35978663e-01 7.76897183e-04 -1.73116597e+01] [-2.28411741e-03 2.91051456e-05 9.99997391e-01 -2.19888287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92999999999999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:72.58, Y:-17.31, Z:-0.22 [[ 9.36715460e-01 -3.50085127e-01 2.13311681e-03 7.25813953e+01] [ 3.50084171e-01 9.36717889e-01 8.18319312e-04 -1.73067149e+01] [-2.28461009e-03 -1.97619220e-05 9.99997390e-01 -2.16693340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:-17.30, Z:-0.21 [[ 9.34728247e-01 -3.55356850e-01 2.14796155e-03 7.26091811e+01] [ 3.55356002e-01 9.34730714e-01 7.77297793e-04 -1.72973419e+01] [-2.28398373e-03 3.67288255e-05 9.99997391e-01 -2.11112366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:72.64, Y:-17.29, Z:-0.21 [[ 9.33473403e-01 -3.58640201e-01 2.14776746e-03 7.26350229e+01] [ 3.58639360e-01 9.33475872e-01 7.77833722e-04 -1.72884173e+01] [-2.28385155e-03 4.41868568e-05 9.99997391e-01 -2.12683926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:-17.28, Z:-0.21 [[ 9.32607674e-01 -3.60885458e-01 2.14767142e-03 7.26623965e+01] [ 3.60884623e-01 9.32610146e-01 7.78098794e-04 -1.72783772e+01] [-2.28374470e-03 4.94006847e-05 9.99997391e-01 -2.10611670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:72.69, Y:-17.27, Z:-0.21 [[ 9.31139352e-01 -3.64657231e-01 2.14747797e-03 7.26889729e+01] [ 3.64656404e-01 9.31141826e-01 7.78632351e-04 -1.72689900e+01] [-2.28354047e-03 5.80763716e-05 9.99997391e-01 -2.11085322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:-17.26, Z:-0.21 [[ 9.30686146e-01 -3.65812366e-01 2.14740947e-03 7.27156910e+01] [ 3.65811542e-01 9.30688621e-01 7.78821228e-04 -1.72589307e+01] [-2.28347199e-03 6.07090408e-05 9.99997391e-01 -2.10354898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:72.74, Y:-17.25, Z:-0.21 [[ 9.30206650e-01 -3.67029942e-01 2.14719249e-03 7.27417525e+01] [ 3.67029120e-01 9.30209126e-01 7.79418958e-04 -1.72486863e+01] [-2.28340815e-03 6.30614734e-05 9.99997391e-01 -2.12618776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:-17.23, Z:-0.22 [[ 9.28864035e-01 -3.70414625e-01 2.14697302e-03 7.27617945e+01] [ 3.70413811e-01 9.28866514e-01 7.80023051e-04 -1.72343130e+01] [-2.28318329e-03 7.07330982e-05 9.99997391e-01 -2.15518272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:-17.23, Z:-0.21 [[ 9.31094473e-01 -3.64771874e-01 2.13575292e-03 7.27943797e+01] [ 3.64770974e-01 9.31096923e-01 8.10845421e-04 -1.72269026e+01] [-2.28436657e-03 2.40869817e-05 9.99997391e-01 -2.11595980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.2 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.81, Y:-17.21, Z:-0.22 [[ 9.30699938e-01 -3.65777277e-01 2.14680299e-03 7.28139647e+01] [ 3.65776449e-01 9.30702412e-01 7.80449707e-04 -1.72118669e+01] [-2.28350549e-03 5.88854801e-05 9.99997391e-01 -2.17813915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.84, Y:-17.20, Z:-0.22 [[ 9.31807342e-01 -3.62946980e-01 2.13712527e-03 7.28391050e+01] [ 3.62946084e-01 9.31809792e-01 8.07096827e-04 -1.72015795e+01] [-2.28432761e-03 2.36024975e-05 9.99997391e-01 -2.16999445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:72.87, Y:-17.19, Z:-0.22 [[ 9.32811608e-01 -3.60358073e-01 2.13587912e-03 7.28668878e+01] [ 3.60357162e-01 9.32814054e-01 8.10527268e-04 -1.71915173e+01] [-2.28445811e-03 1.36100951e-05 9.99997391e-01 -2.15338279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:72.89, Y:-17.18, Z:-0.22 [[ 9.33763454e-01 -3.57884391e-01 2.13896678e-03 7.28909842e+01] [ 3.57883493e-01 9.33765903e-01 8.02032279e-04 -1.71788687e+01] [-2.28432908e-03 1.65924726e-05 9.99997391e-01 -2.19552797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:72.92, Y:-17.17, Z:-0.22 [[ 9.35894882e-01 -3.52272918e-01 2.13559453e-03 7.29237714e+01] [ 3.52271984e-01 9.35897319e-01 8.11303411e-04 -1.71710671e+01] [-2.28449742e-03 -6.98458780e-06 9.99997391e-01 -2.16109338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:72.95, Y:-17.16, Z:-0.21 [[ 9.37040672e-01 -3.49213645e-01 2.14703099e-03 7.29493112e+01] [ 3.49212774e-01 9.37043131e-01 7.79815943e-04 -1.71594381e+01] [-2.28418301e-03 1.90513938e-05 9.99997391e-01 -2.14764312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:72.98, Y:-17.15, Z:-0.21 [[ 9.37574331e-01 -3.47778327e-01 2.14696418e-03 7.29756039e+01] [ 3.47777453e-01 9.37576789e-01 7.79999837e-04 -1.71489447e+01] [-2.28421082e-03 1.53579080e-05 9.99997391e-01 -2.13890371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:73.00, Y:-17.14, Z:-0.21 [[ 9.38104754e-01 -3.46345002e-01 2.14689842e-03 7.30020924e+01] [ 3.46344124e-01 9.38107211e-01 7.80180811e-04 -1.71381035e+01] [-2.28423261e-03 1.16743220e-05 9.99997391e-01 -2.12055768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.02, Y:-17.12, Z:-0.22 [[ 9.37275652e-01 -3.48582479e-01 2.14668009e-03 7.30219334e+01] [ 3.48581604e-01 9.37278110e-01 7.80781085e-04 -1.71245530e+01] [-2.28420286e-03 1.64860884e-05 9.99997391e-01 -2.15066269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:73.05, Y:-17.11, Z:-0.22 [[ 9.38371573e-01 -3.45621507e-01 2.13671098e-03 7.30479845e+01] [ 3.45620562e-01 9.38374005e-01 8.08184260e-04 -1.71131833e+01] [-2.28435990e-03 -1.98858859e-05 9.99997391e-01 -2.17170533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.5 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:73.08, Y:-17.10, Z:-0.21 [[ 9.41163116e-01 -3.37945883e-01 2.13744016e-03 7.30783019e+01] [ 3.37944923e-01 9.41165543e-01 8.06180715e-04 -1.71038551e+01] [-2.28413048e-03 -3.64105034e-05 9.99997391e-01 -2.12813270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:73.11, Y:-17.09, Z:-0.21 [[ 9.41070625e-01 -3.38203297e-01 2.14674663e-03 7.31051464e+01] [ 3.38202397e-01 9.41073073e-01 7.80586319e-04 -1.70939912e+01] [-2.28424232e-03 -8.55199797e-06 9.99997391e-01 -2.12890287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:73.13, Y:-17.08, Z:-0.22 [[ 9.41611475e-01 -3.36694555e-01 2.14653292e-03 7.31319342e+01] [ 3.36693649e-01 9.41613921e-01 7.81173575e-04 -1.70827057e+01] [-2.28422217e-03 -1.28380017e-05 9.99997391e-01 -2.15027940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:73.16, Y:-17.07, Z:-0.21 [[ 9.42071013e-01 -3.35406620e-01 2.14634625e-03 7.31575439e+01] [ 3.35405709e-01 9.42073457e-01 7.81686118e-04 -1.70720888e+01] [-2.28419853e-03 -1.65070449e-05 9.99997391e-01 -2.12691558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61999999999999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:73.18, Y:-17.06, Z:-0.22 [[ 9.42662280e-01 -3.33741247e-01 2.14628020e-03 7.31784552e+01] [ 3.33740332e-01 9.42664723e-01 7.81867434e-04 -1.70581569e+01] [-2.28416404e-03 -2.07366718e-05 9.99997391e-01 -2.17845133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:73.20, Y:-17.05, Z:-0.22 [[ 9.43451501e-01 -3.31503688e-01 2.13795496e-03 7.32044456e+01] [ 3.31502715e-01 9.43453922e-01 8.04716421e-04 -1.70477255e+01] [-2.28382845e-03 -5.04730415e-05 9.99997391e-01 -2.16909872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:73.23, Y:-17.04, Z:-0.22 [[ 9.45645750e-01 -3.25191553e-01 2.13747750e-03 7.32348769e+01] [ 3.25190561e-01 9.45648164e-01 8.06025925e-04 -1.70390451e+01] [-2.28341449e-03 -6.71274836e-05 9.99997391e-01 -2.17175520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:73.26, Y:-17.03, Z:-0.22 [[ 9.46013198e-01 -3.24121001e-01 2.14620320e-03 7.32607670e+01] [ 3.24120060e-01 9.46015631e-01 7.82080664e-04 -1.70290002e+01] [-2.28383054e-03 -4.42311200e-05 9.99997391e-01 -2.19341160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:73.28, Y:-17.02, Z:-0.22 [[ 9.44823265e-01 -3.27573490e-01 2.14613405e-03 7.32821522e+01] [ 3.27572558e-01 9.44825702e-01 7.82270369e-04 -1.70160162e+01] [-2.28397365e-03 -3.60926236e-05 9.99997391e-01 -2.19993897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:-17.01, Z:-0.22 [[ 9.46706422e-01 -3.22090658e-01 2.13514199e-03 7.33143203e+01] [ 3.22089644e-01 9.46708826e-01 8.12374291e-04 -1.70095130e+01] [-2.28301593e-03 -8.13728367e-05 9.99997391e-01 -2.16473417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.8 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:73.34, Y:-17.00, Z:-0.22 [[ 9.46503326e-01 -3.22686921e-01 2.14599225e-03 7.33420622e+01] [ 3.22685976e-01 9.46505757e-01 7.82622292e-04 -1.70012065e+01] [-2.28373600e-03 -4.82729995e-05 9.99997391e-01 -2.18186386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:73.37, Y:-16.99, Z:-0.22 [[ 9.46443865e-01 -3.22861281e-01 2.14579643e-03 7.33683084e+01] [ 3.22860335e-01 9.46446296e-01 7.83158827e-04 -1.69924475e+01] [-2.28373274e-03 -4.84233140e-05 9.99997391e-01 -2.17434027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:73.40, Y:-16.98, Z:-0.22 [[ 9.46320816e-01 -3.23221766e-01 2.14557375e-03 7.33950034e+01] [ 3.23220820e-01 9.46323247e-01 7.83768410e-04 -1.69838948e+01] [-2.28373733e-03 -4.82022541e-05 9.99997391e-01 -2.19092135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.42, Y:-16.97, Z:-0.21 [[ 9.46261153e-01 -3.23396394e-01 2.14550480e-03 7.34223946e+01] [ 3.23395447e-01 9.46263584e-01 7.83957119e-04 -1.69743595e+01] [-2.28374196e-03 -4.79816841e-05 9.99997391e-01 -2.14198299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:73.45, Y:-16.97, Z:-0.21 [[ 9.46076617e-01 -3.23935847e-01 2.14531089e-03 7.34486301e+01] [ 3.23934901e-01 9.46079048e-01 7.84487381e-04 -1.69658290e+01] [-2.28375727e-03 -4.72440956e-05 9.99997391e-01 -2.14849211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:73.47, Y:-16.96, Z:-0.22 [[ 9.46053010e-01 -3.24004783e-01 2.14524221e-03 7.34743848e+01] [ 3.24003837e-01 9.46055441e-01 7.84675154e-04 -1.69570568e+01] [-2.28375657e-03 -4.72775848e-05 9.99997391e-01 -2.16145157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.49, Y:-16.94, Z:-0.22 [[ 9.44373065e-01 -3.28869142e-01 2.14514784e-03 7.34925365e+01] [ 3.28868207e-01 9.44375501e-01 7.84933074e-04 -1.69439224e+01] [-2.28396533e-03 -3.57987303e-05 9.99997391e-01 -2.17962876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00999999999999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:73.53, Y:-16.94, Z:-0.21 [[ 9.46560017e-01 -3.22520696e-01 2.12965859e-03 7.35277857e+01] [ 3.22519650e-01 9.46562408e-01 8.27137035e-04 -1.69386083e+01] [-2.28262358e-03 -9.60781026e-05 9.99997390e-01 -2.14071152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03999999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:73.55, Y:-16.93, Z:-0.22 [[ 9.46680874e-01 -3.22165675e-01 2.14483823e-03 7.35542930e+01] [ 3.22164721e-01 9.46683302e-01 7.85698940e-04 -1.69288383e+01] [-2.28360777e-03 -5.28149479e-05 9.99997391e-01 -2.15183069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:73.58, Y:-16.92, Z:-0.21 [[ 9.46719416e-01 -3.22052399e-01 2.14477026e-03 7.35804351e+01] [ 3.22051445e-01 9.46721844e-01 7.85884439e-04 -1.69192072e+01] [-2.28359682e-03 -5.32856956e-05 9.99997391e-01 -2.13256544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.1 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:73.61, Y:-16.91, Z:-0.22 [[ 9.46962726e-01 -3.21336268e-01 2.14454285e-03 7.36069275e+01] [ 3.21335310e-01 9.46965152e-01 7.86504510e-04 -1.69108044e+01] [-2.28353977e-03 -5.56731116e-05 9.99997391e-01 -2.15708079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:73.63, Y:-16.90, Z:-0.22 [[ 9.46775385e-01 -3.21887823e-01 2.14447265e-03 7.36335654e+01] [ 3.21886866e-01 9.46777813e-01 7.86695878e-04 -1.69014848e+01] [-2.28356695e-03 -5.45467119e-05 9.99997391e-01 -2.16350767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:73.66, Y:-16.89, Z:-0.22 [[ 9.46504534e-01 -3.22683389e-01 2.14426233e-03 7.36610281e+01] [ 3.22682433e-01 9.46506961e-01 7.87268706e-04 -1.68928023e+01] [-2.28359776e-03 -5.32376135e-05 9.99997391e-01 -2.15099429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:73.69, Y:-16.88, Z:-0.22 [[ 9.46091970e-01 -3.23891011e-01 2.14406779e-03 7.36878328e+01] [ 3.23890057e-01 9.46094398e-01 7.87798187e-04 -1.68837679e+01] [-2.28365127e-03 -5.08873019e-05 9.99997391e-01 -2.15579817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:73.71, Y:-16.87, Z:-0.22 [[ 9.45540939e-01 -3.25496139e-01 2.14384489e-03 7.37146080e+01] [ 3.25495187e-01 9.45543368e-01 7.88404291e-04 -1.68748510e+01] [-2.28372087e-03 -4.76573396e-05 9.99997391e-01 -2.15877452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:73.74, Y:-16.87, Z:-0.22 [[ 9.44421045e-01 -3.28731341e-01 2.14361925e-03 7.37417146e+01] [ 3.28730397e-01 9.44423477e-01 7.89017324e-04 -1.68674774e+01] [-2.28385906e-03 -4.04917607e-05 9.99997391e-01 -2.15988077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:-16.86, Z:-0.21 [[ 9.43930508e-01 -3.30137245e-01 2.14354945e-03 7.37692777e+01] [ 3.30136304e-01 9.43932942e-01 7.89206899e-04 -1.68584168e+01] [-2.28391353e-03 -3.72929779e-05 9.99997391e-01 -2.13278066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:-16.85, Z:-0.21 [[ 9.42340428e-01 -3.34648957e-01 2.14335538e-03 7.37957862e+01] [ 3.34648026e-01 9.42342865e-01 7.89733600e-04 -1.68510828e+01] [-2.28405918e-03 -2.69282505e-05 9.99997391e-01 -2.13159850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:73.82, Y:-16.84, Z:-0.21 [[ 9.41214130e-01 -3.37803743e-01 2.14323386e-03 7.38231025e+01] [ 3.37802820e-01 9.41216569e-01 7.90063267e-04 -1.68426358e+01] [-2.28413355e-03 -1.96282696e-05 9.99997391e-01 -2.14137260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:-16.83, Z:-0.21 [[ 9.40474168e-01 -3.39858421e-01 2.14300749e-03 7.38500226e+01] [ 3.39857502e-01 9.40476610e-01 7.90676809e-04 -1.68337789e+01] [-2.28416659e-03 -1.52939431e-05 9.99997391e-01 -2.12640488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:73.88, Y:-16.83, Z:-0.21 [[ 9.39254059e-01 -3.43215997e-01 2.14293716e-03 7.38767512e+01] [ 3.43215086e-01 9.39256503e-01 7.90867360e-04 -1.68254247e+01] [-2.28420600e-03 -7.33701585e-06 9.99997391e-01 -2.14338201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:-16.81, Z:-0.22 [[ 9.34813632e-01 -3.55132204e-01 2.14271668e-03 7.38934786e+01] [ 3.55131323e-01 9.34816087e-01 7.91464281e-04 -1.68127071e+01] [-2.28412047e-03 2.10742081e-05 9.99997391e-01 -2.19457292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:73.93, Y:-16.81, Z:-0.21 [[ 9.36339385e-01 -3.51089798e-01 2.12378325e-03 7.39322620e+01] [ 3.51088790e-01 9.36341792e-01 8.42597166e-04 -1.68101013e+01] [-2.28441429e-03 -4.33204209e-05 9.99997390e-01 -2.14074202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:73.96, Y:-16.80, Z:-0.21 [[ 9.34235092e-01 -3.56651373e-01 2.14262835e-03 7.39591006e+01] [ 3.56650495e-01 9.34237549e-01 7.91588279e-04 -1.68036470e+01] [-2.28404491e-03 2.46399141e-05 9.99997391e-01 -2.14406200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:-16.79, Z:-0.22 [[ 9.30581416e-01 -3.66078733e-01 2.14253097e-03 7.39743731e+01] [ 3.66077880e-01 9.30583881e-01 7.91851762e-04 -1.67894027e+01] [-2.28368488e-03 4.74506618e-05 9.99997391e-01 -2.20351861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:-16.79, Z:-0.21 [[ 9.33224635e-01 -3.59287184e-01 2.12146508e-03 7.40141988e+01] [ 3.59286183e-01 9.33227046e-01 8.48725401e-04 -1.67863544e+01] [-2.28474474e-03 -2.98383630e-05 9.99997390e-01 -2.13532139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:-16.78, Z:-0.21 [[ 9.33741739e-01 -3.57941021e-01 2.14263669e-03 7.40403581e+01] [ 3.57940147e-01 9.33744197e-01 7.91405783e-04 -1.67755725e+01] [-2.28395117e-03 2.79670824e-05 9.99997391e-01 -2.13273023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:74.07, Y:-16.77, Z:-0.21 [[ 9.34111573e-01 -3.56974759e-01 2.14241509e-03 7.40663992e+01] [ 3.56973882e-01 9.34114030e-01 7.92005224e-04 -1.67654156e+01] [-2.28398587e-03 2.49649858e-05 9.99997391e-01 -2.14748227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:-16.75, Z:-0.22 [[ 9.35195847e-01 -3.54124469e-01 2.14219227e-03 7.40922609e+01] [ 3.54123582e-01 9.35198300e-01 7.92607460e-04 -1.67547271e+01] [-2.28405626e-03 1.73575946e-05 9.99997391e-01 -2.16019793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-16.74, Z:-0.22 [[ 9.35351758e-01 -3.53712453e-01 2.14212334e-03 7.41186888e+01] [ 3.53711565e-01 9.35354211e-01 7.92793715e-04 -1.67449110e+01] [-2.28406509e-03 1.61528035e-05 9.99997391e-01 -2.17744941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.7 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:74.15, Y:-16.74, Z:-0.22 [[ 9.35087046e-01 -3.54411666e-01 2.14202054e-03 7.41463330e+01] [ 3.54410779e-01 9.35089499e-01 7.93071369e-04 -1.67350237e+01] [-2.28405465e-03 1.75644027e-05 9.99997391e-01 -2.20052592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:-16.73, Z:-0.22 [[ 9.35065415e-01 -3.54468732e-01 2.14182478e-03 7.41725377e+01] [ 3.54467844e-01 9.35067868e-01 7.93599702e-04 -1.67256823e+01] [-2.28405781e-03 1.71403743e-05 9.99997391e-01 -2.18220666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:74.20, Y:-16.72, Z:-0.22 [[ 9.34693017e-01 -3.55449543e-01 2.14160175e-03 7.41994619e+01] [ 3.55448656e-01 9.34695470e-01 7.94201112e-04 -1.67163200e+01] [-2.28404387e-03 1.88952291e-05 9.99997391e-01 -2.18768818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:-16.71, Z:-0.22 [[ 9.34705307e-01 -3.55417226e-01 2.14138014e-03 7.42251949e+01] [ 3.55416338e-01 9.34707759e-01 7.94798163e-04 -1.67060160e+01] [-2.28404959e-03 1.81794268e-05 9.99997391e-01 -2.16168427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:74.25, Y:-16.70, Z:-0.22 [[ 9.34500467e-01 -3.55955462e-01 2.14131163e-03 7.42521540e+01] [ 3.55954575e-01 9.34502920e-01 7.94982707e-04 -1.66958608e+01] [-2.28404041e-03 1.92979603e-05 9.99997391e-01 -2.16472416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:-16.69, Z:-0.21 [[ 9.34746856e-01 -3.55307939e-01 2.14111753e-03 7.42782193e+01] [ 3.55307049e-01 9.34749308e-01 7.95505123e-04 -1.66853236e+01] [-2.28405742e-03 1.71582393e-05 9.99997391e-01 -2.13788980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:-16.67, Z:-0.22 [[ 9.32335530e-01 -3.61587991e-01 2.14089557e-03 7.42922737e+01] [ 3.61587116e-01 9.32337988e-01 7.96102040e-04 -1.66690904e+01] [-2.28389920e-03 3.18860367e-05 9.99997391e-01 -2.20331090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.33, Y:-16.66, Z:-0.21 [[ 9.35471097e-01 -3.53396853e-01 2.11934801e-03 7.43313917e+01] [ 3.53395825e-01 9.35473496e-01 8.53896666e-04 -1.66644586e+01] [-2.28435828e-03 -4.98269141e-05 9.99997390e-01 -2.13473642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:-16.65, Z:-0.22 [[ 9.33442133e-01 -3.58721620e-01 2.14082499e-03 7.43482676e+01] [ 3.58720738e-01 9.33444588e-01 7.96145344e-04 -1.66483956e+01] [-2.28393605e-03 2.48027101e-05 9.99997392e-01 -2.20195855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:74.39, Y:-16.64, Z:-0.22 [[ 9.35773814e-01 -3.52594467e-01 2.12385695e-03 7.43851117e+01] [ 3.52593465e-01 9.35776223e-01 8.41678723e-04 -1.66429672e+01] [-2.28422610e-03 -3.87628292e-05 9.99997390e-01 -2.17119988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.0 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:74.41, Y:-16.63, Z:-0.22 [[ 9.35813207e-01 -3.52489798e-01 2.14084243e-03 7.44110992e+01] [ 3.52488899e-01 9.35815656e-01 7.95996055e-04 -1.66327057e+01] [-2.28401435e-03 9.71956866e-06 9.99997392e-01 -2.15450865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.44, Y:-16.62, Z:-0.21 [[ 9.36107141e-01 -3.51708455e-01 2.14061732e-03 7.44375182e+01] [ 3.51707553e-01 9.36109589e-01 7.96600947e-04 -1.66217839e+01] [-2.28402369e-03 7.16744600e-06 9.99997392e-01 -2.14766861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:74.46, Y:-16.61, Z:-0.22 [[ 9.35933628e-01 -3.52169934e-01 2.14038970e-03 7.44641446e+01] [ 3.52169032e-01 9.35936075e-01 7.97212069e-04 -1.66113439e+01] [-2.28402206e-03 7.64138677e-06 9.99997392e-01 -2.17405635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:74.49, Y:-16.60, Z:-0.22 [[ 9.36269169e-01 -3.51276904e-01 2.14017425e-03 7.44888962e+01] [ 3.51275998e-01 9.36271615e-01 7.97790054e-04 -1.66007109e+01] [-2.28402962e-03 4.84561388e-06 9.99997392e-01 -2.18804456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:74.52, Y:-16.59, Z:-0.22 [[ 9.36275871e-01 -3.51259040e-01 2.14001802e-03 7.45153632e+01] [ 3.51258134e-01 9.36278317e-01 7.98208923e-04 -1.65900329e+01] [-2.28403057e-03 4.35497928e-06 9.99997392e-01 -2.18365463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:74.54, Y:-16.58, Z:-0.22 [[ 9.36394104e-01 -3.50943733e-01 2.13978914e-03 7.45404369e+01] [ 3.50942824e-01 9.36396549e-01 7.98822004e-04 -1.65800762e+01] [-2.28403274e-03 2.93142798e-06 9.99997392e-01 -2.18883872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:74.57, Y:-16.57, Z:-0.22 [[ 9.36506154e-01 -3.50644613e-01 2.13968971e-03 7.45655737e+01] [ 3.50643702e-01 9.36508599e-01 7.99088244e-04 -1.65706696e+01] [-2.28403380e-03 1.91766443e-06 9.99997392e-01 -2.18281654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:74.59, Y:-16.56, Z:-0.22 [[ 9.36321762e-01 -3.51136697e-01 2.13959171e-03 7.45913320e+01] [ 3.51135787e-01 9.36324207e-01 7.99350552e-04 -1.65609522e+01] [-2.28403283e-03 2.83790206e-06 9.99997392e-01 -2.19433740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:74.62, Y:-16.55, Z:-0.22 [[ 9.35886384e-01 -3.52295470e-01 2.13949441e-03 7.46176287e+01] [ 3.52294563e-01 9.35888830e-01 7.99610892e-04 -1.65514653e+01] [-2.28402822e-03 5.38730227e-06 9.99997392e-01 -2.18759306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:-16.54, Z:-0.22 [[ 9.35960109e-01 -3.52099557e-01 2.13926945e-03 7.46439984e+01] [ 3.52098647e-01 9.35962554e-01 8.00212305e-04 -1.65422635e+01] [-2.28403050e-03 4.26708288e-06 9.99997392e-01 -2.15940495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-16.53, Z:-0.22 [[ 9.35392989e-01 -3.53603424e-01 2.13904503e-03 7.46700177e+01] [ 3.53602517e-01 9.35395434e-01 8.00811752e-04 -1.65328406e+01] [-2.28402273e-03 7.29800869e-06 9.99997392e-01 -2.16204089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:-16.52, Z:-0.22 [[ 9.32448188e-01 -3.61297388e-01 2.13882140e-03 7.46859401e+01] [ 3.61296500e-01 9.32450641e-01 8.01408593e-04 -1.65182532e+01] [-2.28389221e-03 2.54766935e-05 9.99997392e-01 -2.24293547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:-16.51, Z:-0.22 [[ 9.32584471e-01 -3.60945570e-01 2.12115067e-03 7.47136674e+01] [ 3.60944574e-01 9.32586883e-01 8.48547722e-04 -1.65093793e+01] [-2.28443683e-03 -2.57246037e-05 9.99997390e-01 -2.23185094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:74.75, Y:-16.50, Z:-0.22 [[ 9.34316100e-01 -3.56439226e-01 2.12218959e-03 7.47507939e+01] [ 3.56438225e-01 9.34318509e-01 8.45776118e-04 -1.65048869e+01] [-2.28426880e-03 -3.37927537e-05 9.99997390e-01 -2.18093617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:74.78, Y:-16.49, Z:-0.22 [[ 9.34215527e-01 -3.56702640e-01 2.13919890e-03 7.47775558e+01] [ 3.56701742e-01 9.34217976e-01 8.00310927e-04 -1.64947783e+01] [-2.28395109e-03 1.53930802e-05 9.99997392e-01 -2.18180673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:74.80, Y:-16.48, Z:-0.22 [[ 9.31798709e-01 -3.62969131e-01 2.13897300e-03 7.47972829e+01] [ 3.62968249e-01 9.31801164e-01 8.00914241e-04 -1.64816817e+01] [-2.28380467e-03 3.00884268e-05 9.99997392e-01 -2.23259780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.82, Y:-16.47, Z:-0.22 [[ 9.31681699e-01 -3.63269454e-01 2.12476489e-03 7.48233097e+01] [ 3.63268486e-01 9.31684122e-01 8.38786446e-04 -1.64726381e+01] [-2.28431520e-03 -9.62185824e-06 9.99997391e-01 -2.22421157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.85, Y:-16.46, Z:-0.22 [[ 9.31798338e-01 -3.62970169e-01 2.12453431e-03 7.48495648e+01] [ 3.62969199e-01 9.31800760e-01 8.39400665e-04 -1.64634390e+01] [-2.28432009e-03 -1.10116284e-05 9.99997391e-01 -2.21739729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.88, Y:-16.45, Z:-0.22 [[ 9.32462968e-01 -3.61259325e-01 2.12422464e-03 7.48783645e+01] [ 3.61258349e-01 9.32465388e-01 8.40225497e-04 -1.64545125e+01] [-2.28430525e-03 -1.60852760e-05 9.99997391e-01 -2.20150328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:74.91, Y:-16.45, Z:-0.22 [[ 9.34187269e-01 -3.56776714e-01 2.12668539e-03 7.49112530e+01] [ 3.56775741e-01 9.34189689e-01 8.33674227e-04 -1.64478777e+01] [-2.28416311e-03 -2.00580954e-05 9.99997391e-01 -2.16912632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.6 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:74.93, Y:-16.43, Z:-0.22 [[ 9.33313706e-01 -3.59055641e-01 2.13838145e-03 7.49311478e+01] [ 3.59054744e-01 9.33316156e-01 8.02508655e-04 -1.64348988e+01] [-2.28393121e-03 1.88036774e-05 9.99997392e-01 -2.21874255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:74.96, Y:-16.43, Z:-0.22 [[ 9.35512704e-01 -3.53286652e-01 2.12644544e-03 7.49639711e+01] [ 3.53285668e-01 9.35515121e-01 8.34269336e-04 -1.64287867e+01] [-2.28405808e-03 -2.92268659e-05 9.99997391e-01 -2.17173190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:74.99, Y:-16.42, Z:-0.22 [[ 9.35884039e-01 -3.52301707e-01 2.13829505e-03 7.49894600e+01] [ 3.52300792e-01 9.35886482e-01 8.02703574e-04 -1.64194605e+01] [-2.28399527e-03 2.08557469e-06 9.99997392e-01 -2.17673901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:-16.41, Z:-0.22 [[ 9.37037263e-01 -3.49222845e-01 2.13819668e-03 7.50161528e+01] [ 3.49221922e-01 9.37039703e-01 8.02965495e-04 -1.64101767e+01] [-2.28398908e-03 -5.70343415e-06 9.99997392e-01 -2.15483023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.04, Y:-16.40, Z:-0.22 [[ 9.35762739e-01 -3.52623772e-01 2.13797114e-03 7.50381802e+01] [ 3.52622857e-01 9.35765182e-01 8.03565591e-04 -1.63974625e+01] [-2.28399528e-03 1.95075110e-06 9.99997392e-01 -2.17712801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:75.07, Y:-16.39, Z:-0.22 [[ 9.37278138e-01 -3.48575909e-01 2.12802379e-03 7.50695034e+01] [ 3.48574923e-01 9.37280553e-01 8.29986003e-04 -1.63909125e+01] [-2.28386844e-03 -3.61520071e-05 9.99997391e-01 -2.18166140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:-16.38, Z:-0.22 [[ 9.37828290e-01 -3.47092968e-01 2.13774954e-03 7.50962945e+01] [ 3.47092037e-01 9.37830726e-01 8.04130469e-04 -1.63822020e+01] [-2.28395524e-03 -1.21404584e-05 9.99997392e-01 -2.15901296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:75.12, Y:-16.37, Z:-0.22 [[ 9.37559274e-01 -3.47818975e-01 2.13752141e-03 7.51228279e+01] [ 3.47818044e-01 9.37561710e-01 8.04736421e-04 -1.63728558e+01] [-2.28396083e-03 -1.10195760e-05 9.99997392e-01 -2.18638346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:-16.36, Z:-0.22 [[ 9.36446114e-01 -3.50804942e-01 2.13729379e-03 7.51437403e+01] [ 3.50804017e-01 9.36448553e-01 8.05340523e-04 -1.63603332e+01] [-2.28398311e-03 -4.38675650e-06 9.99997392e-01 -2.18970666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:-16.35, Z:-0.22 [[ 9.36445088e-01 -3.50807740e-01 2.12751792e-03 7.51697429e+01] [ 3.50806757e-01 9.36447504e-01 8.31305769e-04 -1.63519067e+01] [-2.28393734e-03 -3.21245429e-05 9.99997391e-01 -2.19816113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:-16.35, Z:-0.22 [[ 9.37899661e-01 -3.46900137e-01 2.12608112e-03 7.52022716e+01] [ 3.46899135e-01 9.37902070e-01 8.35121352e-04 -1.63459182e+01] [-2.28375960e-03 -4.57243314e-05 9.99997391e-01 -2.17915846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:-16.33, Z:-0.22 [[ 9.35942483e-01 -3.52146418e-01 2.13770464e-03 7.52228714e+01] [ 3.52145500e-01 9.35944924e-01 8.04224950e-04 -1.63339843e+01] [-2.28397875e-03 7.47736141e-08 9.99997392e-01 -2.21331881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:75.26, Y:-16.33, Z:-0.22 [[ 9.37268122e-01 -3.48602860e-01 2.12461721e-03 7.52576217e+01] [ 3.48601854e-01 9.37270528e-01 8.38955837e-04 -1.63287351e+01] [-2.28380350e-03 -4.56810619e-05 9.99997391e-01 -2.18916707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.28, Y:-16.32, Z:-0.22 [[ 9.35316124e-01 -3.53806697e-01 2.13755591e-03 7.52774736e+01] [ 3.53805782e-01 9.35318567e-01 8.04581214e-04 -1.63158899e+01] [-2.28396195e-03 3.74185684e-06 9.99997392e-01 -2.21411614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:-16.31, Z:-0.22 [[ 9.35319571e-01 -3.53797666e-01 2.12416888e-03 7.53034171e+01] [ 3.53796670e-01 9.35321982e-01 8.40128008e-04 -1.63075584e+01] [-2.28401717e-03 -3.42642924e-05 9.99997391e-01 -2.21558050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:-16.30, Z:-0.22 [[ 9.35404033e-01 -3.53574311e-01 2.12173483e-03 7.53312344e+01] [ 3.53573300e-01 9.35406438e-01 8.46589225e-04 -1.62988967e+01] [-2.28401662e-03 -4.17141908e-05 9.99997391e-01 -2.21901810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:75.36, Y:-16.29, Z:-0.22 [[ 9.35768407e-01 -3.52608819e-01 2.12340615e-03 7.53575138e+01] [ 3.52607816e-01 9.35770815e-01 8.42157483e-04 -1.62911179e+01] [-2.28397366e-03 -3.93347619e-05 9.99997391e-01 -2.23319583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:75.38, Y:-16.28, Z:-0.22 [[ 9.36114613e-01 -3.51688678e-01 2.12246681e-03 7.53842839e+01] [ 3.51687667e-01 9.36117018e-01 8.44648061e-04 -1.62818724e+01] [-2.28393046e-03 -4.42419934e-05 9.99997391e-01 -2.24085919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.42, Y:-16.28, Z:-0.22 [[ 9.38528986e-01 -3.45193907e-01 2.12348566e-03 7.54199409e+01] [ 3.45192885e-01 9.38531386e-01 8.41948495e-04 -1.62761751e+01] [-2.28359343e-03 -5.71809262e-05 9.99997391e-01 -2.17041206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:75.45, Y:-16.27, Z:-0.22 [[ 9.38465603e-01 -3.45366103e-01 2.13721694e-03 7.54467998e+01] [ 3.45365164e-01 9.38468036e-01 8.05516305e-04 -1.62660405e+01] [-2.28390781e-03 -1.78290655e-05 9.99997392e-01 -2.19204493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:-16.26, Z:-0.22 [[ 9.38694986e-01 -3.44742161e-01 2.13701599e-03 7.54719555e+01] [ 3.44741219e-01 9.38697418e-01 8.06049071e-04 -1.62554605e+01] [-2.28389049e-03 -1.99167231e-05 9.99997392e-01 -2.18046698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:75.50, Y:-16.24, Z:-0.22 [[ 9.38508687e-01 -3.45249008e-01 2.13691661e-03 7.54980344e+01] [ 3.45248067e-01 9.38511120e-01 8.06312461e-04 -1.62446919e+01] [-2.28389858e-03 -1.89649204e-05 9.99997392e-01 -2.20073793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:75.52, Y:-16.23, Z:-0.22 [[ 9.36735210e-01 -3.50032257e-01 2.13669018e-03 7.55168249e+01] [ 3.50031327e-01 9.36737647e-01 8.06912050e-04 -1.62296648e+01] [-2.28396337e-03 -7.95443009e-06 9.99997392e-01 -2.23430927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:75.54, Y:-16.22, Z:-0.22 [[ 9.36500218e-01 -3.50660577e-01 2.12152671e-03 7.55428425e+01] [ 3.50659557e-01 9.36502620e-01 8.47009908e-04 -1.62189192e+01] [-2.28382830e-03 -4.92913483e-05 9.99997391e-01 -2.24207974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:75.57, Y:-16.21, Z:-0.22 [[ 9.36514903e-01 -3.50621366e-01 2.11994518e-03 7.55709492e+01] [ 3.50620337e-01 9.36517301e-01 8.51191603e-04 -1.62095599e+01] [-2.28381130e-03 -5.38577278e-05 9.99997391e-01 -2.21979066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:-16.20, Z:-0.22 [[ 9.38236113e-01 -3.45989141e-01 2.12353869e-03 7.56047218e+01] [ 3.45988122e-01 9.38238515e-01 8.41688156e-04 -1.62027668e+01] [-2.28360075e-03 -5.49830607e-05 9.99997391e-01 -2.17077493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.62, Y:-16.19, Z:-0.22 [[ 9.35922797e-01 -3.52198741e-01 2.13671316e-03 7.56242712e+01] [ 3.52197817e-01 9.35925236e-01 8.06797013e-04 -1.61889293e+01] [-2.28395666e-03 -2.55400563e-06 9.99997392e-01 -2.20803856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.66, Y:-16.18, Z:-0.22 [[ 9.36884157e-01 -3.49633480e-01 2.12279178e-03 7.56585117e+01] [ 3.49632465e-01 9.36886561e-01 8.43595981e-04 -1.61823287e+01] [-2.28376449e-03 -4.81547864e-05 9.99997391e-01 -2.15970954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-16.17, Z:-0.22 [[ 9.34302413e-01 -3.56475014e-01 2.13656376e-03 7.56768763e+01] [ 3.56474100e-01 9.34304856e-01 8.07140470e-04 -1.61682525e+01] [-2.28392731e-03 7.51635561e-06 9.99997392e-01 -2.19644187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.71, Y:-16.16, Z:-0.22 [[ 9.35950178e-01 -3.52126066e-01 2.12079599e-03 7.57122831e+01] [ 3.52125046e-01 9.35952580e-01 8.48780776e-04 -1.61619567e+01] [-2.28384231e-03 -4.76311329e-05 9.99997391e-01 -2.15051101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.5 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:75.73, Y:-16.15, Z:-0.22 [[ 9.33098804e-01 -3.59613763e-01 2.13635466e-03 7.57302959e+01] [ 3.59612856e-01 9.33101249e-01 8.07624470e-04 -1.61489091e+01] [-2.28386808e-03 1.46671758e-05 9.99997392e-01 -2.20415680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:75.76, Y:-16.14, Z:-0.22 [[ 9.32881778e-01 -3.60176464e-01 2.12203110e-03 7.57564483e+01] [ 3.60175473e-01 9.32884191e-01 8.45485386e-04 -1.61390440e+01] [-2.28413320e-03 -2.44343565e-05 9.99997391e-01 -2.19896317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:75.79, Y:-16.13, Z:-0.22 [[ 9.34650261e-01 -3.55562074e-01 2.12132585e-03 7.57914916e+01] [ 3.55561067e-01 9.34652668e-01 8.47347776e-04 -1.61323245e+01] [-2.28398760e-03 -3.77129379e-05 9.99997391e-01 -2.17444146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:75.82, Y:-16.12, Z:-0.22 [[ 9.34332968e-01 -3.56394922e-01 2.13638354e-03 7.58180410e+01] [ 3.56394008e-01 9.34335410e-01 8.07510543e-04 -1.61223389e+01] [-2.28389145e-03 6.91056785e-06 9.99997392e-01 -2.19023005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:-16.11, Z:-0.22 [[ 9.32179177e-01 -3.61990909e-01 2.13615487e-03 7.58352766e+01] [ 3.61990008e-01 9.32181625e-01 8.08114990e-04 -1.61082036e+01] [-2.28381460e-03 1.99587524e-05 9.99997392e-01 -2.21510643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:-16.10, Z:-0.22 [[ 9.34389290e-01 -3.56247330e-01 2.11985280e-03 7.58705189e+01] [ 3.56246316e-01 9.34391694e-01 8.51129954e-04 -1.61023243e+01] [-2.28398562e-03 -4.00969644e-05 9.99997391e-01 -2.16740811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:-16.09, Z:-0.22 [[ 9.32126521e-01 -3.62126479e-01 2.13608880e-03 7.58873884e+01] [ 3.62125577e-01 9.32128968e-01 8.08218894e-04 -1.60875231e+01] [-2.28378771e-03 2.01701226e-05 9.99997392e-01 -2.22970594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:-16.08, Z:-0.22 [[ 9.34711933e-01 -3.55399935e-01 2.11837622e-03 7.59239436e+01] [ 3.55398910e-01 9.34714333e-01 8.54928841e-04 -1.60809091e+01] [-2.28391827e-03 -4.62435911e-05 9.99997391e-01 -2.17532691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:-16.07, Z:-0.22 [[ 9.34681424e-01 -3.55480059e-01 2.13599426e-03 7.59495835e+01] [ 3.55479140e-01 9.34683865e-01 8.08376213e-04 -1.60705804e+01] [-2.28384100e-03 3.72717344e-06 9.99997392e-01 -2.17259959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:75.98, Y:-16.06, Z:-0.22 [[ 9.34297449e-01 -3.56488030e-01 2.13576633e-03 7.59754574e+01] [ 3.56487112e-01 9.34299890e-01 8.08977961e-04 -1.60605276e+01] [-2.28383721e-03 5.54712792e-06 9.99997392e-01 -2.20387120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:-16.05, Z:-0.22 [[ 9.31384834e-01 -3.64029846e-01 2.13569579e-03 7.59923898e+01] [ 3.64028948e-01 9.31387283e-01 8.09164152e-04 -1.60456117e+01] [-2.28371980e-03 2.38118725e-05 9.99997392e-01 -2.23390907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:-16.04, Z:-0.22 [[ 9.31556598e-01 -3.63590177e-01 2.11867168e-03 7.60212819e+01] [ 3.63589175e-01 9.31559007e-01 8.54019061e-04 -1.60362140e+01] [-2.28418063e-03 -2.52410043e-05 9.99997391e-01 -2.22459718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:76.05, Y:-16.03, Z:-0.22 [[ 9.30533066e-01 -3.66201738e-01 2.12152041e-03 7.60480359e+01] [ 3.66200760e-01 9.30535484e-01 8.46512146e-04 -1.60268542e+01] [-2.28414424e-03 -1.08051569e-05 9.99997391e-01 -2.23633316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:-16.02, Z:-0.22 [[ 9.29840253e-01 -3.67957335e-01 2.12221808e-03 7.60729938e+01] [ 3.67956366e-01 9.29842675e-01 8.44674656e-04 -1.60159818e+01] [-2.28413317e-03 -4.52884485e-06 9.99997391e-01 -2.24013624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-16.01, Z:-0.22 [[ 9.31792835e-01 -3.62984326e-01 2.11920969e-03 7.61081685e+01] [ 3.62983325e-01 9.31795245e-01 8.52591020e-04 -1.60107063e+01] [-2.28414669e-03 -2.52004216e-05 9.99997391e-01 -2.17708214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:76.13, Y:-16.00, Z:-0.22 [[ 9.30913156e-01 -3.65234357e-01 2.13538363e-03 7.61343903e+01] [ 3.65233460e-01 9.30915605e-01 8.09949402e-04 -1.60011085e+01] [-2.28368329e-03 2.59209981e-05 9.99997392e-01 -2.19513004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:-15.99, Z:-0.22 [[ 9.29008171e-01 -3.70053048e-01 2.13531246e-03 7.61528321e+01] [ 3.70052163e-01 9.29010624e-01 8.10136981e-04 -1.59870549e+01] [-2.28352162e-03 3.75531210e-05 9.99997392e-01 -2.22180075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:-15.98, Z:-0.22 [[ 9.29008757e-01 -3.70051657e-01 2.12132342e-03 7.61782321e+01] [ 3.70050688e-01 9.29011179e-01 8.46971832e-04 -1.59760122e+01] [-2.28415650e-03 -1.84705683e-06 9.99997391e-01 -2.22601753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:-15.97, Z:-0.22 [[ 9.29296903e-01 -3.69327461e-01 2.11935230e-03 7.62039312e+01] [ 3.69326478e-01 9.29299320e-01 8.52161884e-04 -1.59657426e+01] [-2.28423944e-03 -9.17847779e-06 9.99997391e-01 -2.23018131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:-15.96, Z:-0.22 [[ 9.29618528e-01 -3.68517170e-01 2.11858581e-03 7.62291006e+01] [ 3.68516180e-01 9.29620942e-01 8.54182259e-04 -1.59553077e+01] [-2.28426257e-03 -1.33305028e-05 9.99997391e-01 -2.23541859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:-15.95, Z:-0.22 [[ 9.33432775e-01 -3.58746114e-01 2.11661367e-03 7.62659897e+01] [ 3.58745088e-01 9.33435174e-01 8.59377206e-04 -1.59499783e+01] [-2.28401988e-03 -4.28460941e-05 9.99997391e-01 -2.17133480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:-15.93, Z:-0.23 [[ 9.30590224e-01 -3.66056380e-01 2.13573455e-03 7.62795696e+01] [ 3.66055487e-01 9.30592674e-01 8.08891937e-04 -1.59330515e+01] [-2.28359898e-03 2.90504241e-05 9.99997392e-01 -2.25520558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:-15.93, Z:-0.22 [[ 9.34364827e-01 -3.56311530e-01 2.11290901e-03 7.63198422e+01] [ 3.56310476e-01 9.34367214e-01 8.68972662e-04 -1.59291840e+01] [-2.28385789e-03 -5.90858760e-05 9.99997390e-01 -2.16850767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:-15.92, Z:-0.22 [[ 9.34695961e-01 -3.55441836e-01 2.13562012e-03 7.63456897e+01] [ 3.55440916e-01 9.34698401e-01 8.09020827e-04 -1.59193217e+01] [-2.28372056e-03 2.89827056e-06 9.99997392e-01 -2.16351568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-15.90, Z:-0.22 [[ 9.33127546e-01 -3.59539181e-01 2.13538921e-03 7.63636659e+01] [ 3.59538270e-01 9.33129989e-01 8.09629843e-04 -1.59036492e+01] [-2.28368936e-03 1.22662338e-05 9.99997392e-01 -2.22735518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:76.39, Y:-15.89, Z:-0.23 [[ 9.33519596e-01 -3.58520122e-01 2.11793094e-03 7.63888975e+01] [ 3.58519104e-01 9.33521998e-01 8.55543347e-04 -1.58943078e+01] [-2.28386463e-03 -3.93477785e-05 9.99997391e-01 -2.25832090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:-15.89, Z:-0.22 [[ 9.37715566e-01 -3.47397520e-01 2.11686516e-03 7.64258585e+01] [ 3.47396467e-01 9.37717952e-01 8.58352595e-04 -1.58895497e+01] [-2.28321203e-03 -6.94991128e-05 9.99997391e-01 -2.15455483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:76.45, Y:-15.88, Z:-0.22 [[ 9.38087179e-01 -3.46392671e-01 2.13577185e-03 7.64511562e+01] [ 3.46391728e-01 9.38089610e-01 8.08401728e-04 -1.58795569e+01] [-2.28356981e-03 -1.85375951e-05 9.99997392e-01 -2.18351196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:76.48, Y:-15.87, Z:-0.22 [[ 9.37989523e-01 -3.46657027e-01 2.13567222e-03 7.64778878e+01] [ 3.46656084e-01 9.37991954e-01 8.08664856e-04 -1.58693555e+01] [-2.28357271e-03 -1.81753948e-05 9.99997392e-01 -2.18416407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:-15.86, Z:-0.22 [[ 9.38666405e-01 -3.44819982e-01 2.13544415e-03 7.65043484e+01] [ 3.44819033e-01 9.38668834e-01 8.09266662e-04 -1.58588708e+01] [-2.28352619e-03 -2.32896418e-05 9.99997392e-01 -2.16473542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39999999999999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:76.53, Y:-15.85, Z:-0.22 [[ 9.39357923e-01 -3.42931673e-01 2.13521566e-03 7.65295800e+01] [ 3.42930718e-01 9.39360350e-01 8.09869065e-04 -1.58497441e+01] [-2.28346669e-03 -2.85258824e-05 9.99997392e-01 -2.19645795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42999999999999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:76.56, Y:-15.84, Z:-0.22 [[ 9.38552624e-01 -3.45129570e-01 2.13367247e-03 7.65569227e+01] [ 3.45128612e-01 9.38555048e-01 8.13933731e-04 -1.58394403e+01] [-2.28348166e-03 -2.75282224e-05 9.99997392e-01 -2.20388999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-15.83, Z:-0.22 [[ 9.38463620e-01 -3.45371506e-01 2.13476926e-03 7.65831152e+01] [ 3.45370554e-01 9.38466048e-01 8.11046834e-04 -1.58297820e+01] [-2.28352094e-03 -2.38515034e-05 9.99997392e-01 -2.17415710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-15.82, Z:-0.22 [[ 9.37918883e-01 -3.46848111e-01 2.13465927e-03 7.66093869e+01] [ 3.46847163e-01 9.37921312e-01 8.11336227e-04 -1.58204976e+01] [-2.28355286e-03 -2.05670560e-05 9.99997392e-01 -2.16626922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-15.81, Z:-0.22 [[ 9.37075169e-01 -3.49121142e-01 2.13443523e-03 7.66359083e+01] [ 3.49120198e-01 9.37077600e-01 8.11925213e-04 -1.58114048e+01] [-2.28359170e-03 -1.56605071e-05 9.99997392e-01 -2.16077566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:76.66, Y:-15.80, Z:-0.22 [[ 9.36104692e-01 -3.51715014e-01 2.13420343e-03 7.66630772e+01] [ 3.51714075e-01 9.36107125e-01 8.12534043e-04 -1.58006576e+01] [-2.28362346e-03 -9.98754294e-06 9.99997392e-01 -2.22071579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:76.69, Y:-15.79, Z:-0.22 [[ 9.36224843e-01 -3.51395059e-01 2.13453957e-03 7.66897624e+01] [ 3.51394122e-01 9.36227276e-01 8.11651523e-04 -1.57912897e+01] [-2.28362450e-03 -9.82366081e-06 9.99997392e-01 -2.17963197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:-15.78, Z:-0.22 [[ 9.36316643e-01 -3.51150382e-01 2.13384425e-03 7.67166640e+01] [ 3.51149440e-01 9.36319075e-01 8.13475427e-04 -1.57815366e+01] [-2.28361128e-03 -1.23723675e-05 9.99997392e-01 -2.16754061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:76.74, Y:-15.77, Z:-0.22 [[ 9.35809153e-01 -3.52500605e-01 2.13361208e-03 7.67427015e+01] [ 3.52499665e-01 9.35811585e-01 8.14083936e-04 -1.57714383e+01] [-2.28362398e-03 -9.72965740e-06 9.99997392e-01 -2.19330550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:76.76, Y:-15.76, Z:-0.23 [[ 9.33741403e-01 -3.57941953e-01 2.13337833e-03 7.67616665e+01] [ 3.57941026e-01 9.33743840e-01 8.14696018e-04 -1.57571927e+01] [-2.28364276e-03 2.90822615e-06 9.99997392e-01 -2.26246729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:-15.75, Z:-0.22 [[ 9.35796689e-01 -3.52533769e-01 2.12083478e-03 7.67957417e+01] [ 3.52532754e-01 9.35799091e-01 8.47473888e-04 -1.57506804e+01] [-2.28343842e-03 -4.53995337e-05 9.99997392e-01 -2.17269766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:76.82, Y:-15.74, Z:-0.22 [[ 9.34910947e-01 -3.54875992e-01 2.13314461e-03 7.68217067e+01] [ 3.54875056e-01 9.34913381e-01 8.15265172e-04 -1.57404105e+01] [-2.28362347e-03 -5.20052197e-06 9.99997393e-01 -2.19769602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:-15.73, Z:-0.22 [[ 9.34877149e-01 -3.54965021e-01 2.13307288e-03 7.68478691e+01] [ 3.54964084e-01 9.34879583e-01 8.15452806e-04 -1.57305092e+01] [-2.28362350e-03 -5.18393503e-06 9.99997393e-01 -2.16444397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:76.87, Y:-15.72, Z:-0.22 [[ 9.34005494e-01 -3.57252274e-01 2.13284455e-03 7.68737940e+01] [ 3.57251342e-01 9.34007930e-01 8.16049570e-04 -1.57203266e+01] [-2.28362929e-03 -2.33204013e-07 9.99997393e-01 -2.18393777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:76.90, Y:-15.71, Z:-0.22 [[ 9.33987339e-01 -3.57299738e-01 2.13277389e-03 7.68997139e+01] [ 3.57298806e-01 9.33989774e-01 8.16234200e-04 -1.57105966e+01] [-2.28362927e-03 -3.14844930e-07 9.99997393e-01 -2.17113851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:76.93, Y:-15.70, Z:-0.22 [[ 9.33416417e-01 -3.58788590e-01 2.13084910e-03 7.69265954e+01] [ 3.58787650e-01 9.33418849e-01 8.21260399e-04 -1.57000696e+01] [-2.28363358e-03 -2.05559615e-06 9.99997393e-01 -2.17745430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:-15.69, Z:-0.22 [[ 9.33593557e-01 -3.58327397e-01 2.13253686e-03 7.69519627e+01] [ 3.58326466e-01 9.33595992e-01 8.16854220e-04 -1.56904698e+01] [-2.28362911e-03 1.53455948e-06 9.99997393e-01 -2.15655127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:76.98, Y:-15.68, Z:-0.22 [[ 9.33073918e-01 -3.59678352e-01 2.13243641e-03 7.69767034e+01] [ 3.59677424e-01 9.33076354e-01 8.17116353e-04 -1.56803514e+01] [-2.28362506e-03 4.55927990e-06 9.99997393e-01 -2.18757366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:77.00, Y:-15.67, Z:-0.22 [[ 9.33382419e-01 -3.58877015e-01 2.13234041e-03 7.70022965e+01] [ 3.58876085e-01 9.33384855e-01 8.17366816e-04 -1.56697631e+01] [-2.28362840e-03 2.33015982e-06 9.99997393e-01 -2.17301531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:-15.66, Z:-0.21 [[ 9.33815975e-01 -3.57747368e-01 2.13211923e-03 7.70282977e+01] [ 3.57746433e-01 9.33818409e-01 8.17943350e-04 -1.56594024e+01] [-2.28362927e-03 -1.05051809e-06 9.99997393e-01 -2.14713573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-15.65, Z:-0.21 [[ 9.33988499e-01 -3.57296710e-01 2.13188998e-03 7.70532328e+01] [ 3.57295772e-01 9.33990932e-01 8.18540432e-04 -1.56489232e+01] [-2.28362771e-03 -2.79207153e-06 9.99997393e-01 -2.14670586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:77.08, Y:-15.64, Z:-0.22 [[ 9.33827117e-01 -3.57718289e-01 2.13103588e-03 7.70791314e+01] [ 3.57717347e-01 9.33829549e-01 8.20763657e-04 -1.56371109e+01] [-2.28362644e-03 -4.14285907e-06 9.99997393e-01 -2.18273892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:77.11, Y:-15.63, Z:-0.22 [[ 9.33810618e-01 -3.57761353e-01 2.13159485e-03 7.71055293e+01] [ 3.57760415e-01 9.33813051e-01 8.19309387e-04 -1.56263526e+01] [-2.28362832e-03 -2.47954845e-06 9.99997393e-01 -2.18717411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:77.13, Y:-15.62, Z:-0.22 [[ 9.33864362e-01 -3.57621043e-01 2.13136190e-03 7.71314334e+01] [ 3.57620103e-01 9.33866794e-01 8.19914932e-04 -1.56163719e+01] [-2.28362694e-03 -3.47147325e-06 9.99997393e-01 -2.17853187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:77.16, Y:-15.61, Z:-0.22 [[ 9.33835915e-01 -3.57695321e-01 2.13112584e-03 7.71566471e+01] [ 3.57694380e-01 9.33838346e-01 8.20528047e-04 -1.56067196e+01] [-2.28362607e-03 -3.94682421e-06 9.99997393e-01 -2.18052933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:77.18, Y:-15.60, Z:-0.22 [[ 9.33829158e-01 -3.57712960e-01 2.13096555e-03 7.71819515e+01] [ 3.57712018e-01 9.33831590e-01 8.20944116e-04 -1.55975927e+01] [-2.28362530e-03 -4.34956559e-06 9.99997393e-01 -2.18224043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:77.20, Y:-15.58, Z:-0.22 [[ 9.32027572e-01 -3.62381104e-01 2.13086419e-03 7.72018210e+01] [ 3.62380173e-01 9.32030008e-01 8.21207114e-04 -1.55842693e+01] [-2.28361931e-03 6.79526264e-06 9.99997393e-01 -2.23465698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:77.23, Y:-15.58, Z:-0.22 [[ 9.33969673e-01 -3.57345996e-01 2.11876251e-03 7.72343379e+01] [ 3.57344981e-01 9.33972075e-01 8.52560535e-04 -1.55774507e+01] [-2.28352411e-03 -3.91365358e-05 9.99997392e-01 -2.17769567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-15.56, Z:-0.22 [[ 9.32236276e-01 -3.61843870e-01 2.13067696e-03 7.72538661e+01] [ 3.61842937e-01 9.32238711e-01 8.21664902e-04 -1.55630738e+01] [-2.28361395e-03 4.98458337e-06 9.99997393e-01 -2.20990282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:77.28, Y:-15.55, Z:-0.22 [[ 9.32400331e-01 -3.61421002e-01 2.11712887e-03 7.72794787e+01] [ 3.61419989e-01 9.32402734e-01 8.56733001e-04 -1.55534181e+01] [-2.28365805e-03 -3.36454411e-05 9.99997392e-01 -2.23643415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.3 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:77.30, Y:-15.54, Z:-0.22 [[ 9.32761206e-01 -3.60488627e-01 2.11713090e-03 7.73044587e+01] [ 3.60487610e-01 9.32763608e-01 8.56727740e-04 -1.55428326e+01] [-2.28362327e-03 -3.59229405e-05 9.99997392e-01 -2.23994426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.33, Y:-15.53, Z:-0.22 [[ 9.33665956e-01 -3.58138798e-01 2.11741282e-03 7.73304225e+01] [ 3.58137778e-01 9.33668356e-01 8.55997023e-04 -1.55329518e+01] [-2.28352709e-03 -4.08897567e-05 9.99997392e-01 -2.21602581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:77.36, Y:-15.52, Z:-0.22 [[ 9.34385466e-01 -3.56257380e-01 2.11669066e-03 7.73568027e+01] [ 3.56256351e-01 9.34387862e-01 8.57867959e-04 -1.55218590e+01] [-2.28343185e-03 -4.74948627e-05 9.99997392e-01 -2.23485378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:77.39, Y:-15.52, Z:-0.22 [[ 9.36926758e-01 -3.49519345e-01 2.11589739e-03 7.73918575e+01] [ 3.49518293e-01 9.36929145e-01 8.59917722e-04 -1.55150555e+01] [-2.28300381e-03 -6.61350783e-05 9.99997392e-01 -2.18997962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:77.41, Y:-15.50, Z:-0.22 [[ 9.35456418e-01 -3.53435642e-01 2.13014151e-03 7.74102402e+01] [ 3.53434685e-01 9.35458843e-01 8.23052541e-04 -1.54997797e+01] [-2.28355581e-03 -1.70638894e-05 9.99997393e-01 -2.24417478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:-15.49, Z:-0.22 [[ 9.39271479e-01 -3.43168493e-01 2.11522981e-03 7.74448540e+01] [ 3.43167422e-01 9.39273857e-01 8.61574820e-04 -1.54927144e+01] [-2.28244540e-03 -8.33746942e-05 9.99997392e-01 -2.16941299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:77.47, Y:-15.48, Z:-0.22 [[ 9.39439823e-01 -3.42707284e-01 2.13009466e-03 7.74707948e+01] [ 3.42706298e-01 9.39442237e-01 8.23106476e-04 -1.54816911e+01] [-2.28318548e-03 -4.32621450e-05 9.99997393e-01 -2.21568381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:77.50, Y:-15.47, Z:-0.22 [[ 9.39921855e-01 -3.41383025e-01 2.12986304e-03 7.74964420e+01] [ 3.41382034e-01 9.39924267e-01 8.23705393e-04 -1.54712045e+01] [-2.28310900e-03 -4.71217239e-05 9.99997393e-01 -2.21762385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.51, Y:-15.46, Z:-0.23 [[ 9.38598215e-01 -3.45005588e-01 2.12962601e-03 7.75140196e+01] [ 3.45004606e-01 9.38600630e-01 8.24317769e-04 -1.54559612e+01] [-2.28326255e-03 -3.89724063e-05 9.99997393e-01 -2.30418357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:77.55, Y:-15.45, Z:-0.22 [[ 9.41035160e-01 -3.38302152e-01 2.11707116e-03 7.75493295e+01] [ 3.38301079e-01 9.41037537e-01 8.56712959e-04 -1.54497702e+01] [-2.28207127e-03 -8.99895594e-05 9.99997392e-01 -2.23904419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:-15.44, Z:-0.23 [[ 9.39219713e-01 -3.43310057e-01 2.12963064e-03 7.75677764e+01] [ 3.43309070e-01 9.39222126e-01 8.24263323e-04 -1.54354962e+01] [-2.28317410e-03 -4.30428469e-05 9.99997393e-01 -2.29418762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:77.60, Y:-15.43, Z:-0.22 [[ 9.41184752e-01 -3.37885764e-01 2.11478929e-03 7.76027552e+01] [ 3.37884677e-01 9.41187123e-01 8.62528108e-04 -1.54308892e+01] [-2.28184842e-03 -9.72434073e-05 9.99997392e-01 -2.24240922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:77.63, Y:-15.42, Z:-0.23 [[ 9.40807862e-01 -3.38933669e-01 2.12946782e-03 7.76283000e+01] [ 3.38932670e-01 9.40810271e-01 8.24622970e-04 -1.54216027e+01] [-2.28291768e-03 -5.40655605e-05 9.99997393e-01 -2.26015130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:77.66, Y:-15.41, Z:-0.22 [[ 9.40218790e-01 -3.40564373e-01 2.12936395e-03 7.76554904e+01] [ 3.40563378e-01 9.40221200e-01 8.24891089e-04 -1.54140430e+01] [-2.28300165e-03 -5.03947213e-05 9.99997393e-01 -2.24162093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:77.68, Y:-15.40, Z:-0.22 [[ 9.39591319e-01 -3.42291716e-01 2.12929099e-03 7.76825356e+01] [ 3.42290725e-01 9.39593731e-01 8.25079384e-04 -1.54049316e+01] [-2.28308630e-03 -4.64008719e-05 9.99997393e-01 -2.24180278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:77.71, Y:-15.40, Z:-0.22 [[ 9.39093183e-01 -3.43656021e-01 2.12905480e-03 7.77103747e+01] [ 3.43655032e-01 9.39095596e-01 8.25688404e-04 -1.53960731e+01] [-2.28313878e-03 -4.37379578e-05 9.99997393e-01 -2.20889423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:77.74, Y:-15.39, Z:-0.22 [[ 9.38248238e-01 -3.45956230e-01 2.12884641e-03 7.77369747e+01] [ 3.45955245e-01 9.38250652e-01 8.26225340e-04 -1.53869699e+01] [-2.28322933e-03 -3.87188880e-05 9.99997393e-01 -2.22002646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:77.77, Y:-15.38, Z:-0.22 [[ 9.36857694e-01 -3.49704346e-01 2.12877273e-03 7.77650791e+01] [ 3.49703371e-01 9.36860112e-01 8.26415129e-04 -1.53783947e+01] [-2.28336322e-03 -2.97943720e-05 9.99997393e-01 -2.19672376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:77.79, Y:-15.37, Z:-0.22 [[ 9.36360679e-01 -3.51032974e-01 2.12856530e-03 7.77911896e+01] [ 3.51032001e-01 9.36363097e-01 8.26949054e-04 -1.53692598e+01] [-2.28339638e-03 -2.71280401e-05 9.99997393e-01 -2.18169966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:77.82, Y:-15.36, Z:-0.22 [[ 9.35705752e-01 -3.52775020e-01 2.12849199e-03 7.78177839e+01] [ 3.52774051e-01 9.35708173e-01 8.27137710e-04 -1.53593162e+01] [-2.28344087e-03 -2.30807722e-05 9.99997393e-01 -2.19665781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89999999999999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:77.84, Y:-15.35, Z:-0.22 [[ 9.35223787e-01 -3.54050759e-01 2.12826033e-03 7.78438369e+01] [ 3.54049792e-01 9.35226208e-01 8.27733337e-04 -1.53498858e+01] [-2.28346446e-03 -2.06057774e-05 9.99997393e-01 -2.19118921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:77.87, Y:-15.34, Z:-0.22 [[ 9.35168588e-01 -3.54196533e-01 2.12802715e-03 7.78690447e+01] [ 3.54195565e-01 9.35171009e-01 8.28332394e-04 -1.53395611e+01] [-2.28346176e-03 -2.08926568e-05 9.99997393e-01 -2.19185208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:77.90, Y:-15.33, Z:-0.22 [[ 9.35212463e-01 -3.54080670e-01 2.12792615e-03 7.78953327e+01] [ 3.54079701e-01 9.35214884e-01 8.28591777e-04 -1.53288468e+01] [-2.28345654e-03 -2.14539008e-05 9.99997393e-01 -2.19016599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:-15.32, Z:-0.22 [[ 9.35630651e-01 -3.52974160e-01 2.12769259e-03 7.79215521e+01] [ 3.52973187e-01 9.35633070e-01 8.29191103e-04 -1.53174273e+01] [-2.28342258e-03 -2.47981783e-05 9.99997393e-01 -2.18355263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:77.95, Y:-15.31, Z:-0.22 [[ 9.35443400e-01 -3.53470112e-01 2.12745522e-03 7.79470880e+01] [ 3.53469139e-01 9.35445819e-01 8.29799653e-04 -1.53066025e+01] [-2.28342847e-03 -2.42408432e-05 9.99997393e-01 -2.23509228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:77.97, Y:-15.30, Z:-0.22 [[ 9.35448952e-01 -3.53455417e-01 2.12738166e-03 7.79734790e+01] [ 3.53454444e-01 9.35451371e-01 8.29988211e-04 -1.52961778e+01] [-2.28342592e-03 -2.44791009e-05 9.99997393e-01 -2.23395481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:-15.28, Z:-0.23 [[ 9.33212002e-01 -3.59319961e-01 2.12714568e-03 7.79907095e+01] [ 3.59319001e-01 9.33214427e-01 8.30592558e-04 -1.52813580e+01] [-2.28353152e-03 -1.07950842e-05 9.99997393e-01 -2.29201524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:78.03, Y:-15.28, Z:-0.23 [[ 9.35297875e-01 -3.53855112e-01 2.10821997e-03 7.80262429e+01] [ 3.53854029e-01 9.35300248e-01 8.78924923e-04 -1.52760252e+01] [-2.28283074e-03 -7.60544824e-05 9.99997391e-01 -2.25489685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:-15.27, Z:-0.22 [[ 9.35401678e-01 -3.53580511e-01 2.12681688e-03 7.80532049e+01] [ 3.53579534e-01 9.35404095e-01 8.31348990e-04 -1.52660428e+01] [-2.28338202e-03 -2.56463200e-05 9.99997393e-01 -2.20207452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:-15.25, Z:-0.23 [[ 9.33041471e-01 -3.59762548e-01 2.12661089e-03 7.80703970e+01] [ 3.59761587e-01 9.33043894e-01 8.31875580e-04 -1.52511248e+01] [-2.28349898e-03 -1.11015079e-05 9.99997393e-01 -2.26724528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.2 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.11, Y:-15.25, Z:-0.22 [[ 9.34756328e-01 -3.55283204e-01 2.11001488e-03 7.81056495e+01] [ 3.55282135e-01 9.34758707e-01 8.74192693e-04 -1.52453102e+01] [-2.28294076e-03 -6.75065621e-05 9.99997392e-01 -2.21546818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.13, Y:-15.23, Z:-0.22 [[ 9.34654495e-01 -3.55550915e-01 2.12640100e-03 7.81322646e+01] [ 3.55549941e-01 9.34656914e-01 8.32330144e-04 -1.52347987e+01] [-2.28339114e-03 -2.18993602e-05 9.99997393e-01 -2.21633034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:-15.22, Z:-0.23 [[ 9.31995148e-01 -3.62464513e-01 2.12616235e-03 7.81488750e+01] [ 3.62463556e-01 9.31997573e-01 8.32939321e-04 -1.52194499e+01] [-2.28348909e-03 -5.63904115e-06 9.99997393e-01 -2.26206259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:-15.21, Z:-0.23 [[ 9.32311970e-01 -3.61648931e-01 2.10757710e-03 7.81767845e+01] [ 3.61647864e-01 9.32314350e-01 8.80337636e-04 -1.52097710e+01] [-2.28329754e-03 -5.85485590e-05 9.99997392e-01 -2.25424682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:-15.20, Z:-0.22 [[ 9.34631641e-01 -3.55611090e-01 2.10918427e-03 7.82132525e+01] [ 3.55610018e-01 9.34634018e-01 8.76239305e-04 -1.52046008e+01] [-2.28291579e-03 -6.89139222e-05 9.99997392e-01 -2.17188928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.24, Y:-15.19, Z:-0.22 [[ 9.34376099e-01 -3.56281885e-01 2.12708925e-03 7.82394928e+01] [ 3.56280917e-01 9.34378520e-01 8.30479013e-04 -1.51941164e+01] [-2.28339113e-03 -1.81384330e-05 9.99997393e-01 -2.20062299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-15.18, Z:-0.22 [[ 9.34641157e-01 -3.55585976e-01 2.12629636e-03 7.82662091e+01] [ 3.55585002e-01 9.34643576e-01 8.32504122e-04 -1.51841412e+01] [-2.28335602e-03 -2.20135209e-05 9.99997393e-01 -2.16760152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:78.28, Y:-15.17, Z:-0.23 [[ 9.32489893e-01 -3.61189811e-01 2.12605998e-03 7.82830724e+01] [ 3.61188850e-01 9.32492316e-01 8.33107342e-04 -1.51690186e+01] [-2.28344448e-03 -8.95501445e-06 9.99997393e-01 -2.25848505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.32, Y:-15.16, Z:-0.22 [[ 9.34920338e-01 -3.54851389e-01 2.11010255e-03 7.83180143e+01] [ 3.54850320e-01 9.34922717e-01 8.73741374e-04 -1.51628657e+01] [-2.28283115e-03 -6.81080160e-05 9.99997392e-01 -2.19509398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:78.34, Y:-15.15, Z:-0.22 [[ 9.34703062e-01 -3.55423221e-01 2.12593360e-03 7.83446878e+01] [ 3.55422245e-01 9.34705479e-01 8.33355535e-04 -1.51518557e+01] [-2.28331569e-03 -2.33358770e-05 9.99997393e-01 -2.24164059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.5 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:78.37, Y:-15.14, Z:-0.22 [[ 9.34562480e-01 -3.55792710e-01 2.12573269e-03 7.83712728e+01] [ 3.55791734e-01 9.34564897e-01 8.33867717e-04 -1.51414738e+01] [-2.28331920e-03 -2.29833640e-05 9.99997393e-01 -2.23959390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.40, Y:-15.13, Z:-0.22 [[ 9.34388901e-01 -3.56248319e-01 2.12549683e-03 7.83962808e+01] [ 3.56247342e-01 9.34391318e-01 8.34468485e-04 -1.51319631e+01] [-2.28332377e-03 -2.25154954e-05 9.99997393e-01 -2.24196995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:78.42, Y:-15.12, Z:-0.22 [[ 9.34157164e-01 -3.56855540e-01 2.12539403e-03 7.84228028e+01] [ 3.56854564e-01 9.34159581e-01 8.34730211e-04 -1.51218494e+01] [-2.28333530e-03 -2.13126454e-05 9.99997393e-01 -2.23744713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:78.45, Y:-15.11, Z:-0.22 [[ 9.33224389e-01 -3.59287800e-01 2.12516859e-03 7.84489517e+01] [ 3.59286829e-01 9.33226809e-01 8.35303792e-04 -1.51113912e+01] [-2.28337876e-03 -1.59807879e-05 9.99997393e-01 -2.24109523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:78.47, Y:-15.10, Z:-0.22 [[ 9.32275048e-01 -3.61743997e-01 2.12493359e-03 7.84749046e+01] [ 3.61743032e-01 9.32277470e-01 8.35901175e-04 -1.51009460e+01] [-2.28340994e-03 -1.06098898e-05 9.99997393e-01 -2.23790145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:78.50, Y:-15.09, Z:-0.22 [[ 9.31387647e-01 -3.64022715e-01 2.12469931e-03 7.85004837e+01] [ 3.64021754e-01 9.31390070e-01 8.36496243e-04 -1.50909178e+01] [-2.28342747e-03 -5.66549757e-06 9.99997393e-01 -2.23816829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:78.53, Y:-15.08, Z:-0.22 [[ 9.30311006e-01 -3.66765481e-01 2.12462692e-03 7.85274138e+01] [ 3.66764527e-01 9.30313432e-01 8.36680075e-04 -1.50815722e+01] [-2.28343433e-03 8.65103836e-07 9.99997393e-01 -2.20457109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:-15.07, Z:-0.22 [[ 9.30210595e-01 -3.67020076e-01 2.12442068e-03 7.85533584e+01] [ 3.67019121e-01 9.30213021e-01 8.37203410e-04 -1.50718302e+01] [-2.28343424e-03 9.27526833e-07 9.99997393e-01 -2.17186235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:78.58, Y:-15.06, Z:-0.22 [[ 9.29866027e-01 -3.67892184e-01 2.12418232e-03 7.85797341e+01] [ 3.67891230e-01 9.29868453e-01 8.37807735e-04 -1.50608539e+01] [-2.28343305e-03 2.41909867e-06 9.99997393e-01 -2.19143454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:-15.05, Z:-0.22 [[ 9.29977076e-01 -3.67611380e-01 2.12394243e-03 7.86041979e+01] [ 3.67610423e-01 9.29979502e-01 8.38415445e-04 -1.50498886e+01] [-2.28343398e-03 1.07623320e-06 9.99997393e-01 -2.20196329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.8 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:78.63, Y:-15.04, Z:-0.22 [[ 9.29842301e-01 -3.67952149e-01 2.12383929e-03 7.86296466e+01] [ 3.67951193e-01 9.29844727e-01 8.38676655e-04 -1.50386859e+01] [-2.28343364e-03 1.63216825e-06 9.99997393e-01 -2.23396289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:-15.02, Z:-0.23 [[ 9.27860537e-01 -3.72921325e-01 2.12359801e-03 7.86444828e+01] [ 3.72920381e-01 9.27862967e-01 8.39287144e-04 -1.50224090e+01] [-2.28339602e-03 1.31915584e-05 9.99997393e-01 -2.30119829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:-15.01, Z:-0.23 [[ 9.28453638e-01 -3.71442341e-01 2.10476816e-03 7.86694987e+01] [ 3.71441284e-01 9.28456022e-01 8.86965892e-04 -1.50121393e+01] [-2.28364136e-03 -4.17089194e-05 9.99997392e-01 -2.29919944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:-15.01, Z:-0.22 [[ 9.32100310e-01 -3.62194139e-01 2.10156935e-03 7.87084628e+01] [ 3.62193041e-01 9.32102677e-01 8.95067925e-04 -1.50073140e+01] [-2.28306678e-03 -7.31192967e-05 9.99997391e-01 -2.22099713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:78.72, Y:-14.99, Z:-0.23 [[ 9.30204708e-01 -3.67034995e-01 2.12455632e-03 7.87226285e+01] [ 3.67034041e-01 9.30207134e-01 8.36699168e-04 -1.49906211e+01] [-2.28337532e-03 1.48298604e-06 9.99997393e-01 -2.34800087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-14.98, Z:-0.23 [[ 9.31047854e-01 -3.64891018e-01 2.10677837e-03 7.87477741e+01] [ 3.64889956e-01 9.31050236e-01 8.81945614e-04 -1.49800593e+01] [-2.28333053e-03 -5.23913069e-05 9.99997392e-01 -2.30869162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:-14.97, Z:-0.22 [[ 9.34242242e-01 -3.56632875e-01 2.10384023e-03 7.87861383e+01] [ 3.56631775e-01 9.34244607e-01 8.89422978e-04 -1.49743974e+01] [-2.28269887e-03 -8.06402406e-05 9.99997391e-01 -2.23391988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.80, Y:-14.96, Z:-0.23 [[ 9.31427408e-01 -3.63920959e-01 2.12578824e-03 7.88016254e+01] [ 3.63920005e-01 9.31429834e-01 8.33442118e-04 -1.49578589e+01] [-2.28332964e-03 -2.67396488e-06 9.99997393e-01 -2.31552840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.83, Y:-14.95, Z:-0.23 [[ 9.31221597e-01 -3.64447381e-01 2.10810545e-03 7.88275599e+01] [ 3.64446326e-01 9.31223982e-01 8.78590252e-04 -1.49480499e+01] [-2.28331827e-03 -4.98709306e-05 9.99997392e-01 -2.32177993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-14.94, Z:-0.22 [[ 9.33118545e-01 -3.59562715e-01 2.10585694e-03 7.88660058e+01] [ 3.59561634e-01 9.33120919e-01 8.84328769e-04 -1.49444112e+01] [-2.28299081e-03 -6.79982131e-05 9.99997392e-01 -2.20555190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.1 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:78.88, Y:-14.93, Z:-0.23 [[ 9.29290908e-01 -3.69342504e-01 2.12662293e-03 7.88816011e+01] [ 3.69341569e-01 9.29293342e-01 8.31198973e-04 -1.49294184e+01] [-2.28325364e-03 1.30245996e-05 9.99997393e-01 -2.28481567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:-14.92, Z:-0.23 [[ 9.28609108e-01 -3.71053485e-01 2.10604505e-03 7.89073937e+01] [ 3.71052434e-01 9.28611496e-01 8.83736132e-04 -1.49194400e+01] [-2.28361101e-03 -3.91922801e-05 9.99997392e-01 -2.25801850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:78.93, Y:-14.91, Z:-0.23 [[ 9.27987494e-01 -3.72605393e-01 2.10511849e-03 7.89344270e+01] [ 3.72604341e-01 9.27989881e-01 8.86101591e-04 -1.49094864e+01] [-2.28369489e-03 -3.79149092e-05 9.99997392e-01 -2.27574081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:78.97, Y:-14.90, Z:-0.22 [[ 9.29246584e-01 -3.69454121e-01 2.10697384e-03 7.89708062e+01] [ 3.69453072e-01 9.29248971e-01 8.81364810e-04 -1.49039107e+01] [-2.28352714e-03 -4.05772784e-05 9.99997392e-01 -2.22923748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.99, Y:-14.89, Z:-0.23 [[ 9.25984102e-01 -3.77556512e-01 2.12661567e-03 7.89880607e+01] [ 3.77555599e-01 9.25986544e-01 8.31105731e-04 -1.48887685e+01] [-2.28300688e-03 3.33249592e-05 9.99997393e-01 -2.27974188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:79.03, Y:-14.88, Z:-0.22 [[ 9.27968792e-01 -3.72651948e-01 2.10890948e-03 7.90250766e+01] [ 3.72650918e-01 9.27971188e-01 8.76324627e-04 -1.48832704e+01] [-2.28357131e-03 -2.73148505e-05 9.99997392e-01 -2.21988528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:79.05, Y:-14.87, Z:-0.22 [[ 9.26312190e-01 -3.76750851e-01 2.12663571e-03 7.90520602e+01] [ 3.76749936e-01 9.26314631e-01 8.30958682e-04 -1.48726680e+01] [-2.28299816e-03 3.14827113e-05 9.99997393e-01 -2.24068633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:79.08, Y:-14.86, Z:-0.22 [[ 9.25541434e-01 -3.78640374e-01 2.12643229e-03 7.90780271e+01] [ 3.78639463e-01 9.25543876e-01 8.31478901e-04 -1.48625640e+01] [-2.28293787e-03 3.55830074e-05 9.99997393e-01 -2.23990386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:79.09, Y:-14.85, Z:-0.23 [[ 9.22092478e-01 -3.86963747e-01 2.12620072e-03 7.90941479e+01] [ 3.86962857e-01 9.22094927e-01 8.32070643e-04 -1.48470524e+01] [-2.28254007e-03 5.55146231e-05 9.99997393e-01 -2.32543459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:-14.84, Z:-0.22 [[ 9.24029042e-01 -3.82316475e-01 2.10787977e-03 7.91314011e+01] [ 3.82315465e-01 9.24031446e-01 8.78797038e-04 -1.48420826e+01] [-2.28372577e-03 -6.15895217e-06 9.99997392e-01 -2.24350776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:-14.83, Z:-0.22 [[ 9.22356155e-01 -3.86334832e-01 2.12622351e-03 7.91569831e+01] [ 3.86333940e-01 9.22358604e-01 8.31913706e-04 -1.48313764e+01] [-2.28253779e-03 5.41115776e-05 9.99997394e-01 -2.23507835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:-14.82, Z:-0.23 [[ 9.19056967e-01 -3.94118981e-01 2.12598742e-03 7.91732016e+01] [ 3.94118108e-01 9.19059423e-01 8.32516606e-04 -1.48160350e+01] [-2.28201937e-03 7.27599517e-05 9.99997394e-01 -2.30307928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.21, Y:-14.81, Z:-0.22 [[ 9.20301822e-01 -3.91203411e-01 2.10902384e-03 7.92091878e+01] [ 3.91202431e-01 9.20304238e-01 8.75750742e-04 -1.48097028e+01] [-2.28354026e-03 1.91002508e-05 9.99997393e-01 -2.21768057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:79.23, Y:-14.79, Z:-0.23 [[ 9.17156660e-01 -3.98521193e-01 2.12596741e-03 7.92264377e+01] [ 3.98520332e-01 9.17159120e-01 8.32480726e-04 -1.47939032e+01] [-2.28161161e-03 8.37259940e-05 9.99997394e-01 -2.27941780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:79.26, Y:-14.79, Z:-0.22 [[ 9.19653367e-01 -3.92725396e-01 2.10888660e-03 7.92626810e+01] [ 3.92724419e-01 9.19655785e-01 8.76020289e-04 -1.47881057e+01] [-2.28348518e-03 2.25762573e-05 9.99997393e-01 -2.19856532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:-14.77, Z:-0.22 [[ 9.17323140e-01 -3.98137838e-01 2.12592475e-03 7.92795923e+01] [ 3.98136976e-01 9.17325599e-01 8.32511203e-04 -1.47717333e+01] [-2.28161940e-03 8.27274584e-05 9.99997394e-01 -2.23559211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:79.31, Y:-14.76, Z:-0.22 [[ 9.20327976e-01 -3.91141876e-01 2.10933926e-03 7.93143111e+01] [ 3.91140898e-01 9.20330393e-01 8.74790905e-04 -1.47647480e+01] [-2.28345639e-03 1.99543102e-05 9.99997393e-01 -2.20932344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:-14.75, Z:-0.22 [[ 9.21083516e-01 -3.89359265e-01 2.12590549e-03 7.93403598e+01] [ 3.89358380e-01 9.21085967e-01 8.32486004e-04 -1.47529406e+01] [-2.28227786e-03 6.09499818e-05 9.99997394e-01 -2.19678263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.37, Y:-14.74, Z:-0.22 [[ 9.22958316e-01 -3.84894049e-01 2.12567983e-03 7.93650685e+01] [ 3.84893150e-01 9.22960762e-01 8.33061813e-04 -1.47391844e+01] [-2.28255961e-03 4.92782784e-05 9.99997394e-01 -2.23430536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:79.39, Y:-14.73, Z:-0.22 [[ 9.23808693e-01 -3.82848510e-01 2.12560992e-03 7.93909587e+01] [ 3.82847605e-01 9.23811137e-01 8.33240144e-04 -1.47268774e+01] [-2.28266687e-03 4.40301814e-05 9.99997394e-01 -2.24692344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.7 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.41, Y:-14.71, Z:-0.23 [[ 9.23239072e-01 -3.84220117e-01 2.12537302e-03 7.94073146e+01] [ 3.84219215e-01 9.23241517e-01 8.33843987e-04 -1.47102619e+01] [-2.28261225e-03 4.67718050e-05 9.99997394e-01 -2.31859842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:-14.70, Z:-0.23 [[ 9.23956608e-01 -3.82491488e-01 2.10927592e-03 7.94329569e+01] [ 3.82490487e-01 9.23959015e-01 8.74781576e-04 -1.46987481e+01] [-2.28348101e-03 -1.48224283e-06 9.99997393e-01 -2.31741450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.47, Y:-14.69, Z:-0.23 [[ 9.27022104e-01 -3.75000761e-01 2.10886833e-03 7.94684029e+01] [ 3.74999739e-01 9.27024503e-01 8.75816807e-04 -1.46917526e+01] [-2.28340458e-03 -2.10764669e-05 9.99997393e-01 -2.25243318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:79.49, Y:-14.68, Z:-0.23 [[ 9.27863785e-01 -3.72913236e-01 2.12479922e-03 7.94934250e+01] [ 3.72912301e-01 9.27866218e-01 8.35292142e-04 -1.46803226e+01] [-2.28302091e-03 1.73264371e-05 9.99997394e-01 -2.26425968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.51, Y:-14.67, Z:-0.23 [[ 9.26038701e-01 -3.77422588e-01 2.12472778e-03 7.95116837e+01] [ 3.77421664e-01 9.26041138e-01 8.35473821e-04 -1.46655864e+01] [-2.28291202e-03 2.82372017e-05 9.99997394e-01 -2.30466732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:-14.65, Z:-0.23 [[ 9.27562497e-01 -3.73662098e-01 2.10970812e-03 7.95390329e+01] [ 3.73661078e-01 9.27564896e-01 8.73598780e-04 -1.46549677e+01] [-2.28332195e-03 -2.20016538e-05 9.99997393e-01 -2.27640153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.57, Y:-14.64, Z:-0.23 [[ 9.28231921e-01 -3.71996020e-01 2.11219074e-03 7.95655162e+01] [ 3.71995010e-01 9.28234324e-01 8.67298360e-04 -1.46439569e+01] [-2.28323948e-03 -1.93296094e-05 9.99997393e-01 -2.29205722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:-14.63, Z:-0.23 [[ 9.29021206e-01 -3.70020453e-01 2.11289266e-03 7.95907148e+01] [ 3.70019441e-01 9.29023608e-01 8.65516397e-04 -1.46331473e+01] [-2.28318593e-03 -2.22717270e-05 9.99997393e-01 -2.27472944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:-14.62, Z:-0.23 [[ 9.30758544e-01 -3.65628325e-01 2.11220620e-03 7.96173800e+01] [ 3.65627298e-01 9.30760940e-01 8.67260554e-04 -1.46223161e+01] [-2.28305405e-03 -3.49299242e-05 9.99997393e-01 -2.26118660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-14.61, Z:-0.23 [[ 9.31457115e-01 -3.63844994e-01 2.11282764e-03 7.96440747e+01] [ 3.63843966e-01 9.31459510e-01 8.65681886e-04 -1.46114258e+01] [-2.28298742e-03 -3.76059655e-05 9.99997393e-01 -2.27448477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.0 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:79.68, Y:-14.60, Z:-0.23 [[ 9.34529761e-01 -3.55878718e-01 2.11288976e-03 7.96771766e+01] [ 3.55877670e-01 9.34532147e-01 8.65524368e-04 -1.46036402e+01] [-2.28258511e-03 -5.69279947e-05 9.99997393e-01 -2.25546232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:79.70, Y:-14.59, Z:-0.23 [[ 9.35079460e-01 -3.54431787e-01 2.12418893e-03 7.97035786e+01] [ 3.54430800e-01 9.35081872e-01 8.36843279e-04 -1.45928845e+01] [-2.28289442e-03 -2.96369784e-05 9.99997394e-01 -2.27775376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.73, Y:-14.58, Z:-0.22 [[ 9.35935090e-01 -3.52166148e-01 2.12394977e-03 7.97282951e+01] [ 3.52165154e-01 9.35937499e-01 8.37449859e-04 -1.45830642e+01] [-2.28280572e-03 -3.58176121e-05 9.99997394e-01 -2.24940124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:79.75, Y:-14.57, Z:-0.23 [[ 9.36670304e-01 -3.50205983e-01 2.12384637e-03 7.97548595e+01] [ 3.50204983e-01 9.36672711e-01 8.37711990e-04 -1.45718290e+01] [-2.28272069e-03 -4.08783611e-05 9.99997394e-01 -2.29950329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.78, Y:-14.56, Z:-0.23 [[ 9.36674934e-01 -3.50193600e-01 2.12363839e-03 7.97812334e+01] [ 3.50192599e-01 9.36677341e-01 8.38238910e-04 -1.45612028e+01] [-2.28270986e-03 -4.14749287e-05 9.99997394e-01 -2.28430989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.81, Y:-14.55, Z:-0.23 [[ 9.36575697e-01 -3.50458921e-01 2.12340059e-03 7.98078121e+01] [ 3.50457920e-01 9.36578103e-01 8.38840859e-04 -1.45506231e+01] [-2.28270976e-03 -4.14754083e-05 9.99997394e-01 -2.28496018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:79.83, Y:-14.54, Z:-0.23 [[ 9.36353005e-01 -3.51053474e-01 2.12316280e-03 7.98329067e+01] [ 3.51052473e-01 9.36355411e-01 8.39442292e-04 -1.45404357e+01] [-2.28272411e-03 -4.06727617e-05 9.99997394e-01 -2.29892448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:79.86, Y:-14.53, Z:-0.23 [[ 9.36111603e-01 -3.51696685e-01 2.12305980e-03 7.98590252e+01] [ 3.51695685e-01 9.36114010e-01 8.39702707e-04 -1.45306328e+01] [-2.28274668e-03 -3.93844762e-05 9.99997394e-01 -2.30408763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:79.88, Y:-14.52, Z:-0.23 [[ 9.35429731e-01 -3.53506311e-01 2.12281877e-03 7.98849588e+01] [ 3.53505314e-01 9.35432139e-01 8.40311607e-04 -1.45220653e+01] [-2.28280836e-03 -3.56247447e-05 9.99997394e-01 -2.30825481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:-14.51, Z:-0.23 [[ 9.35232446e-01 -3.54027917e-01 2.12265482e-03 7.99115121e+01] [ 3.54026920e-01 9.35234855e-01 8.40725543e-04 -1.45124585e+01] [-2.28282109e-03 -3.47968569e-05 9.99997394e-01 -2.26369654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:-14.50, Z:-0.23 [[ 9.33204051e-01 -3.59340639e-01 2.12241752e-03 7.99360851e+01] [ 3.59339655e-01 9.33206464e-01 8.41324188e-04 -1.45014384e+01] [-2.28297572e-03 -2.24583615e-05 9.99997394e-01 -2.29866809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.96, Y:-14.49, Z:-0.23 [[ 9.32430987e-01 -3.61341904e-01 2.11738108e-03 7.99612871e+01] [ 3.61340897e-01 9.32433390e-01 8.54016428e-04 -1.44924563e+01] [-2.28290874e-03 -3.12150023e-05 9.99997394e-01 -2.30053305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:-14.49, Z:-0.23 [[ 9.32038572e-01 -3.62352893e-01 2.11687063e-03 7.99907755e+01] [ 3.62351885e-01 9.32040976e-01 8.55301751e-04 -1.44859531e+01] [-2.28293123e-03 -3.01221615e-05 9.99997394e-01 -2.25123839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:80.02, Y:-14.48, Z:-0.23 [[ 9.31151717e-01 -3.64625805e-01 2.12188351e-03 8.00176112e+01] [ 3.64624832e-01 9.31154134e-01 8.42679209e-04 -1.44767617e+01] [-2.28306319e-03 -1.09707736e-05 9.99997394e-01 -2.27583249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:-14.47, Z:-0.22 [[ 9.30738420e-01 -3.65679494e-01 2.12164096e-03 8.00433961e+01] [ 3.65678521e-01 9.30740838e-01 8.43289442e-04 -1.44678619e+01] [-2.28307154e-03 -9.04335331e-06 9.99997394e-01 -2.23427500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:-14.46, Z:-0.22 [[ 9.29661393e-01 -3.68409004e-01 2.12153571e-03 8.00702657e+01] [ 3.68408038e-01 9.29663813e-01 8.43554142e-04 -1.44592352e+01] [-2.28308792e-03 -2.62890775e-06 9.99997394e-01 -2.22083837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:-14.45, Z:-0.22 [[ 9.29191162e-01 -3.69593405e-01 2.12129543e-03 8.00955304e+01] [ 3.69592441e-01 9.29193583e-01 8.44157946e-04 -1.44495765e+01] [-2.28308931e-03 -3.69344521e-07 9.99997394e-01 -2.22286365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:80.12, Y:-14.44, Z:-0.23 [[ 9.27864671e-01 -3.72911060e-01 2.11962769e-03 8.01225231e+01] [ 3.72910095e-01 9.27867093e-01 8.48345010e-04 -1.44392170e+01] [-2.28309002e-03 3.28120002e-06 9.99997394e-01 -2.25463431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.15, Y:-14.43, Z:-0.23 [[ 9.26518830e-01 -3.76242422e-01 2.12084122e-03 8.01468579e+01] [ 3.76241473e-01 9.26521257e-01 8.45300287e-04 -1.44274119e+01] [-2.28304230e-03 1.47617924e-05 9.99997394e-01 -2.25830409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:-14.42, Z:-0.22 [[ 9.26578216e-01 -3.76096169e-01 2.11706114e-03 8.01744421e+01] [ 3.76095198e-01 9.26580634e-01 8.54776333e-04 -1.44192800e+01] [-2.28310596e-03 4.19939924e-06 9.99997394e-01 -2.24621831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:-14.41, Z:-0.23 [[ 9.25118492e-01 -3.79672595e-01 2.12053764e-03 8.01983499e+01] [ 3.79671653e-01 9.25120922e-01 8.46062969e-04 -1.44076723e+01] [-2.28298066e-03 2.23995336e-05 9.99997394e-01 -2.27842454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:-14.40, Z:-0.22 [[ 9.25903856e-01 -3.77753323e-01 2.11577073e-03 8.02272395e+01] [ 3.77752349e-01 9.25906273e-01 8.57997246e-04 -1.43994023e+01] [-2.28311671e-03 4.81440562e-06 9.99997394e-01 -2.24473400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:80.25, Y:-14.39, Z:-0.23 [[ 9.25532899e-01 -3.78661270e-01 2.12026568e-03 8.02529643e+01] [ 3.78660324e-01 9.25535327e-01 8.46741770e-04 -1.43893645e+01] [-2.28300910e-03 1.91731242e-05 9.99997394e-01 -2.26205202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:80.28, Y:-14.38, Z:-0.23 [[ 9.25587859e-01 -3.78526909e-01 2.12002434e-03 8.02786369e+01] [ 3.78525961e-01 9.25590287e-01 8.47345581e-04 -1.43790403e+01] [-2.28301704e-03 1.81914695e-05 9.99997394e-01 -2.25749453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:-14.37, Z:-0.22 [[ 9.25863640e-01 -3.77851852e-01 2.12071347e-03 8.03045585e+01] [ 3.77850906e-01 9.25866069e-01 8.45622313e-04 -1.43681790e+01] [-2.28301660e-03 1.83825523e-05 9.99997394e-01 -2.24063469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:-14.36, Z:-0.22 [[ 9.26311288e-01 -3.76753108e-01 2.11968556e-03 8.03293223e+01] [ 3.76752153e-01 9.26313713e-01 8.48191122e-04 -1.43576580e+01] [-2.28305244e-03 1.29070881e-05 9.99997394e-01 -2.23845180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:80.36, Y:-14.35, Z:-0.23 [[ 9.26462413e-01 -3.76381329e-01 2.11958136e-03 8.03552409e+01] [ 3.76380373e-01 9.26464837e-01 8.48451433e-04 -1.43471622e+01] [-2.28305888e-03 1.17104608e-05 9.99997394e-01 -2.25142617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:-14.34, Z:-0.22 [[ 9.26961704e-01 -3.75149981e-01 2.11933742e-03 8.03804905e+01] [ 3.75149021e-01 9.26964126e-01 8.49060321e-04 -1.43367600e+01] [-2.28307473e-03 8.02095725e-06 9.99997394e-01 -2.23414504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:80.41, Y:-14.33, Z:-0.23 [[ 9.27950195e-01 -3.72698194e-01 2.11923183e-03 8.04062754e+01] [ 3.72697226e-01 9.27952615e-01 8.49323793e-04 -1.43255612e+01] [-2.28308816e-03 1.70164533e-06 9.99997394e-01 -2.27358024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:-14.31, Z:-0.23 [[ 9.27735516e-01 -3.73232263e-01 2.11898931e-03 8.04297609e+01] [ 3.73231295e-01 9.27737936e-01 8.49928434e-04 -1.43125466e+01] [-2.28308748e-03 2.36433068e-06 9.99997394e-01 -2.27088237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.46, Y:-14.30, Z:-0.23 [[ 9.30390137e-01 -3.66564760e-01 2.11409174e-03 8.04581299e+01] [ 3.66563748e-01 9.30392538e-01 8.62124165e-04 -1.43025804e+01] [-2.28295952e-03 -2.71624284e-05 9.99997394e-01 -2.26153897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:80.48, Y:-14.29, Z:-0.23 [[ 9.31142072e-01 -3.64650453e-01 2.11869050e-03 8.04836788e+01] [ 3.64649462e-01 9.31144482e-01 8.50670445e-04 -1.42918961e+01] [-2.28300433e-03 -1.95156915e-05 9.99997394e-01 -2.27670754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:-14.28, Z:-0.23 [[ 9.32167699e-01 -3.62020569e-01 2.11845071e-03 8.05099136e+01] [ 3.62019569e-01 9.32170106e-01 8.51267168e-04 -1.42809396e+01] [-2.28293265e-03 -2.66031430e-05 9.99997394e-01 -2.25002116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:80.54, Y:-14.27, Z:-0.23 [[ 9.32645446e-01 -3.60788005e-01 2.11821245e-03 8.05358336e+01] [ 3.60787000e-01 9.32647851e-01 8.51859626e-04 -1.42701002e+01] [-2.28288703e-03 -3.02594852e-05 9.99997394e-01 -2.29643230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:-14.26, Z:-0.22 [[ 9.34037436e-01 -3.57168843e-01 2.11797578e-03 8.05617378e+01] [ 3.57167828e-01 9.34039836e-01 8.52447660e-04 -1.42596949e+01] [-2.28274149e-03 -3.97452176e-05 9.99997394e-01 -2.24789370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:80.59, Y:-14.25, Z:-0.23 [[ 9.34302211e-01 -3.56475657e-01 2.11773348e-03 8.05874697e+01] [ 3.56474639e-01 9.34304610e-01 8.53049183e-04 -1.42496427e+01] [-2.28269942e-03 -4.20874610e-05 9.99997394e-01 -2.27505532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:80.61, Y:-14.24, Z:-0.23 [[ 9.35028612e-01 -3.54565948e-01 2.11749106e-03 8.06136052e+01] [ 3.54564924e-01 9.35031008e-01 8.53650488e-04 -1.42396791e+01] [-2.28259520e-03 -4.73995730e-05 9.99997394e-01 -2.28122020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:80.64, Y:-14.23, Z:-0.23 [[ 9.35137744e-01 -3.54278022e-01 2.11724791e-03 8.06395866e+01] [ 3.54276996e-01 9.35140139e-01 8.54253140e-04 -1.42295458e+01] [-2.28256662e-03 -4.87521245e-05 9.99997394e-01 -2.30237178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:80.67, Y:-14.22, Z:-0.23 [[ 9.35317960e-01 -3.53801968e-01 2.11700365e-03 8.06652051e+01] [ 3.53800939e-01 9.35320354e-01 8.54858038e-04 -1.42201940e+01] [-2.28252706e-03 -5.05661964e-05 9.99997394e-01 -2.30065078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:80.69, Y:-14.21, Z:-0.23 [[ 9.34938733e-01 -3.54802880e-01 2.11689735e-03 8.06914417e+01] [ 3.54801853e-01 9.34941129e-01 8.55121194e-04 -1.42104894e+01] [-2.28257386e-03 -4.84068243e-05 9.99997394e-01 -2.32947039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:-14.20, Z:-0.23 [[ 9.34622280e-01 -3.55635648e-01 2.11665509e-03 8.07176588e+01] [ 3.55634621e-01 9.34624675e-01 8.55720419e-04 -1.42023284e+01] [-2.28260276e-03 -4.70195371e-05 9.99997394e-01 -2.29649257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:80.74, Y:-14.19, Z:-0.23 [[ 9.33951179e-01 -3.57394342e-01 2.11655020e-03 8.07448710e+01] [ 3.57393320e-01 9.33953576e-01 8.55979796e-04 -1.41924784e+01] [-2.28268196e-03 -4.30024383e-05 9.99997394e-01 -2.34156393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25999999999999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:80.77, Y:-14.18, Z:-0.23 [[ 9.33765705e-01 -3.57878653e-01 2.11634338e-03 8.07718620e+01] [ 3.57877630e-01 9.33768102e-01 8.56490837e-04 -1.41831510e+01] [-2.28269372e-03 -4.23698173e-05 9.99997394e-01 -2.34252523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:-14.17, Z:-0.24 [[ 9.32346344e-01 -3.61560254e-01 2.11604515e-03 8.07949765e+01] [ 3.61559239e-01 9.32348745e-01 8.57227249e-04 -1.41735386e+01] [-2.28283135e-03 -3.41570157e-05 9.99997394e-01 -2.35282271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:-14.17, Z:-0.23 [[ 9.33568481e-01 -3.58392870e-01 2.10757024e-03 8.08266525e+01] [ 3.58391800e-01 9.33570858e-01 8.78242060e-04 -1.41655216e+01] [-2.28232185e-03 -6.45632162e-05 9.99997393e-01 -2.32180474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:-14.15, Z:-0.23 [[ 9.33307440e-01 -3.59072052e-01 2.11752325e-03 8.08530175e+01] [ 3.59071039e-01 9.33309842e-01 8.53550207e-04 -1.41549356e+01] [-2.28279131e-03 -3.62834854e-05 9.99997394e-01 -2.32423105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:-14.14, Z:-0.23 [[ 9.33017516e-01 -3.59824724e-01 2.11728117e-03 8.08782563e+01] [ 3.59823712e-01 9.33019918e-01 8.54150272e-04 -1.41448987e+01] [-2.28280989e-03 -3.50891943e-05 9.99997394e-01 -2.32705902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:80.91, Y:-14.13, Z:-0.23 [[ 9.32239362e-01 -3.61835997e-01 2.11717633e-03 8.09050025e+01] [ 3.61834989e-01 9.32241766e-01 8.54410073e-04 -1.41348961e+01] [-2.28287652e-03 -3.04462277e-05 9.99997394e-01 -2.33670234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:80.93, Y:-14.12, Z:-0.23 [[ 9.31824997e-01 -3.62901768e-01 2.11693445e-03 8.09305440e+01] [ 3.62900762e-01 9.31827401e-01 8.55008932e-04 -1.41248615e+01] [-2.28290178e-03 -2.84815691e-05 9.99997394e-01 -2.34319018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-14.11, Z:-0.23 [[ 9.31680400e-01 -3.63272833e-01 2.11677047e-03 8.09568705e+01] [ 3.63271827e-01 9.31682804e-01 8.55414724e-04 -1.41145978e+01] [-2.28290758e-03 -2.80100568e-05 9.99997394e-01 -2.30600751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.5 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:80.98, Y:-14.10, Z:-0.23 [[ 9.30500468e-01 -3.66284586e-01 2.11669689e-03 8.09824960e+01] [ 3.66283587e-01 9.30502876e-01 8.55596759e-04 -1.41032861e+01] [-2.28298444e-03 -2.08218555e-05 9.99997394e-01 -2.31931373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:-14.09, Z:-0.23 [[ 9.30275661e-01 -3.66855168e-01 2.11645363e-03 8.10077359e+01] [ 3.66854170e-01 9.30278069e-01 8.56198068e-04 -1.40926053e+01] [-2.28299108e-03 -2.00703837e-05 9.99997394e-01 -2.29589038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:-14.08, Z:-0.23 [[ 9.29248283e-01 -3.69449792e-01 2.11636270e-03 8.10332592e+01] [ 3.69448800e-01 9.29250693e-01 8.56422777e-04 -1.40810976e+01] [-2.28303672e-03 -1.39417363e-05 9.99997394e-01 -2.27540017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:-14.07, Z:-0.23 [[ 9.28533775e-01 -3.71241903e-01 2.11611909e-03 8.10593847e+01] [ 3.71240913e-01 9.28536187e-01 8.57024290e-04 -1.40703095e+01] [-2.28305647e-03 -1.01860171e-05 9.99997394e-01 -2.26813592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:-14.06, Z:-0.23 [[ 9.27695345e-01 -3.73332118e-01 2.11587431e-03 8.10844106e+01] [ 3.73331133e-01 9.27697758e-01 8.57628193e-04 -1.40601610e+01] [-2.28307200e-03 -5.69592906e-06 9.99997394e-01 -2.26806630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:-14.05, Z:-0.23 [[ 9.25569351e-01 -3.78572187e-01 2.11570821e-03 8.11102534e+01] [ 3.78571215e-01 9.25571769e-01 8.58037747e-04 -1.40492788e+01] [-2.28306902e-03 6.77278686e-06 9.99997394e-01 -2.26825320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:81.14, Y:-14.04, Z:-0.23 [[ 9.24156725e-01 -3.82007686e-01 2.11546644e-03 8.11373745e+01] [ 3.82006721e-01 9.24159146e-01 8.58633415e-04 -1.40379942e+01] [-2.28303222e-03 1.46105518e-05 9.99997394e-01 -2.28482030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:-14.03, Z:-0.23 [[ 9.23007437e-01 -3.84776292e-01 2.11583867e-03 8.11621106e+01] [ 3.84775337e-01 9.23009861e-01 8.57716577e-04 -1.40277608e+01] [-2.28296897e-03 2.24437606e-05 9.99997394e-01 -2.27144812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:81.19, Y:-14.02, Z:-0.23 [[ 9.20395002e-01 -3.90984099e-01 2.11515113e-03 8.11885397e+01] [ 3.90983156e-01 9.20397432e-01 8.59408733e-04 -1.40168672e+01] [-2.28279482e-03 3.59929623e-05 9.99997394e-01 -2.27794426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.21, Y:-14.01, Z:-0.23 [[ 9.19235540e-01 -3.93702361e-01 2.11490719e-03 8.12146341e+01] [ 3.93701424e-01 9.19237972e-01 8.60008640e-04 -1.40064135e+01] [-2.28269042e-03 4.20914651e-05 9.99997394e-01 -2.26521352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:-14.00, Z:-0.23 [[ 9.17258486e-01 -3.98286829e-01 2.11466439e-03 8.12414530e+01] [ 3.98285903e-01 9.17260922e-01 8.60605245e-04 -1.39950980e+01] [-2.28246674e-03 5.28435502e-05 9.99997394e-01 -2.27200998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:-13.98, Z:-0.23 [[ 9.14200054e-01 -4.05257684e-01 2.11445159e-03 8.12593485e+01] [ 4.05256775e-01 9.14202496e-01 8.61127763e-04 -1.39804214e+01] [-2.28201556e-03 6.96527843e-05 9.99997394e-01 -2.34296530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:-13.97, Z:-0.24 [[ 9.13481026e-01 -4.06875913e-01 2.09895637e-03 8.12857567e+01] [ 4.06874921e-01 9.13483437e-01 8.99097418e-04 -1.39687479e+01] [-2.28318296e-03 3.27042748e-05 9.99997393e-01 -2.35756990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:81.32, Y:-13.96, Z:-0.23 [[ 9.15650848e-01 -4.01969052e-01 2.09897999e-03 8.13204318e+01] [ 4.01968047e-01 9.15653253e-01 8.99039687e-04 -1.39608916e+01] [-2.28332399e-03 2.05164385e-05 9.99997393e-01 -2.31623915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:-13.95, Z:-0.23 [[ 9.16159604e-01 -4.00808076e-01 2.11341771e-03 8.13461496e+01] [ 4.00807150e-01 9.16162040e-01 8.63712020e-04 -1.39490746e+01] [-2.28241584e-03 5.57748680e-05 9.99997394e-01 -2.29583260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:-13.94, Z:-0.23 [[ 9.17699871e-01 -3.97268776e-01 2.11317775e-03 8.13709393e+01] [ 3.97267839e-01 9.17702303e-01 8.64298722e-04 -1.39364182e+01] [-2.28262698e-03 4.63307320e-05 9.99997394e-01 -2.30247637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:-13.92, Z:-0.24 [[ 9.15911204e-01 -4.01375387e-01 2.11310347e-03 8.13874955e+01] [ 4.01374460e-01 9.15913640e-01 8.64480282e-04 -1.39203158e+01] [-2.28240140e-03 5.63585896e-05 9.99997394e-01 -2.35724414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:-13.91, Z:-0.23 [[ 9.19749946e-01 -3.92499232e-01 2.09490714e-03 8.14223148e+01] [ 3.92498180e-01 9.19752332e-01 9.08857135e-04 -1.39130054e+01] [-2.28352145e-03 -1.36740620e-05 9.99997393e-01 -2.28245173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:-13.90, Z:-0.23 [[ 9.19638604e-01 -3.92759944e-01 2.11289472e-03 8.14487590e+01] [ 3.92758993e-01 9.19641031e-01 8.64915417e-04 -1.39020868e+01] [-2.28280881e-03 3.44487966e-05 9.99997394e-01 -2.28331827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:81.47, Y:-13.89, Z:-0.23 [[ 9.21971790e-01 -3.87251282e-01 2.11264927e-03 8.14722666e+01] [ 3.87250316e-01 9.21974210e-01 8.65514535e-04 -1.38892062e+01] [-2.28297976e-03 2.01441134e-05 9.99997394e-01 -2.30309521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.1 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.50, Y:-13.88, Z:-0.23 [[ 9.23237220e-01 -3.84224639e-01 2.11248247e-03 8.14965203e+01] [ 3.84223664e-01 9.23239637e-01 8.65921476e-04 -1.38777823e+01] [-2.28303591e-03 1.22148163e-05 9.99997394e-01 -2.30913815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:81.52, Y:-13.86, Z:-0.23 [[ 9.25475134e-01 -3.78802473e-01 2.11237694e-03 8.15214365e+01] [ 3.78801482e-01 9.25477545e-01 8.66178832e-04 -1.38648900e+01] [-2.28306811e-03 -1.45545646e-06 9.99997394e-01 -2.32120532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:81.55, Y:-13.85, Z:-0.23 [[ 9.26508377e-01 -3.76268212e-01 2.11213950e-03 8.15473794e+01] [ 3.76267213e-01 9.26510784e-01 8.66757434e-04 -1.38531228e+01] [-2.28305329e-03 -8.32918107e-06 9.99997394e-01 -2.31813633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.57, Y:-13.84, Z:-0.23 [[ 9.27677196e-01 -3.73377236e-01 2.11193248e-03 8.15723499e+01] [ 3.73376229e-01 9.27679600e-01 8.67261542e-04 -1.38417461e+01] [-2.28301240e-03 -1.59933675e-05 9.99997394e-01 -2.30974839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.60, Y:-13.83, Z:-0.23 [[ 9.29564060e-01 -3.68654580e-01 2.11182993e-03 8.15974284e+01] [ 3.68653560e-01 9.29566458e-01 8.67511196e-04 -1.38296598e+01] [-2.28289824e-03 -2.78736063e-05 9.99997394e-01 -2.30374756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:81.62, Y:-13.82, Z:-0.23 [[ 9.30078748e-01 -3.67354140e-01 2.11159814e-03 8.16226772e+01] [ 3.67353116e-01 9.30081144e-01 8.68075035e-04 -1.38184219e+01] [-2.28284857e-03 -3.16759867e-05 9.99997394e-01 -2.31862198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:-13.81, Z:-0.23 [[ 9.31595078e-01 -3.63491614e-01 2.11135438e-03 8.16482336e+01] [ 3.63490578e-01 9.31597469e-01 8.68667514e-04 -1.38077055e+01] [-2.28268575e-03 -4.17889568e-05 9.99997394e-01 -2.29012479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:-13.80, Z:-0.23 [[ 9.31917878e-01 -3.62663222e-01 2.11111195e-03 8.16746227e+01] [ 3.62662183e-01 9.31920268e-01 8.69256269e-04 -1.37967097e+01] [-2.28263530e-03 -4.44549886e-05 9.99997394e-01 -2.29440633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:81.70, Y:-13.79, Z:-0.23 [[ 9.31941999e-01 -3.62601234e-01 2.11086582e-03 8.17002994e+01] [ 3.62600194e-01 9.31944388e-01 8.69853560e-04 -1.37861918e+01] [-2.28261953e-03 -4.52527098e-05 9.99997394e-01 -2.32289563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:81.73, Y:-13.78, Z:-0.23 [[ 9.32360063e-01 -3.61524908e-01 2.11061704e-03 8.17265503e+01] [ 3.61523863e-01 9.32362450e-01 8.70456784e-04 -1.37765503e+01] [-2.28255188e-03 -4.85407165e-05 9.99997394e-01 -2.34446287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:81.75, Y:-13.77, Z:-0.24 [[ 9.32540898e-01 -3.61058193e-01 2.11054001e-03 8.17537343e+01] [ 3.61057147e-01 9.32543285e-01 8.70643518e-04 -1.37664768e+01] [-2.28252289e-03 -4.98851338e-05 9.99997394e-01 -2.35045378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.78, Y:-13.76, Z:-0.23 [[ 9.32875303e-01 -3.60193303e-01 2.11032153e-03 8.17801923e+01] [ 3.60192254e-01 9.32877688e-01 8.71172747e-04 -1.37565474e+01] [-2.28246246e-03 -5.25740709e-05 9.99997394e-01 -2.33422169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:81.81, Y:-13.75, Z:-0.24 [[ 9.33114852e-01 -3.59572275e-01 2.11007113e-03 8.18060712e+01] [ 3.59571223e-01 9.33117236e-01 8.71778820e-04 -1.37468625e+01] [-2.28241124e-03 -5.47489075e-05 9.99997394e-01 -2.36453554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.83, Y:-13.74, Z:-0.24 [[ 9.33566025e-01 -3.58399254e-01 2.10995544e-03 8.18323517e+01] [ 3.58398198e-01 9.33568407e-01 8.72058733e-04 -1.37380787e+01] [-2.28233294e-03 -5.79201763e-05 9.99997394e-01 -2.35231684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:-13.73, Z:-0.23 [[ 9.33777940e-01 -3.57846767e-01 2.10970779e-03 8.18586040e+01] [ 3.57845708e-01 9.33780321e-01 8.72657462e-04 -1.37286352e+01] [-2.28228127e-03 -5.99184101e-05 9.99997394e-01 -2.34420983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:81.89, Y:-13.72, Z:-0.24 [[ 9.33280725e-01 -3.59141529e-01 2.10963105e-03 8.18851369e+01] [ 3.59140473e-01 9.33283108e-01 8.72842939e-04 -1.37209973e+01] [-2.28235717e-03 -5.69535984e-05 9.99997394e-01 -2.37628104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:81.91, Y:-13.71, Z:-0.24 [[ 9.32927021e-01 -3.60059332e-01 2.10951676e-03 8.19123826e+01] [ 3.60058278e-01 9.32929405e-01 8.73119051e-04 -1.37114920e+01] [-2.28240488e-03 -5.50073825e-05 9.99997394e-01 -2.35660630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:-13.70, Z:-0.23 [[ 9.32591067e-01 -3.60928597e-01 2.10929822e-03 8.19394048e+01] [ 3.60927544e-01 9.32593451e-01 8.73646699e-04 -1.37020076e+01] [-2.28244178e-03 -5.34512822e-05 9.99997394e-01 -2.32942499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:-13.69, Z:-0.24 [[ 9.29373423e-01 -3.69134925e-01 2.10907605e-03 8.19602783e+01] [ 3.69133891e-01 9.29375815e-01 8.74182709e-04 -1.36902540e+01] [-2.28281564e-03 -3.39107269e-05 9.99997394e-01 -2.40530554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.99, Y:-13.68, Z:-0.23 [[ 9.30814081e-01 -3.65486986e-01 2.09971178e-03 8.19926900e+01] [ 3.65485892e-01 9.30816447e-01 8.96750754e-04 -1.36832713e+01] [-2.28219699e-03 -6.72931965e-05 9.99997394e-01 -2.33339061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:-13.67, Z:-0.23 [[ 9.30420210e-01 -3.66488452e-01 2.10892686e-03 8.20179511e+01] [ 3.66487411e-01 9.30422599e-01 8.74528565e-04 -1.36723416e+01] [-2.28269783e-03 -4.07839057e-05 9.99997394e-01 -2.34534616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:82.04, Y:-13.66, Z:-0.24 [[ 9.30044637e-01 -3.67440508e-01 2.10881772e-03 8.20441356e+01] [ 3.67439468e-01 9.30047027e-01 8.74791678e-04 -1.36608841e+01] [-2.28273355e-03 -3.87324479e-05 9.99997394e-01 -2.36145795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:-13.65, Z:-0.24 [[ 9.30367154e-01 -3.66623120e-01 2.10860092e-03 8.20696081e+01] [ 3.66622078e-01 9.30369543e-01 8.75313925e-04 -1.36498504e+01] [-2.28268840e-03 -4.13036740e-05 9.99997394e-01 -2.35689551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:-13.64, Z:-0.24 [[ 9.30694550e-01 -3.65791210e-01 2.10852426e-03 8.20951465e+01] [ 3.65790165e-01 9.30696937e-01 8.75498560e-04 -1.36386754e+01] [-2.28264675e-03 -4.35443012e-05 9.99997394e-01 -2.35756045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.12, Y:-13.63, Z:-0.24 [[ 9.30773424e-01 -3.65590465e-01 2.10827609e-03 8.21209433e+01] [ 3.65589418e-01 9.30775811e-01 8.76095777e-04 -1.36280648e+01] [-2.28262465e-03 -4.46832395e-05 9.99997394e-01 -2.36400369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.14, Y:-13.61, Z:-0.24 [[ 9.29238294e-01 -3.69474965e-01 2.10802490e-03 8.21407547e+01] [ 3.69473927e-01 9.29240684e-01 8.76699758e-04 -1.36145006e+01] [-2.28278111e-03 -3.58027501e-05 9.99997394e-01 -2.42459927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:-13.61, Z:-0.24 [[ 9.31451887e-01 -3.63858480e-01 2.09464541e-03 8.21739734e+01] [ 3.63857355e-01 9.31454239e-01 9.08826685e-04 -1.36068570e+01] [-2.28175064e-03 -8.43761933e-05 9.99997393e-01 -2.35595080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:82.20, Y:-13.60, Z:-0.24 [[ 9.31237237e-01 -3.64407416e-01 2.10798971e-03 8.21987379e+01] [ 3.64406365e-01 9.31239621e-01 8.76742395e-04 -1.35962677e+01] [-2.28253497e-03 -4.82902975e-05 9.99997394e-01 -2.38641596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:-13.58, Z:-0.23 [[ 9.31728520e-01 -3.63149448e-01 2.10788205e-03 8.22253559e+01] [ 3.63148393e-01 9.31730903e-01 8.77001163e-04 -1.35841805e+01] [-2.28246133e-03 -5.16530167e-05 9.99997394e-01 -2.34600402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.24, Y:-13.57, Z:-0.24 [[ 9.29679062e-01 -3.68364492e-01 2.10766851e-03 8.22440807e+01] [ 3.68363449e-01 9.29681450e-01 8.77514052e-04 -1.35695779e+01] [-2.28270534e-03 -3.94183983e-05 9.99997394e-01 -2.41137870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.0 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:82.28, Y:-13.56, Z:-0.24 [[ 9.31442550e-01 -3.63882388e-01 2.09374767e-03 8.22777601e+01] [ 3.63881258e-01 9.31444899e-01 9.10888979e-04 -1.35609169e+01] [-2.28166704e-03 -8.65652168e-05 9.99997393e-01 -2.36799352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:82.30, Y:-13.55, Z:-0.23 [[ 9.31496830e-01 -3.63743336e-01 2.10744011e-03 8.23043235e+01] [ 3.63742280e-01 9.31499213e-01 8.78024297e-04 -1.35496889e+01] [-2.28245429e-03 -5.13117815e-05 9.99997394e-01 -2.34864955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:-13.54, Z:-0.23 [[ 9.31607387e-01 -3.63460089e-01 2.10722178e-03 8.23313555e+01] [ 3.63459031e-01 9.31609769e-01 8.78547970e-04 -1.35382189e+01] [-2.28242551e-03 -5.25729946e-05 9.99997394e-01 -2.32730866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.36, Y:-13.53, Z:-0.23 [[ 9.31282331e-01 -3.64292164e-01 2.10700400e-03 8.23567556e+01] [ 3.64291107e-01 9.31284713e-01 8.79069938e-04 -1.35275624e+01] [-2.28245891e-03 -5.10994793e-05 9.99997394e-01 -2.33361042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:-13.52, Z:-0.23 [[ 9.31128527e-01 -3.64685108e-01 2.10683458e-03 8.23831373e+01] [ 3.64684051e-01 9.31130909e-01 8.79475791e-04 -1.35163264e+01] [-2.28247053e-03 -5.05760260e-05 9.99997394e-01 -2.31103644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:82.41, Y:-13.51, Z:-0.23 [[ 9.30581905e-01 -3.66077697e-01 2.10661589e-03 8.24076645e+01] [ 3.66076642e-01 9.30584288e-01 8.79999313e-04 -1.35055347e+01] [-2.28253177e-03 -4.77285648e-05 9.99997394e-01 -2.33547908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17999999999999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:82.43, Y:-13.49, Z:-0.24 [[ 9.30166441e-01 -3.67132068e-01 2.10650729e-03 8.24337933e+01] [ 3.67131015e-01 9.30168825e-01 8.80259197e-04 -1.34941000e+01] [-2.28257879e-03 -4.54234034e-05 9.99997394e-01 -2.35297156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:82.46, Y:-13.48, Z:-0.23 [[ 9.29908086e-01 -3.67785964e-01 2.10625725e-03 8.24599998e+01] [ 3.67784912e-01 9.29910470e-01 8.80857095e-04 -1.34827605e+01] [-2.28259754e-03 -4.44664998e-05 9.99997394e-01 -2.34732003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:82.48, Y:-13.47, Z:-0.23 [[ 9.29393600e-01 -3.69084139e-01 2.10600737e-03 8.24847120e+01] [ 3.69083089e-01 9.29395985e-01 8.81454114e-04 -1.34727740e+01] [-2.28264553e-03 -4.19261061e-05 9.99997394e-01 -2.34502599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:82.51, Y:-13.46, Z:-0.24 [[ 9.28760746e-01 -3.70673768e-01 2.10589908e-03 8.25099709e+01] [ 3.70672721e-01 9.28763132e-01 8.81712744e-04 -1.34625499e+01] [-2.28270922e-03 -3.83008413e-05 9.99997394e-01 -2.36407589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.3 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.54, Y:-13.45, Z:-0.23 [[ 9.28473655e-01 -3.71392297e-01 2.10573378e-03 8.25363629e+01] [ 3.71391251e-01 9.28476042e-01 8.82107346e-04 -1.34517524e+01] [-2.28273124e-03 -3.69623280e-05 9.99997394e-01 -2.34442232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:82.55, Y:-13.44, Z:-0.24 [[ 9.25197272e-01 -3.79480665e-01 2.10549324e-03 8.25549732e+01] [ 3.79479639e-01 9.25199667e-01 8.82681126e-04 -1.34379058e+01] [-2.28296206e-03 -1.76623556e-05 9.99997394e-01 -2.41077728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:-13.43, Z:-0.24 [[ 9.24964041e-01 -3.80048881e-01 2.09049072e-03 8.25805681e+01] [ 3.80047775e-01 9.24966402e-01 9.18418889e-04 -1.34274281e+01] [-2.28267775e-03 -5.50181004e-05 9.99997393e-01 -2.39486370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:-13.42, Z:-0.23 [[ 9.26295441e-01 -3.76792237e-01 2.08971329e-03 8.26153022e+01] [ 3.76791119e-01 9.26297795e-01 9.20269891e-04 -1.34216917e+01] [-2.28244736e-03 -6.50563956e-05 9.99997393e-01 -2.34044878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:-13.41, Z:-0.24 [[ 9.23638639e-01 -3.83258700e-01 2.10529722e-03 8.26344632e+01] [ 3.83257683e-01 9.23641039e-01 8.83118835e-04 -1.34076729e+01] [-2.28300189e-03 -8.81134527e-06 9.99997394e-01 -2.39710403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:-13.40, Z:-0.24 [[ 9.23243067e-01 -3.84210707e-01 2.09082557e-03 8.26597274e+01] [ 3.84209613e-01 9.23245434e-01 9.17598053e-04 -1.33972665e+01] [-2.28289616e-03 -4.38507563e-05 9.99997393e-01 -2.40793068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:-13.39, Z:-0.24 [[ 9.25004737e-01 -3.79949828e-01 2.08911619e-03 8.26944301e+01] [ 3.79948715e-01 9.25007094e-01 9.21670220e-04 -1.33914544e+01] [-2.28263574e-03 -5.87923095e-05 9.99997393e-01 -2.37598388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:82.71, Y:-13.38, Z:-0.25 [[ 9.22124015e-01 -3.86888703e-01 2.10543685e-03 8.27130057e+01] [ 3.86887696e-01 9.22126418e-01 8.82743719e-04 -1.33780385e+01] [-2.28300252e-03 5.68430311e-07 9.99997394e-01 -2.47511208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:82.74, Y:-13.37, Z:-0.25 [[ 9.22109916e-01 -3.86922388e-01 2.09002040e-03 8.27390457e+01] [ 3.86921298e-01 9.22112284e-01 9.19442967e-04 -1.33678039e+01] [-2.28298655e-03 -3.91540725e-05 9.99997393e-01 -2.46735208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:-13.36, Z:-0.24 [[ 9.24582754e-01 -3.80975546e-01 2.08908009e-03 8.27744287e+01] [ 3.80974435e-01 9.24585113e-01 9.21678897e-04 -1.33624020e+01] [-2.28266947e-03 -5.62823053e-05 9.99997393e-01 -2.39603040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.6 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:82.79, Y:-13.35, Z:-0.25 [[ 9.21997501e-01 -3.87190104e-01 2.10498229e-03 8.27931306e+01] [ 3.87189095e-01 9.21999904e-01 8.83804174e-04 -1.33481399e+01] [-2.28299370e-03 1.60948150e-07 9.99997394e-01 -2.46423208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:-13.34, Z:-0.24 [[ 9.22209005e-01 -3.86686160e-01 2.08928009e-03 8.28192813e+01] [ 3.86685065e-01 9.22211370e-01 9.21136376e-04 -1.33372249e+01] [-2.28294855e-03 -4.15868520e-05 9.99997393e-01 -2.44918191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:-13.33, Z:-0.24 [[ 9.24968781e-01 -3.80037358e-01 2.08819146e-03 8.28541011e+01] [ 3.80036240e-01 9.24971136e-01 9.23723896e-04 -1.33303837e+01] [-2.28256641e-03 -6.08273376e-05 9.99997393e-01 -2.36086280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:-13.32, Z:-0.24 [[ 9.25046827e-01 -3.79847256e-01 2.10484702e-03 8.28793986e+01] [ 3.79846228e-01 9.25049221e-01 8.84069300e-04 -1.33192197e+01] [-2.28289839e-03 -1.82873000e-05 9.99997394e-01 -2.35919664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:82.90, Y:-13.30, Z:-0.24 [[ 9.22410897e-01 -3.86204230e-01 2.10476900e-03 8.28965916e+01] [ 3.86203217e-01 9.22413298e-01 8.84255021e-04 -1.33042918e+01] [-2.28296994e-03 -2.77790911e-06 9.99997394e-01 -2.42707812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:82.92, Y:-13.29, Z:-0.24 [[ 9.22421280e-01 -3.86179526e-01 2.08724941e-03 8.29217729e+01] [ 3.86178419e-01 9.22423640e-01 9.25864529e-04 -1.32933979e+01] [-2.28287812e-03 -4.79864677e-05 9.99997393e-01 -2.42009602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:82.95, Y:-13.28, Z:-0.24 [[ 9.22513417e-01 -3.85959378e-01 2.08659297e-03 8.29469766e+01] [ 3.85958267e-01 9.22515775e-01 9.27424159e-04 -1.32824009e+01] [-2.28286298e-03 -5.02234246e-05 9.99997393e-01 -2.41198984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:82.97, Y:-13.27, Z:-0.24 [[ 9.22688568e-01 -3.85540469e-01 2.08617405e-03 8.29732446e+01] [ 3.85539355e-01 9.22690925e-01 9.28419709e-04 -1.32714455e+01] [-2.28283724e-03 -5.23400535e-05 9.99997393e-01 -2.42694408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:-13.26, Z:-0.24 [[ 9.25546359e-01 -3.78628554e-01 2.08687648e-03 8.30087111e+01] [ 3.78627426e-01 9.25548709e-01 9.26750535e-04 -1.32641547e+01] [-2.28240004e-03 -6.76019145e-05 9.99997393e-01 -2.35393594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:-13.25, Z:-0.24 [[ 9.22967370e-01 -3.84872452e-01 2.10477641e-03 8.30256886e+01] [ 3.84871437e-01 9.22969770e-01 8.84138001e-04 -1.32487770e+01] [-2.28292536e-03 -5.96220363e-06 9.99997394e-01 -2.43220566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89999999999999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:83.06, Y:-13.24, Z:-0.24 [[ 9.24914320e-01 -3.80169891e-01 2.08660332e-03 8.30609744e+01] [ 3.80168766e-01 9.24916672e-01 9.27306488e-04 -1.32421349e+01] [-2.28246820e-03 -6.44176420e-05 9.99997393e-01 -2.41167465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:-13.23, Z:-0.24 [[ 9.23116746e-01 -3.84514035e-01 2.10461440e-03 8.30784683e+01] [ 3.84513018e-01 9.23119146e-01 8.84447661e-04 -1.32274580e+01] [-2.28289239e-03 -7.19681154e-06 9.99997394e-01 -2.44937041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:-13.22, Z:-0.24 [[ 9.23181914e-01 -3.84357638e-01 2.08816839e-03 8.31037689e+01] [ 3.84356532e-01 9.23184274e-01 9.23523883e-04 -1.32168968e+01] [-2.28272768e-03 -4.99793843e-05 9.99997393e-01 -2.44980418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:83.14, Y:-13.21, Z:-0.24 [[ 9.24876320e-01 -3.80262323e-01 2.08769302e-03 8.31387693e+01] [ 3.80261203e-01 9.24878674e-01 9.24653295e-04 -1.32099334e+01] [-2.28247356e-03 -6.13212763e-05 9.99997393e-01 -2.41400533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:83.17, Y:-13.20, Z:-0.24 [[ 9.24498932e-01 -3.81178824e-01 2.10456611e-03 8.31651203e+01] [ 3.81177798e-01 9.24501327e-01 8.84505998e-04 -1.31988003e+01] [-2.28282912e-03 -1.55109746e-05 9.99997394e-01 -2.42004651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:-13.19, Z:-0.24 [[ 9.24309514e-01 -3.81637910e-01 2.10431408e-03 8.31905185e+01] [ 3.81636884e-01 9.24311909e-01 8.85105186e-04 -1.31885633e+01] [-2.28283226e-03 -1.50272745e-05 9.99997394e-01 -2.40155805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:-13.18, Z:-0.24 [[ 9.23925763e-01 -3.82566016e-01 2.10414288e-03 8.32155286e+01] [ 3.82564991e-01 9.23928159e-01 8.85512005e-04 -1.31784365e+01] [-2.28284365e-03 -1.31759540e-05 9.99997394e-01 -2.40449257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:83.23, Y:-13.16, Z:-0.25 [[ 9.20632712e-01 -3.90424106e-01 2.10403466e-03 8.32325749e+01] [ 3.90423102e-01 9.20635116e-01 8.85769054e-04 -1.31642717e+01] [-2.28287379e-03 5.99577237e-06 9.99997394e-01 -2.49760775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:83.27, Y:-13.16, Z:-0.24 [[ 9.22114758e-01 -3.86910861e-01 2.08755071e-03 8.32677328e+01] [ 3.86909759e-01 9.22117120e-01 9.24860091e-04 -1.31585448e+01] [-2.28280466e-03 -4.51333978e-05 9.99997393e-01 -2.41498586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:83.29, Y:-13.14, Z:-0.25 [[ 9.19684557e-01 -3.92652377e-01 2.10396542e-03 8.32857468e+01] [ 3.92651377e-01 9.19686964e-01 8.85874921e-04 -1.31442317e+01] [-2.28283047e-03 1.13994371e-05 9.99997394e-01 -2.45569223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:-13.13, Z:-0.24 [[ 9.19753349e-01 -3.92491295e-01 2.08815113e-03 8.33125950e+01] [ 3.92490209e-01 9.19755719e-01 9.23415214e-04 -1.31336393e+01] [-2.28302138e-03 -2.97353595e-05 9.99997393e-01 -2.44799251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:-13.12, Z:-0.24 [[ 9.19530065e-01 -3.93014124e-01 2.08755340e-03 8.33384307e+01] [ 3.93013037e-01 9.19532434e-01 9.24833581e-04 -1.31229567e+01] [-2.28304572e-03 -2.99765815e-05 9.99997393e-01 -2.44552680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:83.36, Y:-13.11, Z:-0.24 [[ 9.19283799e-01 -3.93589807e-01 2.08822344e-03 8.33648728e+01] [ 3.93588725e-01 9.19286170e-01 9.23244775e-04 -1.31117552e+01] [-2.28305466e-03 -2.68227627e-05 9.99997393e-01 -2.44891212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28999999999999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:83.39, Y:-13.10, Z:-0.25 [[ 9.19387233e-01 -3.93348120e-01 2.09092967e-03 8.33901598e+01] [ 3.93347052e-01 9.19389611e-01 9.16823662e-04 -1.31013653e+01] [-2.28300988e-03 -2.04549482e-05 9.99997394e-01 -2.45591614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:83.42, Y:-13.09, Z:-0.24 [[ 9.21350192e-01 -3.88727994e-01 2.09044122e-03 8.34223651e+01] [ 3.88726911e-01 9.21352563e-01 9.17982025e-04 -1.30932420e+01] [-2.28287869e-03 -3.31721564e-05 9.99997394e-01 -2.41125958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:-13.08, Z:-0.24 [[ 9.19783888e-01 -3.92419638e-01 2.10389721e-03 8.34413722e+01] [ 3.92418638e-01 9.19786294e-01 8.86030509e-04 -1.30792637e+01] [-2.28283159e-03 1.06518907e-05 9.99997394e-01 -2.43823433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:83.47, Y:-13.07, Z:-0.25 [[ 9.19386699e-01 -3.93349375e-01 2.08964776e-03 8.34683650e+01] [ 3.93348300e-01 9.19389074e-01 9.19805521e-04 -1.30677879e+01] [-2.28300424e-03 -2.36975684e-05 9.99997394e-01 -2.47663007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:-13.06, Z:-0.25 [[ 9.20113704e-01 -3.91645753e-01 2.09160213e-03 8.34919908e+01] [ 3.91644685e-01 9.20116081e-01 9.15175398e-04 -1.30568701e+01] [-2.28294131e-03 -2.29005681e-05 9.99997394e-01 -2.45398683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:83.52, Y:-13.05, Z:-0.25 [[ 9.20197861e-01 -3.91447996e-01 2.08866596e-03 8.35172240e+01] [ 3.91446911e-01 9.20200231e-01 9.22137850e-04 -1.30462823e+01] [-2.28295991e-03 -3.09474394e-05 9.99997394e-01 -2.46501513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:83.54, Y:-13.04, Z:-0.25 [[ 9.20007931e-01 -3.91894174e-01 2.08876331e-03 8.35431424e+01] [ 3.91893090e-01 9.20010302e-01 9.21906878e-04 -1.30354005e+01] [-2.28297370e-03 -2.95897312e-05 9.99997394e-01 -2.46992924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.5 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:83.58, Y:-13.03, Z:-0.24 [[ 9.22085461e-01 -3.86980675e-01 2.08823100e-03 8.35772801e+01] [ 3.86979576e-01 9.22087824e-01 9.23169191e-04 -1.30277978e+01] [-2.28278101e-03 -4.31381426e-05 9.99997394e-01 -2.40560823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:83.59, Y:-13.01, Z:-0.25 [[ 9.19336875e-01 -3.93465735e-01 2.10388973e-03 8.35946987e+01] [ 3.93464737e-01 9.19339282e-01 8.85985475e-04 -1.30128813e+01] [-2.28279340e-03 1.32873009e-05 9.99997394e-01 -2.46875610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.62, Y:-13.00, Z:-0.24 [[ 9.19356831e-01 -3.93419183e-01 2.08902721e-03 8.36198233e+01] [ 3.93418105e-01 9.19359204e-01 9.21255699e-04 -1.30011572e+01] [-2.28300606e-03 -2.51015914e-05 9.99997394e-01 -2.44986247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:-12.99, Z:-0.24 [[ 9.22094467e-01 -3.86959226e-01 2.08586060e-03 8.36557249e+01] [ 3.86958115e-01 9.22096825e-01 9.28768136e-04 -1.29945740e+01] [-2.28276084e-03 -4.92712736e-05 9.99997393e-01 -2.39119983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:-12.98, Z:-0.24 [[ 9.18990799e-01 -3.94273362e-01 2.10411710e-03 8.36714954e+01] [ 3.94272369e-01 9.18993208e-01 8.85381422e-04 -1.29790151e+01] [-2.28275163e-03 1.59378503e-05 9.99997394e-01 -2.44832122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:-12.97, Z:-0.25 [[ 9.18477125e-01 -3.95468608e-01 2.08575224e-03 8.36965877e+01] [ 3.95467517e-01 9.18479493e-01 9.29006713e-04 -1.29675414e+01] [-2.28311365e-03 -2.84241545e-05 9.99997393e-01 -2.46025686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.72, Y:-12.96, Z:-0.25 [[ 9.18465852e-01 -3.95494800e-01 2.08356808e-03 8.37220113e+01] [ 3.95493698e-01 9.18468215e-01 9.34192445e-04 -1.29571501e+01] [-2.28315931e-03 -3.39858148e-05 9.99997393e-01 -2.46431066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:-12.95, Z:-0.25 [[ 9.19038115e-01 -3.94163162e-01 2.08458607e-03 8.37481788e+01] [ 3.94162062e-01 9.19040478e-01 9.31775593e-04 -1.29469463e+01] [-2.28309059e-03 -3.46725387e-05 9.99997393e-01 -2.45503051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:-12.94, Z:-0.24 [[ 9.21619073e-01 -3.88090111e-01 2.08563985e-03 8.37839383e+01] [ 3.88089001e-01 9.21621432e-01 9.29275149e-04 -1.29400974e+01] [-2.28281288e-03 -4.70238132e-05 9.99997393e-01 -2.39934285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-12.93, Z:-0.24 [[ 9.21680332e-01 -3.87944504e-01 2.10419847e-03 8.38084932e+01] [ 3.87943494e-01 9.21682734e-01 8.85157580e-04 -1.29293406e+01] [-2.28279542e-03 4.77773165e-07 9.99997394e-01 -2.40663140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.8 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:83.83, Y:-12.92, Z:-0.24 [[ 9.21469167e-01 -3.88445809e-01 2.10409068e-03 8.38342656e+01] [ 3.88444800e-01 9.21471570e-01 8.85413717e-04 -1.29179638e+01] [-2.28279499e-03 1.44164470e-06 9.99997394e-01 -2.43223413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:-12.91, Z:-0.24 [[ 9.22026722e-01 -3.87120519e-01 2.10401429e-03 8.38592198e+01] [ 3.87119506e-01 9.22029123e-01 8.85595211e-04 -1.29062189e+01] [-2.28279453e-03 -2.03747549e-06 9.99997394e-01 -2.41066943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:-12.89, Z:-0.25 [[ 9.19409686e-01 -3.93295567e-01 2.10390321e-03 8.38751396e+01] [ 3.93294569e-01 9.19412093e-01 8.85859036e-04 -1.28905075e+01] [-2.28275848e-03 1.29863267e-05 9.99997394e-01 -2.47015439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:83.90, Y:-12.88, Z:-0.25 [[ 9.19200075e-01 -3.93785322e-01 2.08391852e-03 8.39006020e+01] [ 3.93784218e-01 9.19202436e-01 9.33211326e-04 -1.28794121e+01] [-2.28302790e-03 -3.71936970e-05 9.99997393e-01 -2.48717797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:83.93, Y:-12.87, Z:-0.25 [[ 9.19460233e-01 -3.93177489e-01 2.08383088e-03 8.39274627e+01] [ 3.93176383e-01 9.19462593e-01 9.33419015e-04 -1.28682598e+01] [-2.28300389e-03 -3.89285746e-05 9.99997393e-01 -2.48506651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:83.95, Y:-12.86, Z:-0.25 [[ 9.20232742e-01 -3.91366010e-01 2.08487894e-03 8.39546030e+01] [ 3.91364905e-01 9.20235103e-01 9.30933356e-04 -1.28573836e+01] [-2.28291446e-03 -4.07269071e-05 9.99997393e-01 -2.46187778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:-12.85, Z:-0.24 [[ 9.22832883e-01 -3.85194909e-01 2.08596407e-03 8.39894075e+01] [ 3.85193794e-01 9.22835239e-01 9.28360784e-04 -1.28498989e+01] [-2.28260100e-03 -5.32214456e-05 9.99997393e-01 -2.41036590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:84.01, Y:-12.84, Z:-0.24 [[ 9.22775870e-01 -3.85331374e-01 2.10388343e-03 8.40143290e+01] [ 3.85330356e-01 9.22778268e-01 8.85800116e-04 -1.28385103e+01] [-2.28274449e-03 -6.70482111e-06 9.99997395e-01 -2.41882400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:-12.83, Z:-0.24 [[ 9.23717663e-01 -3.83068209e-01 2.10371598e-03 8.40397674e+01] [ 3.83067184e-01 9.23720059e-01 8.86197631e-04 -1.28264003e+01] [-2.28271879e-03 -1.27318492e-05 9.99997395e-01 -2.41578777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.06, Y:-12.81, Z:-0.25 [[ 9.21808248e-01 -3.87640465e-01 2.10348208e-03 8.40560169e+01] [ 3.87639450e-01 9.21810648e-01 8.86752466e-04 -1.28112743e+01] [-2.28275332e-03 -2.02310015e-06 9.99997395e-01 -2.47259949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.1 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.08, Y:-12.80, Z:-0.25 [[ 9.23275047e-01 -3.84133885e-01 2.08484544e-03 8.40825622e+01] [ 3.84132762e-01 9.23277399e-01 9.30888649e-04 -1.27990320e+01] [-2.28247654e-03 -5.86088255e-05 9.99997393e-01 -2.48032555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.11, Y:-12.79, Z:-0.25 [[ 9.23462958e-01 -3.83681915e-01 2.08638050e-03 8.41086036e+01] [ 3.83680799e-01 9.23465313e-01 9.27253694e-04 -1.27870794e+01] [-2.28247050e-03 -5.57803010e-05 9.99997394e-01 -2.50200898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-12.78, Z:-0.25 [[ 9.24664330e-01 -3.80777518e-01 2.08753712e-03 8.41348445e+01] [ 3.80776400e-01 9.24666685e-01 9.24512415e-04 -1.27762668e+01] [-2.28230957e-03 -5.99787848e-05 9.99997394e-01 -2.48747852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:84.16, Y:-12.76, Z:-0.25 [[ 9.25753953e-01 -3.78120693e-01 2.08785598e-03 8.41600315e+01] [ 3.78119571e-01 9.25756305e-01 9.23756905e-04 -1.27649758e+01] [-2.28213744e-03 -6.57124003e-05 9.99997394e-01 -2.48915456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.19, Y:-12.75, Z:-0.25 [[ 9.26196592e-01 -3.77035157e-01 2.08882680e-03 8.41867005e+01] [ 3.77034037e-01 9.26198945e-01 9.21455626e-04 -1.27538114e+01] [-2.28209034e-03 -6.58902617e-05 9.99997394e-01 -2.48798329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:-12.74, Z:-0.25 [[ 9.26673878e-01 -3.75860559e-01 2.08925690e-03 8.42146582e+01] [ 3.75859438e-01 9.26676230e-01 9.20435713e-04 -1.27433363e+01] [-2.28202019e-03 -6.76768057e-05 9.99997394e-01 -2.46939412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.24, Y:-12.73, Z:-0.25 [[ 9.26371961e-01 -3.76604053e-01 2.09210601e-03 8.42401502e+01] [ 3.76602950e-01 9.26374321e-01 9.13678475e-04 -1.27327297e+01] [-2.28216830e-03 -5.85128257e-05 9.99997394e-01 -2.47959840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:-12.72, Z:-0.25 [[ 9.26466805e-01 -3.76370674e-01 2.09153973e-03 8.42666676e+01] [ 3.76369567e-01 9.26469164e-01 9.15021317e-04 -1.27222632e+01] [-2.28213425e-03 -6.05449752e-05 9.99997394e-01 -2.45333461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:84.30, Y:-12.71, Z:-0.24 [[ 9.27408109e-01 -3.74045210e-01 2.09263639e-03 8.42976421e+01] [ 3.74044103e-01 9.27410468e-01 9.12421692e-04 -1.27141765e+01] [-2.28201986e-03 -6.34489754e-05 9.99997394e-01 -2.43800973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:84.32, Y:-12.70, Z:-0.24 [[ 9.25886215e-01 -3.77796628e-01 2.10348354e-03 8.43193377e+01] [ 3.77795589e-01 9.25888604e-01 8.86689122e-04 -1.27014536e+01] [-2.28257960e-03 -2.62864350e-05 9.99997395e-01 -2.44850673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:-12.69, Z:-0.24 [[ 9.25834945e-01 -3.77922310e-01 2.09352391e-03 8.43473026e+01] [ 3.77921217e-01 9.25837310e-01 9.10289422e-04 -1.26923496e+01] [-2.28228122e-03 -5.15906532e-05 9.99997394e-01 -2.40976825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:-12.68, Z:-0.24 [[ 9.26415712e-01 -3.76496394e-01 2.09626507e-03 8.43768532e+01] [ 3.76495312e-01 9.26418082e-01 9.03796817e-04 -1.26835226e+01] [-2.28229410e-03 -4.80576017e-05 9.99997394e-01 -2.40732627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.40, Y:-12.67, Z:-0.24 [[ 9.25403615e-01 -3.78977210e-01 2.10310240e-03 8.43997083e+01] [ 3.78976171e-01 9.25406005e-01 8.87596184e-04 -1.26718363e+01] [-2.28260232e-03 -2.43590209e-05 9.99997395e-01 -2.43478497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:-12.66, Z:-0.24 [[ 9.26049328e-01 -3.77396666e-01 2.09740167e-03 8.44277988e+01] [ 3.77395593e-01 9.26051702e-01 9.01092814e-04 -1.26621802e+01] [-2.28237181e-03 -4.29062468e-05 9.99997394e-01 -2.41646098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:-12.65, Z:-0.24 [[ 9.26085078e-01 -3.77308900e-01 2.10283107e-03 8.44531618e+01] [ 3.77307856e-01 9.26087465e-01 8.88239169e-04 -1.26516235e+01] [-2.28254604e-03 -2.91703575e-05 9.99997395e-01 -2.43697283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:-12.64, Z:-0.25 [[ 9.24956213e-01 -3.80067866e-01 2.10275457e-03 8.44747131e+01] [ 3.80066829e-01 9.24958603e-01 8.88420242e-04 -1.26389420e+01] [-2.28262091e-03 -2.25625625e-05 9.99997395e-01 -2.45615666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:-12.63, Z:-0.25 [[ 9.26265729e-01 -3.76865248e-01 2.09375975e-03 8.45054511e+01] [ 3.76864154e-01 9.26268094e-01 9.09689635e-04 -1.26306910e+01] [-2.28221327e-03 -5.35513347e-05 9.99997394e-01 -2.46090351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:-12.62, Z:-0.25 [[ 9.26320959e-01 -3.76729424e-01 2.10269328e-03 8.45318253e+01] [ 3.76728378e-01 9.26323345e-01 8.88549026e-04 -1.26198230e+01] [-2.28251644e-03 -3.09373570e-05 9.99997395e-01 -2.46434959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:-12.61, Z:-0.25 [[ 9.26386243e-01 -3.76568864e-01 2.10244997e-03 8.45577536e+01] [ 3.76567815e-01 9.26388628e-01 8.89124359e-04 -1.26089285e+01] [-2.28250230e-03 -3.19575802e-05 9.99997395e-01 -2.46344135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.58, Y:-12.60, Z:-0.25 [[ 9.26400982e-01 -3.76532603e-01 2.10219766e-03 8.45834711e+01] [ 3.76531554e-01 9.26403367e-01 8.89720512e-04 -1.25980531e+01] [-2.28249177e-03 -3.26942048e-05 9.99997395e-01 -2.49832923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:-12.59, Z:-0.25 [[ 9.26736835e-01 -3.75705231e-01 2.10208158e-03 8.46102269e+01] [ 3.75704178e-01 9.26739218e-01 8.89994680e-04 -1.25873920e+01] [-2.28245710e-03 -3.50300196e-05 9.99997395e-01 -2.47622134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:-12.58, Z:-0.25 [[ 9.26765091e-01 -3.75635525e-01 2.10186353e-03 8.46353401e+01] [ 3.75634471e-01 9.26767474e-01 8.90509344e-04 -1.25772543e+01] [-2.28244570e-03 -3.57605776e-05 9.99997395e-01 -2.47751000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:-12.57, Z:-0.25 [[ 9.26720544e-01 -3.75745414e-01 2.10175543e-03 8.46616541e+01] [ 3.75744360e-01 9.26722926e-01 8.90764414e-04 -1.25661328e+01] [-2.28244559e-03 -3.57669329e-05 9.99997395e-01 -2.47169127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:84.69, Y:-12.56, Z:-0.25 [[ 9.26791298e-01 -3.75570864e-01 2.10153988e-03 8.46868606e+01] [ 3.75569808e-01 9.26793680e-01 8.91272661e-04 -1.25552569e+01] [-2.28242992e-03 -3.67488175e-05 9.99997395e-01 -2.48248429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:-12.54, Z:-0.25 [[ 9.27170091e-01 -3.74634763e-01 2.10146382e-03 8.47127969e+01] [ 3.74633705e-01 9.27172472e-01 8.91451954e-04 -1.25442941e+01] [-2.28238830e-03 -3.92484126e-05 9.99997395e-01 -2.45205715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:-12.53, Z:-0.25 [[ 9.27069122e-01 -3.74884552e-01 2.10138847e-03 8.47390938e+01] [ 3.74883493e-01 9.27071503e-01 8.91629549e-04 -1.25330354e+01] [-2.28239551e-03 -3.88263737e-05 9.99997395e-01 -2.45270925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.76, Y:-12.52, Z:-0.25 [[ 9.26732093e-01 -3.75716933e-01 2.10114809e-03 8.47645502e+01] [ 3.75715875e-01 9.26734474e-01 8.92195649e-04 -1.25222060e+01] [-2.28241938e-03 -3.73916479e-05 9.99997395e-01 -2.46237893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:-12.51, Z:-0.25 [[ 9.25130908e-01 -3.79642450e-01 2.10089512e-03 8.47851153e+01] [ 3.79641402e-01 9.25133293e-01 8.92790923e-04 -1.25082181e+01] [-2.28254936e-03 -2.83617080e-05 9.99997395e-01 -2.47281734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:84.82, Y:-12.50, Z:-0.25 [[ 9.26336351e-01 -3.76691644e-01 2.09040471e-03 8.48159801e+01] [ 3.76690531e-01 9.26338708e-01 9.17451660e-04 -1.24994601e+01] [-2.28201917e-03 -6.24331634e-05 9.99997394e-01 -2.45847089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:-12.49, Z:-0.24 [[ 9.26611093e-01 -3.76015250e-01 2.10084749e-03 8.48420283e+01] [ 3.76014192e-01 9.26613474e-01 8.92880980e-04 -1.24881295e+01] [-2.28241045e-03 -3.74049516e-05 9.99997395e-01 -2.43654089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:-12.48, Z:-0.24 [[ 9.26985813e-01 -3.75090510e-01 2.10059351e-03 8.48677466e+01] [ 3.75089448e-01 9.26988192e-01 8.93478080e-04 -1.24765516e+01] [-2.28236053e-03 -4.03310421e-05 9.99997395e-01 -2.44224529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.89, Y:-12.46, Z:-0.25 [[ 9.25580247e-01 -3.78545632e-01 2.10033824e-03 8.48884598e+01] [ 3.78544578e-01 9.25582629e-01 8.94077767e-04 -1.24625910e+01] [-2.28248582e-03 -3.24690690e-05 9.99997395e-01 -2.50492934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:84.92, Y:-12.45, Z:-0.25 [[ 9.27509294e-01 -3.73794246e-01 2.09063478e-03 8.49188099e+01] [ 3.73793128e-01 9.27511648e-01 9.16839072e-04 -1.24534943e+01] [-2.28179728e-03 -6.89118473e-05 9.99997394e-01 -2.46780606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:84.95, Y:-12.44, Z:-0.25 [[ 9.27700454e-01 -3.73319511e-01 2.10009110e-03 8.49453620e+01] [ 3.73318442e-01 9.27702830e-01 8.94641193e-04 -1.24409425e+01] [-2.28224747e-03 -4.59563036e-05 9.99997395e-01 -2.49021166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.97, Y:-12.43, Z:-0.25 [[ 9.27565408e-01 -3.73654928e-01 2.09986727e-03 8.49709453e+01] [ 3.73653858e-01 9.27567784e-01 8.95166245e-04 -1.24296905e+01] [-2.28225251e-03 -4.57017342e-05 9.99997395e-01 -2.49058550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:-12.42, Z:-0.25 [[ 9.27397891e-01 -3.74070506e-01 2.09961202e-03 8.49967283e+01] [ 3.74069437e-01 9.27400266e-01 8.95764541e-04 -1.24185731e+01] [-2.28225984e-03 -4.53294599e-05 9.99997395e-01 -2.48390374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.02, Y:-12.41, Z:-0.25 [[ 9.27056382e-01 -3.74916067e-01 2.09935498e-03 8.50228651e+01] [ 3.74914998e-01 9.27058758e-01 8.96366559e-04 -1.24076948e+01] [-2.28228764e-03 -4.39026734e-05 9.99997395e-01 -2.49855598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:-12.40, Z:-0.25 [[ 9.26062736e-01 -3.77363754e-01 2.09927569e-03 8.50491853e+01] [ 3.77362691e-01 9.26065114e-01 8.96552219e-04 -1.23982047e+01] [-2.28239229e-03 -3.80752791e-05 9.99997395e-01 -2.48483041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:85.08, Y:-12.39, Z:-0.25 [[ 9.25039834e-01 -3.79864317e-01 2.09902010e-03 8.50756583e+01] [ 3.79863259e-01 9.25042215e-01 8.97150197e-04 -1.23878473e+01] [-2.28247755e-03 -3.25590526e-05 9.99997395e-01 -2.50306401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:85.10, Y:-12.38, Z:-0.25 [[ 9.24283587e-01 -3.81700729e-01 2.09876282e-03 8.51012400e+01] [ 3.81699675e-01 9.24285969e-01 8.97751675e-04 -1.23780207e+01] [-2.28252949e-03 -2.86800539e-05 9.99997395e-01 -2.50607489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.3 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.13, Y:-12.37, Z:-0.25 [[ 9.23599035e-01 -3.83354167e-01 2.09858745e-03 8.51279926e+01] [ 3.83353116e-01 9.23601419e-01 8.98161422e-04 -1.23677858e+01] [-2.28257227e-03 -2.50409833e-05 9.99997395e-01 -2.48891852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:85.15, Y:-12.36, Z:-0.25 [[ 9.21735209e-01 -3.87814132e-01 2.09836622e-03 8.51545722e+01] [ 3.87813091e-01 9.21737597e-01 8.98677990e-04 -1.23590092e+01] [-2.28266306e-03 -1.45692544e-05 9.99997395e-01 -2.48524325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-12.35, Z:-0.25 [[ 9.20918323e-01 -3.89749971e-01 2.09811170e-03 8.51816554e+01] [ 3.89748934e-01 9.20920713e-01 8.99271818e-04 -1.23487698e+01] [-2.28268569e-03 -1.04190973e-05 9.99997395e-01 -2.45991319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:85.21, Y:-12.34, Z:-0.25 [[ 9.19669196e-01 -3.92688386e-01 2.09788563e-03 8.52077115e+01] [ 3.92687356e-01 9.19671589e-01 8.99798889e-04 -1.23387910e+01] [-2.28270639e-03 -3.70415941e-06 9.99997395e-01 -2.47082900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:-12.33, Z:-0.24 [[ 9.17855632e-01 -3.96908854e-01 2.09780601e-03 8.52350912e+01] [ 3.96907834e-01 9.17858029e-01 8.99984496e-04 -1.23301415e+01] [-2.28269990e-03 6.57979896e-06 9.99997395e-01 -2.43505981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:85.26, Y:-12.32, Z:-0.25 [[ 9.16431074e-01 -4.00187064e-01 2.09758242e-03 8.52612307e+01] [ 4.00186051e-01 9.16433475e-01 9.00505305e-04 -1.23199104e+01] [-2.28266532e-03 1.41721799e-05 9.99997395e-01 -2.45322149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:-12.31, Z:-0.25 [[ 9.13859461e-01 -4.06025229e-01 2.09732738e-03 8.52819127e+01] [ 4.06024230e-01 9.13861867e-01 9.01098912e-04 -1.23066821e+01] [-2.28253641e-03 2.80879683e-05 9.99997395e-01 -2.48270909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50999999999999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:85.31, Y:-12.30, Z:-0.24 [[ 9.13987737e-01 -4.05736446e-01 2.08636572e-03 8.53127847e+01] [ 4.05735389e-01 9.13990118e-01 9.26565749e-04 -1.22981013e+01] [-2.28285915e-03 -3.57324217e-07 9.99997394e-01 -2.44912386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53999999999999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:85.34, Y:-12.29, Z:-0.25 [[ 9.13212045e-01 -4.07479279e-01 2.09699145e-03 8.53383647e+01] [ 4.07478282e-01 9.13214452e-01 9.01858936e-04 -1.22865778e+01] [-2.28249173e-03 3.08900314e-05 9.99997395e-01 -2.45563540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:-12.28, Z:-0.24 [[ 9.12708245e-01 -4.08606489e-01 2.09674237e-03 8.53642736e+01] [ 4.08605494e-01 9.12710653e-01 9.02437660e-04 -1.22754654e+01] [-2.28246098e-03 3.30781580e-05 9.99997395e-01 -2.43479157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.6 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:85.39, Y:-12.26, Z:-0.25 [[ 9.11661495e-01 -4.10936641e-01 2.09648998e-03 8.53900103e+01] [ 4.10935650e-01 9.11663905e-01 9.03023613e-04 -1.22637659e+01] [-2.28237973e-03 3.82706164e-05 9.99997395e-01 -2.45549443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:-12.25, Z:-0.24 [[ 9.10610046e-01 -4.13261357e-01 2.09623657e-03 8.54155162e+01] [ 4.13260371e-01 9.10612458e-01 9.03611495e-04 -1.22519226e+01] [-2.28228685e-03 4.34537964e-05 9.99997395e-01 -2.43835677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:-12.24, Z:-0.24 [[ 9.09905887e-01 -4.14809455e-01 2.09598215e-03 8.54405162e+01] [ 4.14808472e-01 9.09908300e-01 9.04201241e-04 -1.22407550e+01] [-2.28222278e-03 4.66931210e-05 9.99997395e-01 -2.44612340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:85.47, Y:-12.23, Z:-0.25 [[ 9.08788465e-01 -4.17251883e-01 2.09587195e-03 8.54655587e+01] [ 4.17250906e-01 9.08790880e-01 9.04456611e-04 -1.22287806e+01] [-2.28209554e-03 5.25447336e-05 9.99997395e-01 -2.45898383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:85.48, Y:-12.21, Z:-0.25 [[ 9.05302738e-01 -4.24761770e-01 2.09561933e-03 8.54848946e+01] [ 4.24760812e-01 9.05305160e-01 9.05041540e-04 -1.22128757e+01] [-2.28160204e-03 7.08003864e-05 9.99997395e-01 -2.50779060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.52, Y:-12.20, Z:-0.24 [[ 9.07104983e-01 -4.20899287e-01 2.08335201e-03 8.55167469e+01] [ 4.20898253e-01 9.07107375e-01 9.33407762e-04 -1.22046139e+01] [-2.28269463e-03 3.01803872e-05 9.99997394e-01 -2.43694660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:-12.19, Z:-0.25 [[ 9.04660068e-01 -4.26128819e-01 2.09552617e-03 8.55363166e+01] [ 4.26127864e-01 9.04662492e-01 9.05225534e-04 -1.21899071e+01] [-2.28148661e-03 7.40406971e-05 9.99997395e-01 -2.48418722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:85.57, Y:-12.18, Z:-0.25 [[ 9.06006437e-01 -4.23258778e-01 2.08394704e-03 8.55677021e+01] [ 4.23257753e-01 9.06008833e-01 9.31992414e-04 -1.21797350e+01] [-2.28254840e-03 3.76556167e-05 9.99997394e-01 -2.45641443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-12.17, Z:-0.24 [[ 9.06572348e-01 -4.22045243e-01 2.09529765e-03 8.55933809e+01] [ 4.22044276e-01 9.06574767e-01 9.05734282e-04 -1.21684499e+01] [-2.28180482e-03 6.31947229e-05 9.99997395e-01 -2.43638468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:-12.16, Z:-0.24 [[ 9.07025532e-01 -4.21070417e-01 2.09504381e-03 8.56181944e+01] [ 4.21069446e-01 9.07027949e-01 9.06321044e-04 -1.21563647e+01] [-2.28188827e-03 6.01026092e-05 9.99997395e-01 -2.43739822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:-12.14, Z:-0.24 [[ 9.08690812e-01 -4.17464513e-01 2.09487124e-03 8.56424614e+01] [ 4.17463532e-01 9.08693225e-01 9.06719743e-04 -1.21419681e+01] [-2.28211862e-03 5.06044482e-05 9.99997395e-01 -2.44322063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:-12.13, Z:-0.24 [[ 9.09835625e-01 -4.14963550e-01 2.09461542e-03 8.56668222e+01] [ 4.14962560e-01 9.09838035e-01 9.07310334e-04 -1.21292170e+01] [-2.28226150e-03 4.36837129e-05 9.99997395e-01 -2.44882789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:-12.12, Z:-0.24 [[ 9.10969862e-01 -4.12467602e-01 2.09452713e-03 8.56919097e+01] [ 4.12466605e-01 9.10972270e-01 9.07514098e-04 -1.21159796e+01] [-2.28237630e-03 3.72045035e-05 9.99997395e-01 -2.44964553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.72, Y:-12.10, Z:-0.25 [[ 9.13340457e-01 -4.07191385e-01 2.09427184e-03 8.57166490e+01] [ 4.07190373e-01 9.13342858e-01 9.08102862e-04 -1.21014628e+01] [-2.28255989e-03 2.33602484e-05 9.99997395e-01 -2.45582409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:-12.09, Z:-0.25 [[ 9.14663280e-01 -4.04211206e-01 2.09401449e-03 8.57419102e+01] [ 4.04210184e-01 9.14665677e-01 9.08695891e-04 -1.20893077e+01] [-2.28262825e-03 1.52712199e-05 9.99997395e-01 -2.45471347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:-12.08, Z:-0.24 [[ 9.15752538e-01 -4.01737359e-01 2.09393477e-03 8.57677200e+01] [ 4.01736331e-01 9.15754932e-01 9.08879571e-04 -1.20771734e+01] [-2.28266197e-03 8.90089636e-06 9.99997395e-01 -2.44501209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:-12.06, Z:-0.24 [[ 9.17819846e-01 -3.96991621e-01 2.09368233e-03 8.57929548e+01] [ 3.96990579e-01 9.17822234e-01 9.09460719e-04 -1.20644293e+01] [-2.28267647e-03 -3.54893782e-06 9.99997395e-01 -2.43643972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:85.82, Y:-12.05, Z:-0.24 [[ 9.18665050e-01 -3.95031826e-01 2.09342517e-03 8.58183218e+01] [ 3.95030778e-01 9.18667435e-01 9.10052275e-04 -1.20524307e+01] [-2.28266114e-03 -9.06584763e-06 9.99997395e-01 -2.44666045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:-12.04, Z:-0.24 [[ 9.19327650e-01 -3.93487345e-01 2.09316806e-03 8.58447132e+01] [ 3.93486291e-01 9.19330033e-01 9.10643254e-04 -1.20403966e+01] [-2.28263885e-03 -1.35465868e-05 9.99997395e-01 -2.43731595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:85.87, Y:-12.03, Z:-0.25 [[ 9.20091910e-01 -3.91696927e-01 2.09651608e-03 8.58694267e+01] [ 3.91695886e-01 9.20094298e-01 9.02949144e-04 -1.20284401e+01] [-2.28267490e-03 -9.59947754e-06 9.99997395e-01 -2.45607667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.2 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:85.89, Y:-12.02, Z:-0.25 [[ 9.20654658e-01 -3.90372414e-01 2.09275362e-03 8.58944378e+01] [ 3.90371350e-01 9.20657036e-01 9.11586733e-04 -1.20170419e+01] [-2.28256666e-03 -2.23055169e-05 9.99997395e-01 -2.47161125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:85.92, Y:-12.01, Z:-0.25 [[ 9.21613229e-01 -3.88103951e-01 2.09257879e-03 8.59197306e+01] [ 3.88102881e-01 9.21615604e-01 9.11987887e-04 -1.20056736e+01] [-2.28249936e-03 -2.83642461e-05 9.99997395e-01 -2.46854680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:-11.99, Z:-0.24 [[ 9.22103607e-01 -3.86937412e-01 2.09232582e-03 8.59453896e+01] [ 3.86936337e-01 9.22105980e-01 9.12567889e-04 -1.19949488e+01] [-2.28245281e-03 -3.18852549e-05 9.99997395e-01 -2.44850093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:-11.98, Z:-0.25 [[ 9.22547976e-01 -3.85876735e-01 2.09207183e-03 8.59711638e+01] [ 3.85875657e-01 9.22550348e-01 9.13149785e-04 -1.19842828e+01] [-2.28240485e-03 -3.51448950e-05 9.99997395e-01 -2.46340912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:-11.97, Z:-0.25 [[ 9.22681641e-01 -3.85557017e-01 2.09181245e-03 8.59976629e+01] [ 3.85555936e-01 9.22684011e-01 9.13743583e-04 -1.19735191e+01] [-2.28238215e-03 -3.65837214e-05 9.99997395e-01 -2.47327408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:-11.96, Z:-0.25 [[ 9.22795801e-01 -3.85283707e-01 2.09156565e-03 8.60233666e+01] [ 3.85282624e-01 9.22798171e-01 9.14308169e-04 -1.19630918e+01] [-2.28236099e-03 -3.78758402e-05 9.99997395e-01 -2.48738051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:-11.95, Z:-0.25 [[ 9.22991912e-01 -3.84813665e-01 2.09148400e-03 8.60493276e+01] [ 3.84812580e-01 9.22994281e-01 9.14494888e-04 -1.19536841e+01] [-2.28233790e-03 -3.92420289e-05 9.99997395e-01 -2.51111684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:-11.94, Z:-0.25 [[ 9.22841681e-01 -3.85173802e-01 2.09140398e-03 8.60753872e+01] [ 3.85172718e-01 9.22844050e-01 9.14677855e-04 -1.19434134e+01] [-2.28234967e-03 -3.85510921e-05 9.99997395e-01 -2.52005504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:-11.93, Z:-0.25 [[ 9.22699838e-01 -3.85513470e-01 2.09114845e-03 8.61017859e+01] [ 3.85512385e-01 9.22702207e-01 9.15261678e-04 -1.19331824e+01] [-2.28235300e-03 -3.83481752e-05 9.99997395e-01 -2.52256487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-11.92, Z:-0.25 [[ 9.22146807e-01 -3.86834452e-01 2.09088640e-03 8.61277824e+01] [ 3.86833370e-01 9.22149177e-01 9.15859930e-04 -1.19245993e+01] [-2.28239535e-03 -3.57326768e-05 9.99997395e-01 -2.53912343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:-11.91, Z:-0.25 [[ 9.21565412e-01 -3.88217490e-01 2.09077287e-03 8.61545637e+01] [ 3.88216411e-01 9.21567783e-01 9.16119027e-04 -1.19149169e+01] [-2.28244235e-03 -3.25912681e-05 9.99997395e-01 -2.52068044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:-11.90, Z:-0.26 [[ 9.19116271e-01 -3.93980850e-01 2.09051348e-03 8.61763763e+01] [ 3.93979784e-01 9.19118648e-01 9.16710558e-04 -1.19021993e+01] [-2.28259633e-03 -1.89435407e-05 9.99997395e-01 -2.56616507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:-11.90, Z:-0.25 [[ 9.19180945e-01 -3.93829994e-01 2.08010017e-03 8.62104015e+01] [ 3.93828874e-01 9.19183297e-01 9.40432924e-04 -1.18971117e+01] [-2.28236403e-03 -4.52245151e-05 9.99997394e-01 -2.49267388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:-11.89, Z:-0.25 [[ 9.18147867e-01 -3.96232412e-01 2.09029050e-03 8.62363813e+01] [ 3.96231350e-01 9.18150247e-01 9.17209497e-04 -1.18875264e+01] [-2.28262887e-03 -1.38953157e-05 9.99997395e-01 -2.48812901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:-11.88, Z:-0.25 [[ 9.16886413e-01 -3.99142753e-01 2.09020995e-03 8.62620468e+01] [ 3.99141699e-01 9.16888795e-01 9.17393020e-04 -1.18777557e+01] [-2.28266086e-03 -6.85524368e-06 9.99997395e-01 -2.49038633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-11.87, Z:-0.25 [[ 9.15527473e-01 -4.02250018e-01 2.09009770e-03 8.62883088e+01] [ 4.02248972e-01 9.15529859e-01 9.17648696e-04 -1.18677136e+01] [-2.28267106e-03 6.07059528e-07 9.99997395e-01 -2.48887125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-11.86, Z:-0.25 [[ 9.13953638e-01 -4.05813232e-01 2.08985089e-03 8.63161298e+01] [ 4.05812193e-01 9.13956028e-01 9.18210439e-04 -1.18568956e+01] [-2.28265376e-03 8.88520135e-06 9.99997395e-01 -2.48665213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-11.84, Z:-0.25 [[ 9.12571886e-01 -4.08910965e-01 2.09176977e-03 8.63417392e+01] [ 4.08909944e-01 9.12574283e-01 9.13844667e-04 -1.18447933e+01] [-2.28257641e-03 2.13965099e-05 9.99997395e-01 -2.46424029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-11.83, Z:-0.25 [[ 9.11746419e-01 -4.10748221e-01 2.08947151e-03 8.63675981e+01] [ 4.10747193e-01 9.11748813e-01 9.19069682e-04 -1.18329400e+01] [-2.28257941e-03 2.02860662e-05 9.99997395e-01 -2.46058954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:-11.82, Z:-0.25 [[ 9.11632440e-01 -4.11001130e-01 2.08921774e-03 8.63937510e+01] [ 4.11000102e-01 9.11634834e-01 9.19646190e-04 -1.18213355e+01] [-2.28257929e-03 2.02894027e-05 9.99997395e-01 -2.46123974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-11.81, Z:-0.25 [[ 9.10922847e-01 -4.12571451e-01 2.08896246e-03 8.64189969e+01] [ 4.12570425e-01 9.10925242e-01 9.20225682e-04 -1.18100861e+01] [-2.28254748e-03 2.35895334e-05 9.99997395e-01 -2.45608489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:-11.80, Z:-0.25 [[ 9.07470600e-01 -4.20110398e-01 2.08870816e-03 8.64399460e+01] [ 4.20109391e-01 9.07473003e-01 9.20802531e-04 -1.17953309e+01] [-2.28228499e-03 4.18846877e-05 9.99997395e-01 -2.50738404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:86.47, Y:-11.79, Z:-0.25 [[ 9.07668039e-01 -4.19683695e-01 2.08000575e-03 8.64697196e+01] [ 4.19682642e-01 9.07670422e-01 9.40518617e-04 -1.17864704e+01] [-2.28268003e-03 1.92636204e-05 9.99997394e-01 -2.47552182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:86.49, Y:-11.77, Z:-0.25 [[ 9.05230481e-01 -4.24915774e-01 2.08838193e-03 8.64915101e+01] [ 4.24914778e-01 9.05232889e-01 9.21536564e-04 -1.17728390e+01] [-2.28204743e-03 5.31813567e-05 9.99997395e-01 -2.52194849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:-11.76, Z:-0.25 [[ 9.04450458e-01 -4.26573603e-01 2.08104280e-03 8.65206044e+01] [ 4.26572573e-01 9.04452851e-01 9.38151618e-04 -1.17627385e+01] [-2.28239581e-03 3.92041213e-05 9.99997395e-01 -2.47382141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:-11.75, Z:-0.25 [[ 9.03237966e-01 -4.29134964e-01 2.08809391e-03 8.65455355e+01] [ 4.29133978e-01 9.03240377e-01 9.22185864e-04 -1.17502872e+01] [-2.28179293e-03 6.31187640e-05 9.99997395e-01 -2.47494189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:86.57, Y:-11.74, Z:-0.25 [[ 9.01958543e-01 -4.31817587e-01 2.08783560e-03 8.65704478e+01] [ 4.31816607e-01 9.01960956e-01 9.22770321e-04 -1.17373091e+01] [-2.28161465e-03 6.92615105e-05 9.99997395e-01 -2.48873401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:-11.72, Z:-0.25 [[ 9.00303897e-01 -4.35256860e-01 2.08757655e-03 8.65954450e+01] [ 4.35255888e-01 9.00306314e-01 9.23355983e-04 -1.17231595e+01] [-2.28135538e-03 7.73289959e-05 9.99997395e-01 -2.46235082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:86.62, Y:-11.71, Z:-0.25 [[ 8.98199048e-01 -4.39584023e-01 2.08731630e-03 8.66185189e+01] [ 4.39583061e-01 8.98201469e-01 9.23943936e-04 -1.17080653e+01] [-2.28098156e-03 8.76633241e-05 9.99997395e-01 -2.51481266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:-11.70, Z:-0.24 [[ 8.98812986e-01 -4.38327369e-01 2.08184511e-03 8.66463995e+01] [ 4.38326375e-01 8.98815394e-01 9.36292044e-04 -1.16970475e+01] [-2.28159686e-03 7.09761723e-05 9.99997395e-01 -2.44432609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:-11.68, Z:-0.24 [[ 8.98190533e-01 -4.39601423e-01 2.08701691e-03 8.66703025e+01] [ 4.39600459e-01 8.98192953e-01 9.24618426e-04 -1.16841645e+01] [-2.28100746e-03 8.69700764e-05 9.99997395e-01 -2.44307304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:86.69, Y:-11.67, Z:-0.25 [[ 8.97043238e-01 -4.41937862e-01 2.08690276e-03 8.66945332e+01] [ 4.41936904e-01 8.97045661e-01 9.24875998e-04 -1.16683032e+01] [-2.28078479e-03 9.26255870e-05 9.99997395e-01 -2.46414148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:86.72, Y:-11.65, Z:-0.25 [[ 8.96740284e-01 -4.42552267e-01 2.08663947e-03 8.67195089e+01] [ 4.42551310e-01 8.96742707e-01 9.25469642e-04 -1.16541525e+01] [-2.28074741e-03 9.35391203e-05 9.99997395e-01 -2.46824485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:86.74, Y:-11.64, Z:-0.25 [[ 8.95785101e-01 -4.44482508e-01 2.08637785e-03 8.67428930e+01] [ 4.44481554e-01 8.95787525e-01 9.26059061e-04 -1.16388863e+01] [-2.28056830e-03 9.78065598e-05 9.99997395e-01 -2.49897211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:86.77, Y:-11.62, Z:-0.25 [[ 8.96954265e-01 -4.42118426e-01 2.08405010e-03 8.67678616e+01] [ 4.42117454e-01 8.96956682e-01 9.31300531e-04 -1.16235664e+01] [-2.28104779e-03 8.60609399e-05 9.99997395e-01 -2.47602291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:86.80, Y:-11.61, Z:-0.25 [[ 8.97698351e-01 -4.40605626e-01 2.08618023e-03 8.67961293e+01] [ 4.40604661e-01 8.97700771e-01 9.26504176e-04 -1.16103050e+01] [-2.28098856e-03 8.74594638e-05 9.99997395e-01 -2.48771250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:86.82, Y:-11.60, Z:-0.25 [[ 8.98154281e-01 -4.39675450e-01 2.09415926e-03 8.68217431e+01] [ 4.39674524e-01 8.98156717e-01 9.08537724e-04 -1.15958014e+01] [-2.28034494e-03 1.04741428e-04 9.99997395e-01 -2.49222434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:86.84, Y:-11.58, Z:-0.25 [[ 8.98759319e-01 -4.38437332e-01 2.09587005e-03 8.68395704e+01] [ 4.38436411e-01 8.98761756e-01 9.04689482e-04 -1.15780740e+01] [-2.28033749e-03 1.05807639e-04 9.99997394e-01 -2.49234790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:86.86, Y:-11.56, Z:-0.25 [[ 8.99486136e-01 -4.36944325e-01 2.08528647e-03 8.68643932e+01] [ 4.36943345e-01 8.99488550e-01 9.28459810e-04 -1.15637030e+01] [-2.28137655e-03 7.60153176e-05 9.99997395e-01 -2.49168673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:-11.55, Z:-0.25 [[ 9.00394500e-01 -4.35069417e-01 2.08503139e-03 8.68886437e+01] [ 4.35068431e-01 9.00396911e-01 9.29032284e-04 -1.15498801e+01] [-2.28154936e-03 7.06357763e-05 9.99997395e-01 -2.48111125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39999999999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:86.91, Y:-11.54, Z:-0.25 [[ 9.00766189e-01 -4.34299350e-01 2.08476954e-03 8.69119472e+01] [ 4.34298361e-01 9.00768599e-01 9.29619519e-04 -1.15358768e+01] [-2.28162809e-03 6.80421602e-05 9.99997395e-01 -2.50991337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:-11.52, Z:-0.25 [[ 9.01936071e-01 -4.31864538e-01 2.08465614e-03 8.69357014e+01] [ 4.31863541e-01 9.01938478e-01 9.29873732e-04 -1.15189604e+01] [-2.28181108e-03 6.16003232e-05 9.99997395e-01 -2.51737261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:86.96, Y:-11.51, Z:-0.25 [[ 9.02635644e-01 -4.30400450e-01 2.08483336e-03 8.69596047e+01] [ 4.30399450e-01 9.02638050e-01 9.29476552e-04 -1.15056083e+01] [-2.28189704e-03 5.83324637e-05 9.99997395e-01 -2.51923755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:86.98, Y:-11.49, Z:-0.25 [[ 9.02976521e-01 -4.29684837e-01 2.08428571e-03 8.69840436e+01] [ 4.29683832e-01 9.02978924e-01 9.30703004e-04 -1.14922461e+01] [-2.28197503e-03 5.51809094e-05 9.99997395e-01 -2.51558452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:-11.48, Z:-0.25 [[ 9.03401500e-01 -4.28790610e-01 2.08402661e-03 8.70082135e+01] [ 4.28789602e-01 9.03403902e-01 9.31282804e-04 -1.14769483e+01] [-2.28204309e-03 5.22866607e-05 9.99997395e-01 -2.51519492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-11.46, Z:-0.25 [[ 9.04390244e-01 -4.26701237e-01 2.08354035e-03 8.70328763e+01] [ 4.26700221e-01 9.04392643e-01 9.32370133e-04 -1.14645207e+01] [-2.28218206e-03 4.58206778e-05 9.99997395e-01 -2.49205709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.06, Y:-11.45, Z:-0.25 [[ 9.04507164e-01 -4.26453336e-01 2.08365809e-03 8.70591846e+01] [ 4.26452320e-01 9.04509563e-01 9.32106941e-04 -1.14510064e+01] [-2.28218878e-03 4.54834207e-05 9.99997395e-01 -2.51150340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:87.08, Y:-11.44, Z:-0.25 [[ 9.05729727e-01 -4.23850574e-01 2.08607750e-03 8.70812692e+01] [ 4.23849564e-01 9.05732129e-01 9.26700722e-04 -1.14357843e+01] [-2.28221005e-03 4.48426467e-05 9.99997395e-01 -2.52255287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.11, Y:-11.42, Z:-0.25 [[ 9.06535229e-01 -4.22125028e-01 2.08323375e-03 8.71053260e+01] [ 4.22123998e-01 9.06537622e-01 9.33050016e-04 -1.14227937e+01] [-2.28239353e-03 3.35402487e-05 9.99997395e-01 -2.52034644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.13, Y:-11.41, Z:-0.25 [[ 9.07198715e-01 -4.20697222e-01 2.08311597e-03 8.71297624e+01] [ 4.20696188e-01 9.07201106e-01 9.33312896e-04 -1.14100817e+01] [-2.28244725e-03 2.96586862e-05 9.99997395e-01 -2.52872887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.7 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:87.15, Y:-11.40, Z:-0.25 [[ 9.08460471e-01 -4.17965589e-01 2.08300084e-03 8.71549492e+01] [ 4.17964547e-01 9.08462859e-01 9.33569773e-04 -1.13967438e+01] [-2.28252894e-03 2.25092646e-05 9.99997395e-01 -2.54023191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72999999999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:87.18, Y:-11.38, Z:-0.25 [[ 9.09086924e-01 -4.16601281e-01 2.08273339e-03 8.71797380e+01] [ 4.16600234e-01 9.09089309e-01 9.34166059e-04 -1.13845396e+01] [-2.28256543e-03 1.84290678e-05 9.99997395e-01 -2.53725394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75999999999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:87.20, Y:-11.37, Z:-0.25 [[ 9.09987083e-01 -4.14631369e-01 2.08246695e-03 8.72041969e+01] [ 4.14630315e-01 9.09989466e-01 9.34759617e-04 -1.13723600e+01] [-2.28260365e-03 1.28347527e-05 9.99997395e-01 -2.53934818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:-11.36, Z:-0.25 [[ 9.11957209e-01 -4.10280041e-01 2.08235155e-03 8.72315848e+01] [ 4.10278975e-01 9.11959587e-01 9.35016628e-04 -1.13591525e+01] [-2.28263912e-03 1.64990650e-06 9.99997395e-01 -2.51664819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:87.25, Y:-11.35, Z:-0.26 [[ 9.12446540e-01 -4.09190618e-01 2.08558813e-03 8.72545264e+01] [ 4.09189566e-01 9.12448923e-01 9.27810976e-04 -1.13472039e+01] [-2.28264419e-03 6.82298676e-06 9.99997395e-01 -2.55511384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:87.28, Y:-11.34, Z:-0.26 [[ 9.13091289e-01 -4.07749879e-01 2.08196973e-03 8.72789543e+01] [ 4.07748805e-01 9.13093662e-01 9.35860670e-04 -1.13355724e+01] [-2.28263044e-03 -5.60555508e-06 9.99997395e-01 -2.55967441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.30, Y:-11.32, Z:-0.25 [[ 9.13820529e-01 -4.06112924e-01 2.08185532e-03 8.73042957e+01] [ 4.06111845e-01 9.13822900e-01 9.36115114e-04 -1.13244399e+01] [-2.28261551e-03 -9.97510458e-06 9.99997395e-01 -2.54359092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.33, Y:-11.31, Z:-0.26 [[ 9.14714114e-01 -4.04096223e-01 2.08159444e-03 8.73303374e+01] [ 4.04095137e-01 9.14716482e-01 9.36694866e-04 -1.13140220e+01] [-2.28258360e-03 -1.56458240e-05 9.99997395e-01 -2.55157116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:87.36, Y:-11.30, Z:-0.25 [[ 9.15076679e-01 -4.03274521e-01 2.08132893e-03 8.73560271e+01] [ 4.03273432e-01 9.15079046e-01 9.37284449e-04 -1.13038158e+01] [-2.28256343e-03 -1.83424797e-05 9.99997395e-01 -2.54528540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:87.38, Y:-11.29, Z:-0.26 [[ 9.15638250e-01 -4.01997842e-01 2.08106283e-03 8.73819631e+01] [ 4.01996749e-01 9.15640614e-01 9.37874902e-04 -1.12944411e+01] [-2.28252934e-03 -2.21736419e-05 9.99997395e-01 -2.55256188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.0 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:87.41, Y:-11.28, Z:-0.25 [[ 9.15852076e-01 -4.01510455e-01 2.08088186e-03 8.74082614e+01] [ 4.01509359e-01 9.15854439e-01 9.38276244e-04 -1.12837461e+01] [-2.28251261e-03 -2.38287019e-05 9.99997395e-01 -2.54450832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:87.43, Y:-11.27, Z:-0.26 [[ 9.15920657e-01 -4.01353984e-01 2.08061353e-03 8.74348080e+01] [ 4.01352887e-01 9.15923020e-01 9.38870893e-04 -1.12731887e+01] [-2.28250140e-03 -2.48709982e-05 9.99997395e-01 -2.56098191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.46, Y:-11.26, Z:-0.26 [[ 9.15472432e-01 -4.02375321e-01 2.08034662e-03 8.74585752e+01] [ 4.02374224e-01 9.15474795e-01 9.39461944e-04 -1.12631080e+01] [-2.28252120e-03 -2.29736528e-05 9.99997395e-01 -2.56756233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:87.49, Y:-11.25, Z:-0.25 [[ 9.16932249e-01 -3.99037534e-01 2.07275648e-03 8.74883274e+01] [ 3.99036392e-01 9.16934591e-01 9.56253885e-04 -1.12548205e+01] [-2.28216331e-03 -4.97147589e-05 9.99997395e-01 -2.54582921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11999999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:87.51, Y:-11.24, Z:-0.25 [[ 9.17408936e-01 -3.97940343e-01 2.08015167e-03 8.75148579e+01] [ 3.97939235e-01 9.17411294e-01 9.39886898e-04 -1.12448106e+01] [-2.28237355e-03 -3.44866742e-05 9.99997395e-01 -2.54488264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14999999999999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:87.54, Y:-11.23, Z:-0.26 [[ 9.17816814e-01 -3.96998704e-01 2.07988634e-03 8.75414535e+01] [ 3.96997591e-01 9.17819170e-01 9.40473692e-04 -1.12348736e+01] [-2.28232639e-03 -3.74727006e-05 9.99997395e-01 -2.56628834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.57, Y:-11.23, Z:-0.26 [[ 9.19070339e-01 -3.94088045e-01 2.07962207e-03 8.75683554e+01] [ 3.94086924e-01 9.19072691e-01 9.41057696e-04 -1.12273067e+01] [-2.28218344e-03 -4.53463529e-05 9.99997395e-01 -2.56174420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:-11.21, Z:-0.26 [[ 9.17938390e-01 -3.96717516e-01 2.07949864e-03 8.75890912e+01] [ 3.96716401e-01 9.17940745e-01 9.41330368e-04 -1.12147850e+01] [-2.28229877e-03 -3.91120679e-05 9.99997395e-01 -2.58555586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:87.62, Y:-11.21, Z:-0.26 [[ 9.19595372e-01 -3.92861394e-01 2.06807700e-03 8.76221483e+01] [ 3.92860212e-01 9.19597694e-01 9.66525635e-04 -1.12069803e+01] [-2.28150945e-03 -7.63473323e-05 9.99997394e-01 -2.58431417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:87.65, Y:-11.20, Z:-0.26 [[ 9.19895171e-01 -3.92158835e-01 2.07927403e-03 8.76493491e+01] [ 3.92157707e-01 9.19897519e-01 9.41805365e-04 -1.11994746e+01] [-2.28205631e-03 -5.09588733e-05 9.99997395e-01 -2.58013487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.3 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:87.68, Y:-11.19, Z:-0.26 [[ 9.19810797e-01 -3.92356694e-01 2.07901127e-03 8.76758581e+01] [ 3.92355566e-01 9.19813145e-01 9.42385027e-04 -1.11902427e+01] [-2.28205297e-03 -5.11042777e-05 9.99997395e-01 -2.57688605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:87.70, Y:-11.18, Z:-0.26 [[ 9.19557621e-01 -3.92949691e-01 2.07892993e-03 8.77025948e+01] [ 3.92948563e-01 9.19559970e-01 9.42564430e-04 -1.11808288e+01] [-2.28208115e-03 -4.98297751e-05 9.99997395e-01 -2.55650091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:87.73, Y:-11.17, Z:-0.26 [[ 9.18716013e-01 -3.94913366e-01 2.07866111e-03 8.77303881e+01] [ 3.94912242e-01 9.18718363e-01 9.43156904e-04 -1.11738860e+01] [-2.28216940e-03 -4.56046310e-05 9.99997395e-01 -2.55723903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:87.76, Y:-11.16, Z:-0.26 [[ 9.17965727e-01 -3.96654261e-01 2.07857802e-03 8.77571935e+01] [ 3.96653142e-01 9.17968080e-01 9.43339991e-04 -1.11647021e+01] [-2.28224810e-03 -4.14792812e-05 9.99997395e-01 -2.56071445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:87.78, Y:-11.16, Z:-0.26 [[ 9.17290537e-01 -3.98213198e-01 2.07833370e-03 8.77839450e+01] [ 3.98212081e-01 9.17292891e-01 9.43877948e-04 -1.11556409e+01] [-2.28230539e-03 -3.81927220e-05 9.99997395e-01 -2.55066215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:87.81, Y:-11.15, Z:-0.25 [[ 9.16530359e-01 -3.99959726e-01 2.07805934e-03 8.78100724e+01] [ 3.99958612e-01 9.16532714e-01 9.44481602e-04 -1.11466156e+01] [-2.28236397e-03 -3.45083324e-05 9.99997395e-01 -2.53627076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:87.84, Y:-11.14, Z:-0.25 [[ 9.15285637e-01 -4.02800053e-01 2.07874715e-03 8.78380015e+01] [ 4.02798950e-01 9.15287997e-01 9.42968699e-04 -1.11399300e+01] [-2.28248016e-03 -2.57685371e-05 9.99997395e-01 -2.51728991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:87.86, Y:-11.13, Z:-0.25 [[ 9.14440497e-01 -4.04715036e-01 2.07776270e-03 8.78642729e+01] [ 4.04713933e-01 9.14442857e-01 9.45132897e-04 -1.11307161e+01] [-2.28250475e-03 -2.33682819e-05 9.99997395e-01 -2.52758658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:-11.12, Z:-0.25 [[ 9.13870722e-01 -4.05999984e-01 2.07749618e-03 8.78907220e+01] [ 4.05998883e-01 9.13873083e-01 9.45718372e-04 -1.11213232e+01] [-2.28252948e-03 -2.08032033e-05 9.99997395e-01 -2.49870547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-11.11, Z:-0.25 [[ 9.13131424e-01 -4.07660015e-01 2.07722579e-03 8.79158919e+01] [ 4.07658917e-01 9.13133786e-01 9.46311905e-04 -1.11121270e+01] [-2.28255857e-03 -1.73075214e-05 9.99997395e-01 -2.50768998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.6 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:87.94, Y:-11.10, Z:-0.25 [[ 9.11168789e-01 -4.12028062e-01 2.07710901e-03 8.79433735e+01] [ 4.12026975e-01 9.11171156e-01 9.46568161e-04 -1.11044993e+01] [-2.28261446e-03 -6.65842525e-06 9.99997395e-01 -2.54217812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:87.97, Y:-11.09, Z:-0.26 [[ 9.09971038e-01 -4.14666609e-01 2.07684179e-03 8.79697614e+01] [ 4.14665527e-01 9.09973408e-01 9.47154096e-04 -1.10949909e+01] [-2.28262398e-03 -6.88101593e-07 9.99997395e-01 -2.58020306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:88.00, Y:-11.08, Z:-0.26 [[ 9.09854825e-01 -4.14921541e-01 2.07657613e-03 8.79957563e+01] [ 4.14920459e-01 9.09857195e-01 9.47736179e-04 -1.10830448e+01] [-2.28262389e-03 -6.88415340e-07 9.99997395e-01 -2.58085321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:88.02, Y:-11.07, Z:-0.26 [[ 9.08774246e-01 -4.17282949e-01 2.07631044e-03 8.80219190e+01] [ 4.17281872e-01 9.08776617e-01 9.48317902e-04 -1.10737066e+01] [-2.28261927e-03 4.59981989e-06 9.99997395e-01 -2.56462482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:88.05, Y:-11.07, Z:-0.26 [[ 9.06182398e-01 -4.22881959e-01 2.07604565e-03 8.80492814e+01] [ 4.22880895e-01 9.06184776e-01 9.48897225e-04 -1.10660881e+01] [-2.28255248e-03 1.80460777e-05 9.99997395e-01 -2.59368402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-11.05, Z:-0.26 [[ 9.02838502e-01 -4.29974801e-01 2.07578008e-03 8.80683471e+01] [ 4.29973754e-01 9.02840888e-01 9.49477815e-04 -1.10539442e+01] [-2.28235067e-03 3.53058254e-05 9.99997395e-01 -2.61270093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:88.10, Y:-11.05, Z:-0.26 [[ 9.03298264e-01 -4.29008155e-01 2.06143026e-03 8.81019885e+01] [ 4.29007034e-01 9.03300616e-01 9.80805402e-04 -1.10471245e+01] [-2.28286474e-03 -1.59173581e-06 9.99997394e-01 -2.58948190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:88.12, Y:-11.03, Z:-0.26 [[ 8.99716858e-01 -4.36469091e-01 2.07570494e-03 8.81203440e+01] [ 4.36468061e-01 8.99719250e-01 9.49602847e-04 -1.10330602e+01] [-2.28202399e-03 5.16052239e-05 9.99997395e-01 -2.61816588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:88.15, Y:-11.02, Z:-0.25 [[ 9.01578219e-01 -4.32611219e-01 2.06119120e-03 8.81534904e+01] [ 4.32610106e-01 9.01580575e-01 9.81272710e-04 -1.10244335e+01] [-2.28283953e-03 6.99804120e-06 9.99997394e-01 -2.53766117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86999999999999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:88.18, Y:-11.01, Z:-0.25 [[ 9.01186068e-01 -4.33427460e-01 2.07547735e-03 8.81794133e+01] [ 4.33426421e-01 9.01188457e-01 9.50063657e-04 -1.10124869e+01] [-2.28217991e-03 4.33825886e-05 9.99997395e-01 -2.53634118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:-11.00, Z:-0.25 [[ 9.01170781e-01 -4.33459246e-01 2.07520958e-03 8.82043500e+01] [ 4.33458206e-01 9.01173169e-01 9.50648199e-04 -1.10005743e+01] [-2.28219044e-03 4.28202391e-05 9.99997395e-01 -2.50967687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:88.23, Y:-10.99, Z:-0.25 [[ 9.01001153e-01 -4.33811730e-01 2.07494048e-03 8.82296164e+01] [ 4.33810689e-01 9.01003541e-01 9.51235179e-04 -1.09882775e+01] [-2.28218570e-03 4.30673673e-05 9.99997395e-01 -2.54783853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-10.98, Z:-0.25 [[ 9.01308533e-01 -4.33172741e-01 2.07467152e-03 8.82553924e+01] [ 4.33171697e-01 9.01310920e-01 9.51821436e-04 -1.09763316e+01] [-2.28222719e-03 4.08041989e-05 9.99997395e-01 -2.52638042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:-10.96, Z:-0.26 [[ 9.01916660e-01 -4.31905122e-01 2.07440099e-03 8.82811875e+01] [ 4.31904074e-01 9.01919045e-01 9.52410651e-04 -1.09619760e+01] [-2.28229280e-03 3.69472057e-05 9.99997395e-01 -2.55628115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:88.31, Y:-10.95, Z:-0.26 [[ 9.02073198e-01 -4.31578085e-01 2.07418088e-03 8.83060822e+01] [ 4.31577034e-01 9.02075582e-01 9.52889769e-04 -1.09484115e+01] [-2.28231427e-03 3.55925127e-05 9.99997395e-01 -2.60199344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:88.33, Y:-10.93, Z:-0.26 [[ 9.02334689e-01 -4.31031099e-01 2.07409686e-03 8.83316882e+01] [ 4.31030046e-01 9.02337072e-01 9.53072614e-04 -1.09349406e+01] [-2.28233843e-03 3.40075874e-05 9.99997395e-01 -2.63085753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:88.36, Y:-10.92, Z:-0.26 [[ 9.03279886e-01 -4.29046788e-01 2.07386379e-03 8.83573442e+01] [ 4.29045729e-01 9.03282266e-01 9.53579519e-04 -1.09206636e+01] [-2.28241461e-03 2.84332003e-05 9.99997395e-01 -2.61320352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:-10.91, Z:-0.26 [[ 9.02726427e-01 -4.30210063e-01 2.07362907e-03 8.83786592e+01] [ 4.30209006e-01 9.02728808e-01 9.54089657e-04 -1.09065393e+01] [-2.28238367e-03 3.08119524e-05 9.99997395e-01 -2.61948470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:88.41, Y:-10.89, Z:-0.26 [[ 9.03866411e-01 -4.27809820e-01 2.06598976e-03 8.84083523e+01] [ 4.27808719e-01 9.03868772e-01 9.70680895e-04 -1.08949582e+01] [-2.28265045e-03 6.48257775e-06 9.99997395e-01 -2.64471069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:88.43, Y:-10.88, Z:-0.26 [[ 9.04323197e-01 -4.26843362e-01 2.07355621e-03 8.84332183e+01] [ 4.26842296e-01 9.04325574e-01 9.54239060e-04 -1.08822566e+01] [-2.28248051e-03 2.21409742e-05 9.99997395e-01 -2.61338198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:-10.87, Z:-0.26 [[ 9.04448287e-01 -4.26578242e-01 2.07343291e-03 8.84590166e+01] [ 4.26577174e-01 9.04450664e-01 9.54506893e-04 -1.08700390e+01] [-2.28248964e-03 2.11770266e-05 9.99997395e-01 -2.58602067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22999999999999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:88.48, Y:-10.86, Z:-0.26 [[ 9.04069656e-01 -4.27380110e-01 2.07320281e-03 8.84839015e+01] [ 4.27379044e-01 9.04072033e-01 9.55006418e-04 -1.08574024e+01] [-2.28247542e-03 2.26511088e-05 9.99997395e-01 -2.61516005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:-10.84, Z:-0.26 [[ 9.04409399e-01 -4.26660686e-01 2.07293501e-03 8.85103340e+01] [ 4.26659617e-01 9.04411775e-01 9.55587338e-04 -1.08447990e+01] [-2.28249838e-03 2.01954876e-05 9.99997395e-01 -2.57274746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:88.54, Y:-10.83, Z:-0.26 [[ 9.04941673e-01 -4.25530577e-01 2.07270064e-03 8.85356566e+01] [ 4.25529503e-01 9.04944047e-01 9.56095427e-04 -1.08320775e+01] [-2.28252594e-03 1.67846781e-05 9.99997395e-01 -2.58509890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:-10.82, Z:-0.26 [[ 9.05532533e-01 -4.24271771e-01 2.07261764e-03 8.85614922e+01] [ 4.24270693e-01 9.05534905e-01 9.56275325e-04 -1.08201346e+01] [-2.28254824e-03 1.34125045e-05 9.99997395e-01 -2.55620648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:-10.81, Z:-0.26 [[ 9.06110860e-01 -4.23035240e-01 2.07241795e-03 8.85856698e+01] [ 4.23034158e-01 9.06113230e-01 9.56707816e-04 -1.08085722e+01] [-2.28256644e-03 9.82024038e-06 9.99997395e-01 -2.55711718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:88.61, Y:-10.80, Z:-0.26 [[ 9.07486770e-01 -4.20075550e-01 2.07223857e-03 8.86104165e+01] [ 4.20074459e-01 9.07489136e-01 9.57096194e-04 -1.07963335e+01] [-2.28258670e-03 1.94236280e-06 9.99997395e-01 -2.57940034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:88.64, Y:-10.78, Z:-0.26 [[ 9.08106471e-01 -4.18734216e-01 2.07215686e-03 8.86359477e+01] [ 4.18733122e-01 9.08108835e-01 9.57273075e-04 -1.07839375e+01] [-2.28258694e-03 -1.62516496e-06 9.99997395e-01 -2.60204734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:88.66, Y:-10.77, Z:-0.26 [[ 9.08998016e-01 -4.16795291e-01 2.07189598e-03 8.86614323e+01] [ 4.16794190e-01 9.09000377e-01 9.57837368e-04 -1.07718891e+01] [-2.28257633e-03 -7.11805854e-06 9.99997395e-01 -2.59834848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:88.69, Y:-10.76, Z:-0.26 [[ 9.10547379e-01 -4.13399540e-01 2.07162704e-03 8.86870106e+01] [ 4.13398429e-01 9.10549735e-01 9.58418699e-04 -1.07596466e+01] [-2.28252930e-03 -1.62782708e-05 9.99997395e-01 -2.64260591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:-10.75, Z:-0.26 [[ 9.11642397e-01 -4.10979135e-01 2.07141005e-03 8.87126343e+01] [ 4.10978017e-01 9.11644750e-01 9.58887436e-04 -1.07485402e+01] [-2.28247283e-03 -2.28584455e-05 9.99997395e-01 -2.61168017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:88.74, Y:-10.74, Z:-0.27 [[ 9.11781108e-01 -4.10671305e-01 2.07114418e-03 8.87386858e+01] [ 4.10670185e-01 9.11783460e-01 9.59461364e-04 -1.07361617e+01] [-2.28245826e-03 -2.42615829e-05 9.99997395e-01 -2.65831596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:88.76, Y:-10.72, Z:-0.27 [[ 9.12334323e-01 -4.09440832e-01 2.07091464e-03 8.87647633e+01] [ 4.09439708e-01 9.12336673e-01 9.59956539e-04 -1.07246033e+01] [-2.28241678e-03 -2.78866129e-05 9.99997395e-01 -2.67313932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.79, Y:-10.71, Z:-0.27 [[ 9.13241684e-01 -4.07412983e-01 2.07068414e-03 8.87908098e+01] [ 4.07411853e-01 9.13244031e-01 9.60453498e-04 -1.07137436e+01] [-2.28234115e-03 -3.35049088e-05 9.99997395e-01 -2.66909318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:88.82, Y:-10.70, Z:-0.27 [[ 9.13077662e-01 -4.07780452e-01 2.07042190e-03 8.88162043e+01] [ 4.07779321e-01 9.13080008e-01 9.61018454e-04 -1.07023520e+01] [-2.28234539e-03 -3.32092448e-05 9.99997395e-01 -2.70814659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:-10.69, Z:-0.26 [[ 9.13449923e-01 -4.06945884e-01 2.07034067e-03 8.88434997e+01] [ 4.06944750e-01 9.13452268e-01 9.61193425e-04 -1.06922608e+01] [-2.28231109e-03 -3.54877937e-05 9.99997395e-01 -2.64933900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:88.87, Y:-10.68, Z:-0.27 [[ 9.12330741e-01 -4.09448818e-01 2.07010344e-03 8.88700114e+01] [ 4.09447689e-01 9.12333089e-01 9.61704067e-04 -1.06834743e+01] [-2.28239246e-03 -2.97931131e-05 9.99997395e-01 -2.65513059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:88.90, Y:-10.67, Z:-0.26 [[ 9.11782755e-01 -4.10667657e-01 2.06982824e-03 8.88957125e+01] [ 4.10666530e-01 9.11785104e-01 9.62295997e-04 -1.06736102e+01] [-2.28242240e-03 -2.73957124e-05 9.99997395e-01 -2.64414234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:-10.66, Z:-0.26 [[ 9.09992842e-01 -4.14618794e-01 2.06974312e-03 8.89182819e+01] [ 4.14617677e-01 9.09995195e-01 9.62479045e-04 -1.06614008e+01] [-2.28251820e-03 -1.76969562e-05 9.99997395e-01 -2.62714327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-10.66, Z:-0.26 [[ 9.10407556e-01 -4.13707438e-01 2.05851498e-03 8.89507944e+01] [ 4.13706264e-01 9.10409882e-01 9.86599820e-04 -1.06555875e+01] [-2.28225606e-03 -4.65873886e-05 9.99997395e-01 -2.59244247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.8 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:88.98, Y:-10.64, Z:-0.26 [[ 9.09381029e-01 -4.15958965e-01 2.06956767e-03 8.89767946e+01] [ 4.15957851e-01 9.09383384e-01 9.62842779e-04 -1.06444406e+01] [-2.28253354e-03 -1.47380352e-05 9.99997395e-01 -2.62268242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:-10.63, Z:-0.26 [[ 9.09396771e-01 -4.15924548e-01 2.06948331e-03 8.90025531e+01] [ 4.15923433e-01 9.09399126e-01 9.63024071e-04 -1.06340815e+01] [-2.28253167e-03 -1.50243764e-05 9.99997395e-01 -2.59442250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:89.03, Y:-10.62, Z:-0.26 [[ 9.08829270e-01 -4.17163128e-01 2.06940008e-03 8.90280909e+01] [ 4.17162016e-01 9.08831626e-01 9.63202888e-04 -1.06217436e+01] [-2.28254897e-03 -1.21118672e-05 9.99997395e-01 -2.60900503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:89.05, Y:-10.61, Z:-0.26 [[ 9.08888027e-01 -4.17035099e-01 2.06912760e-03 8.90530748e+01] [ 4.17033985e-01 9.08890382e-01 9.63787867e-04 -1.06093816e+01] [-2.28254354e-03 -1.30787236e-05 9.99997395e-01 -2.60159468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:89.07, Y:-10.59, Z:-0.26 [[ 9.07188131e-01 -4.20720115e-01 2.06885589e-03 8.90715689e+01] [ 4.20719010e-01 9.07190490e-01 9.64370764e-04 -1.05936255e+01] [-2.28257657e-03 -4.45870847e-06 9.99997395e-01 -2.64420185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:89.10, Y:-10.58, Z:-0.26 [[ 9.09141423e-01 -4.16482476e-01 2.05405615e-03 8.91040958e+01] [ 4.16481288e-01 9.09143742e-01 9.96075435e-04 -1.05830164e+01] [-2.28228026e-03 -5.00974860e-05 9.99997394e-01 -2.62222145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:-10.57, Z:-0.27 [[ 9.07619594e-01 -4.19788510e-01 2.06878056e-03 8.91211722e+01] [ 4.19787402e-01 9.07621951e-01 9.64492441e-04 -1.05665906e+01] [-2.28255349e-03 -6.94422059e-06 9.99997395e-01 -2.65410168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:89.15, Y:-10.55, Z:-0.27 [[ 9.07731386e-01 -4.19546796e-01 2.05350658e-03 8.91486770e+01] [ 4.19545613e-01 9.07733708e-01 9.97225607e-04 -1.05542978e+01] [-2.28241995e-03 -4.36733065e-05 9.99997394e-01 -2.65755708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:-10.54, Z:-0.26 [[ 9.10026404e-01 -4.14545193e-01 2.05570392e-03 8.91801845e+01] [ 4.14544008e-01 9.10028725e-01 9.92516827e-04 -1.05446736e+01] [-2.28219270e-03 -5.10367765e-05 9.99997394e-01 -2.60631133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:-10.53, Z:-0.26 [[ 9.09953163e-01 -4.14705873e-01 2.06878522e-03 8.92058250e+01] [ 4.14704752e-01 9.09955514e-01 9.64457096e-04 -1.05326486e+01] [-2.28246854e-03 -1.96757216e-05 9.99997395e-01 -2.60746762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.1 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:89.22, Y:-10.52, Z:-0.27 [[ 9.07609212e-01 -4.19810958e-01 2.06851858e-03 8.92238218e+01] [ 4.19809849e-01 9.07611569e-01 9.65028645e-04 -1.05178639e+01] [-2.28254099e-03 -7.48441704e-06 9.99997395e-01 -2.67013454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:89.26, Y:-10.51, Z:-0.26 [[ 9.09502212e-01 -4.15694009e-01 2.05386774e-03 8.92579335e+01] [ 4.15692818e-01 9.09504529e-01 9.96389786e-04 -1.05080958e+01] [-2.28219527e-03 -5.24406470e-05 9.99997394e-01 -2.62228493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.28, Y:-10.49, Z:-0.26 [[ 9.08961741e-01 -4.16874411e-01 2.06842416e-03 8.92835010e+01] [ 4.16873294e-01 9.08964095e-01 9.65195218e-04 -1.04947943e+01] [-2.28248848e-03 -1.50547343e-05 9.99997395e-01 -2.62164573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:89.31, Y:-10.48, Z:-0.26 [[ 9.08453611e-01 -4.17980574e-01 2.06818142e-03 8.93076325e+01] [ 4.17979458e-01 9.08455965e-01 9.65715067e-04 -1.04833120e+01] [-2.28250189e-03 -1.28499894e-05 9.99997395e-01 -2.63785870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:-10.47, Z:-0.27 [[ 9.05834377e-01 -4.23626964e-01 2.06806111e-03 8.93261534e+01] [ 4.23625863e-01 9.05836738e-01 9.65972635e-04 -1.04685229e+01] [-2.28253779e-03 1.07295254e-06 9.99997395e-01 -2.67294048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:-10.46, Z:-0.27 [[ 9.04892524e-01 -4.25635185e-01 2.05157031e-03 8.93522132e+01] [ 4.25634009e-01 9.04894849e-01 1.00123055e-03 -1.04581545e+01] [-2.28261436e-03 -3.27879486e-05 9.99997394e-01 -2.65651723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:89.38, Y:-10.45, Z:-0.27 [[ 9.04114892e-01 -4.27284509e-01 2.05205210e-03 8.93781642e+01] [ 4.27283340e-01 9.04117220e-01 1.00020109e-03 -1.04469448e+01] [-2.28266607e-03 -2.74890262e-05 9.99997394e-01 -2.67773408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:89.41, Y:-10.44, Z:-0.26 [[ 9.05312447e-01 -4.24741291e-01 2.05154456e-03 8.94113979e+01] [ 4.24740113e-01 9.05314771e-01 1.00128495e-03 -1.04386046e+01] [-2.28258065e-03 -3.51024605e-05 9.99997394e-01 -2.62109407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:89.44, Y:-10.43, Z:-0.26 [[ 9.05126904e-01 -4.25136464e-01 2.06763083e-03 8.94362781e+01] [ 4.25135364e-01 9.05129265e-01 9.66885340e-04 -1.04271872e+01] [-2.28253139e-03 3.86905369e-06 9.99997395e-01 -2.60823485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36999999999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:89.45, Y:-10.41, Z:-0.27 [[ 9.02539170e-01 -4.30602800e-01 2.06752884e-03 8.94544673e+01] [ 4.30601714e-01 9.02541538e-01 9.67103390e-04 -1.04120176e+01] [-2.28246809e-03 1.74327713e-05 9.99997395e-01 -2.66826900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.49, Y:-10.40, Z:-0.26 [[ 9.04865848e-01 -4.25691899e-01 2.05052991e-03 8.94877537e+01] [ 4.25690718e-01 9.04868171e-01 1.00337675e-03 -1.04027558e+01] [-2.28258860e-03 -3.50298046e-05 9.99997394e-01 -2.60101904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:89.51, Y:-10.39, Z:-0.26 [[ 9.04480134e-01 -4.26510744e-01 2.06724000e-03 8.95124991e+01] [ 4.26509646e-01 9.04482496e-01 9.67679222e-04 -1.03901503e+01] [-2.28250798e-03 6.45116703e-06 9.99997395e-01 -2.62622537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:89.54, Y:-10.38, Z:-0.26 [[ 9.04321786e-01 -4.26846383e-01 2.06715464e-03 8.95368091e+01] [ 4.26845286e-01 9.04324148e-01 9.67861530e-04 -1.03785283e+01] [-2.28250605e-03 7.09694450e-06 9.99997395e-01 -2.62857813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:89.56, Y:-10.37, Z:-0.26 [[ 9.03933579e-01 -4.27667877e-01 2.06697298e-03 8.95620182e+01] [ 4.27666781e-01 9.03935942e-01 9.68249327e-04 -1.03665449e+01] [-2.28250030e-03 8.74260008e-06 9.99997395e-01 -2.62857455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.59, Y:-10.35, Z:-0.26 [[ 9.03522878e-01 -4.28534873e-01 2.06669711e-03 8.95871080e+01] [ 4.28533778e-01 9.03525242e-01 9.68837804e-04 -1.03544246e+01] [-2.28249379e-03 1.02823990e-05 9.99997395e-01 -2.62179018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.61, Y:-10.34, Z:-0.27 [[ 9.00990661e-01 -4.33833561e-01 2.06642192e-03 8.96055549e+01] [ 4.33832479e-01 9.00993030e-01 9.69424394e-04 -1.03394528e+01] [-2.28240059e-03 2.30386189e-05 9.99997395e-01 -2.67061072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.63, Y:-10.33, Z:-0.27 [[ 9.01051347e-01 -4.33707581e-01 2.05045210e-03 8.96304070e+01] [ 4.33706420e-01 9.01053680e-01 1.00342659e-03 -1.03278436e+01] [-2.28276113e-03 -1.48446429e-05 9.99997394e-01 -2.67106674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:89.66, Y:-10.32, Z:-0.26 [[ 9.02682259e-01 -4.30302844e-01 2.05001082e-03 8.96637953e+01] [ 4.30301672e-01 9.02684586e-01 1.00436607e-03 -1.03182972e+01] [-2.28269474e-03 -2.45003489e-05 9.99997394e-01 -2.64495039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:89.69, Y:-10.31, Z:-0.26 [[ 9.02166090e-01 -4.31383908e-01 2.06636187e-03 8.96887043e+01] [ 4.31382819e-01 9.02168456e-01 9.69516543e-04 -1.03063310e+01] [-2.28244034e-03 1.67280600e-05 9.99997395e-01 -2.64420719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:89.72, Y:-10.29, Z:-0.27 [[ 9.01432892e-01 -4.32913931e-01 2.06609726e-03 8.97153755e+01] [ 4.32912845e-01 9.01435260e-01 9.70080124e-04 -1.02939184e+01] [-2.28241412e-03 1.99779094e-05 9.99997395e-01 -2.65007251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:-10.28, Z:-0.27 [[ 8.99336120e-01 -4.37253101e-01 2.06587229e-03 8.97334012e+01] [ 4.37252025e-01 8.99338493e-01 9.70558972e-04 -1.02797622e+01] [-2.28229839e-03 3.04481038e-05 9.99997395e-01 -2.67878376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:-10.27, Z:-0.26 [[ 9.01467892e-01 -4.32841119e-01 2.05070211e-03 8.97662615e+01] [ 4.32839958e-01 9.01470224e-01 1.00280607e-03 -1.02705789e+01] [-2.28270259e-03 -1.63716573e-05 9.99997394e-01 -2.64055858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:89.78, Y:-10.26, Z:-0.27 [[ 8.98920687e-01 -4.38106528e-01 2.06580264e-03 8.97842248e+01] [ 4.38105454e-01 8.98923061e-01 9.70668716e-04 -1.02557774e+01] [-2.28225393e-03 3.24852151e-05 9.99997395e-01 -2.70285735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:-10.25, Z:-0.26 [[ 9.01503026e-01 -4.32767937e-01 2.05117101e-03 8.98170160e+01] [ 4.32766778e-01 9.01505359e-01 1.00176012e-03 -1.02456256e+01] [-2.28267132e-03 -1.54111120e-05 9.99997395e-01 -2.63096182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-10.23, Z:-0.26 [[ 9.01510866e-01 -4.32751536e-01 2.06567960e-03 8.98411212e+01] [ 4.32750448e-01 9.01513232e-01 9.70891494e-04 -1.02336368e+01] [-2.28239228e-03 1.86545392e-05 9.99997395e-01 -2.62836590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:-10.22, Z:-0.26 [[ 9.01466484e-01 -4.32843982e-01 2.06555990e-03 8.98663160e+01] [ 4.32842893e-01 9.01468850e-01 9.71146089e-04 -1.02205525e+01] [-2.28239264e-03 1.86072705e-05 9.99997395e-01 -2.62365307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-10.21, Z:-0.26 [[ 9.01457906e-01 -4.32861847e-01 2.06528544e-03 8.98909618e+01] [ 4.32860756e-01 9.01460272e-01 9.71729406e-04 -1.02081985e+01] [-2.28239736e-03 1.80078634e-05 9.99997395e-01 -2.62734493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:-10.19, Z:-0.27 [[ 8.98918577e-01 -4.38110862e-01 2.06509908e-03 8.99088327e+01] [ 4.38109785e-01 8.98920948e-01 9.72125292e-04 -1.01921822e+01] [-2.28225948e-03 3.08786315e-05 9.99997395e-01 -2.69192723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.94, Y:-10.18, Z:-0.26 [[ 9.02027930e-01 -4.31672817e-01 2.04778187e-03 8.99422892e+01] [ 4.31671639e-01 9.02030254e-01 1.00884851e-03 -1.01828450e+01] [-2.28265367e-03 -2.60401792e-05 9.99997394e-01 -2.63709341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:-10.17, Z:-0.27 [[ 9.00254316e-01 -4.35359509e-01 2.06488358e-03 8.99612865e+01] [ 4.35358424e-01 9.00256684e-01 9.72538320e-04 -1.01680301e+01] [-2.28232905e-03 2.34326412e-05 9.99997395e-01 -2.69939631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.0 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:89.99, Y:-10.16, Z:-0.27 [[ 9.02522805e-01 -4.30637178e-01 2.05127075e-03 8.99937345e+01] [ 4.30636014e-01 9.02525136e-01 1.00138818e-03 -1.01581054e+01] [-2.28255839e-03 -2.04246052e-05 9.99997395e-01 -2.66010635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:90.02, Y:-10.15, Z:-0.26 [[ 9.03677288e-01 -4.28209174e-01 2.06450901e-03 9.00184560e+01] [ 4.28208068e-01 9.03679647e-01 9.73308171e-04 -1.01456950e+01] [-2.28243426e-03 4.48292457e-06 9.99997395e-01 -2.64997526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:90.04, Y:-10.13, Z:-0.27 [[ 9.04127074e-01 -4.27258672e-01 2.06423094e-03 9.00430181e+01] [ 4.27257562e-01 9.04129430e-01 9.73897548e-04 -1.01336585e+01] [-2.28243812e-03 1.43114023e-06 9.99997395e-01 -2.65830909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:90.07, Y:-10.12, Z:-0.26 [[ 9.04776289e-01 -4.25882150e-01 2.06411044e-03 9.00679491e+01] [ 4.25881036e-01 9.04778644e-01 9.74152889e-04 -1.01216062e+01] [-2.28243737e-03 -2.32494471e-06 9.99997395e-01 -2.64527399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:90.09, Y:-10.11, Z:-0.27 [[ 9.06008239e-01 -4.23255020e-01 2.06382937e-03 9.00933451e+01] [ 4.23253898e-01 9.06010589e-01 9.74747979e-04 -1.01095119e+01] [-2.28241824e-03 -9.60587320e-06 9.99997395e-01 -2.65129217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:90.12, Y:-10.10, Z:-0.26 [[ 9.06557712e-01 -4.22076836e-01 2.06374234e-03 9.01192355e+01] [ 4.22075710e-01 9.06560061e-01 9.74932221e-04 -1.00974157e+01] [-2.28240269e-03 -1.27768110e-05 9.99997395e-01 -2.64330242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:90.15, Y:-10.09, Z:-0.26 [[ 9.06652014e-01 -4.21874233e-01 2.06346315e-03 9.01459237e+01] [ 4.21873105e-01 9.06654362e-01 9.75522774e-04 -1.00851164e+01] [-2.28239578e-03 -1.39400824e-05 9.99997395e-01 -2.63584685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:90.17, Y:-10.07, Z:-0.26 [[ 9.06890924e-01 -4.21360405e-01 2.06413501e-03 9.01719565e+01] [ 4.21359279e-01 9.06893273e-01 9.74102202e-04 -1.00736179e+01] [-2.28239825e-03 -1.36620087e-05 9.99997395e-01 -2.63851731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-10.06, Z:-0.26 [[ 9.06819922e-01 -4.21513184e-01 2.06528938e-03 9.01970286e+01] [ 4.21512064e-01 9.06822274e-01 9.71662563e-04 -1.00615421e+01] [-2.28241899e-03 -1.05785820e-05 9.99997395e-01 -2.63207665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:90.22, Y:-10.05, Z:-0.26 [[ 9.06918985e-01 -4.21300009e-01 2.06338076e-03 9.02227232e+01] [ 4.21298880e-01 9.06921332e-01 9.75692622e-04 -1.00501038e+01] [-2.28238334e-03 -1.55741581e-05 9.99997395e-01 -2.63953130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-10.04, Z:-0.26 [[ 9.07119787e-01 -4.20867478e-01 2.06356145e-03 9.02476865e+01] [ 4.20866348e-01 9.07122134e-01 9.75311164e-04 -1.00379563e+01] [-2.28237901e-03 -1.62404857e-05 9.99997395e-01 -2.62786760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:90.27, Y:-10.03, Z:-0.27 [[ 9.06276802e-01 -4.22679670e-01 2.06251697e-03 9.02721434e+01] [ 4.22678540e-01 9.06279149e-01 9.77514961e-04 -1.00255748e+01] [-2.28239183e-03 -1.41174713e-05 9.99997395e-01 -2.65235927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-10.01, Z:-0.27 [[ 9.05048106e-01 -4.25304212e-01 2.06239441e-03 9.02953442e+01] [ 4.25303089e-01 9.05050455e-01 9.77773472e-04 -1.00117813e+01] [-2.28242218e-03 -7.78931529e-06 9.99997395e-01 -2.67320781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:90.32, Y:-10.00, Z:-0.27 [[ 9.05567421e-01 -4.24197379e-01 2.05670987e-03 9.03233510e+01] [ 4.24196225e-01 9.05569756e-01 9.89752226e-04 -1.00007278e+01] [-2.28234455e-03 -2.38388102e-05 9.99997395e-01 -2.66712178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:90.35, Y:-9.99, Z:-0.27 [[ 9.04120003e-01 -4.27273646e-01 2.06211101e-03 9.03455918e+01] [ 4.27272526e-01 9.04122354e-01 9.78368208e-04 -9.98657581e+00] [-2.28243161e-03 -3.47888712e-06 9.99997395e-01 -2.70724146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-9.97, Z:-0.27 [[ 9.04311603e-01 -4.26868018e-01 2.05423939e-03 9.03704392e+01] [ 4.26866859e-01 9.04313936e-01 9.94945904e-04 -9.97415743e+00] [-2.28238789e-03 -2.28544099e-05 9.99997395e-01 -2.69216861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-9.96, Z:-0.27 [[ 9.04618733e-01 -4.26216765e-01 2.05369331e-03 9.03962843e+01] [ 4.26215602e-01 9.04621063e-01 9.96095525e-04 -9.96191139e+00] [-2.28236684e-03 -2.57705397e-05 9.99997395e-01 -2.69011412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-9.95, Z:-0.27 [[ 9.05238951e-01 -4.24897895e-01 2.05454660e-03 9.04215230e+01] [ 4.24896732e-01 9.05241282e-01 9.94299242e-04 -9.94895806e+00] [-2.28233605e-03 -2.71082685e-05 9.99997395e-01 -2.70362636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53999999999999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:90.45, Y:-9.94, Z:-0.27 [[ 9.06714255e-01 -4.21740492e-01 2.05366115e-03 9.04511280e+01] [ 4.21739317e-01 9.06716580e-01 9.96162238e-04 -9.93827361e+00] [-2.28221056e-03 -3.71248519e-05 9.99997395e-01 -2.70222537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-9.92, Z:-0.27 [[ 9.05752030e-01 -4.23803031e-01 2.06151756e-03 9.04728215e+01] [ 4.23801899e-01 9.05754376e-01 9.79629332e-04 -9.92379879e+00] [-2.28239843e-03 -1.36262011e-05 9.99997395e-01 -2.73012566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-9.91, Z:-0.27 [[ 9.05734277e-01 -4.23841002e-01 2.05531043e-03 9.04965918e+01] [ 4.23839840e-01 9.05736609e-01 9.92684934e-04 -9.91116273e+00] [-2.28231048e-03 -2.79863265e-05 9.99997395e-01 -2.74250399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:90.53, Y:-9.90, Z:-0.27 [[ 9.07444777e-01 -4.20166360e-01 2.05102634e-03 9.05273362e+01] [ 4.20165169e-01 9.07447093e-01 1.00169195e-03 -9.90177356e+00] [-2.28207515e-03 -4.72103006e-05 9.99997395e-01 -2.70250662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:90.55, Y:-9.89, Z:-0.27 [[ 9.07498243e-01 -4.20050817e-01 2.06144944e-03 9.05534272e+01] [ 4.20049675e-01 9.07500584e-01 9.79761409e-04 -9.88926305e+00] [-2.28231615e-03 -2.32205901e-05 9.99997395e-01 -2.68889782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-9.88, Z:-0.27 [[ 9.07508859e-01 -4.20027883e-01 2.06120299e-03 9.05799022e+01] [ 4.20026740e-01 9.07511199e-01 9.80279621e-04 -9.87651923e+00] [-2.28230957e-03 -2.38520699e-05 9.99997395e-01 -2.67515502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:90.61, Y:-9.86, Z:-0.27 [[ 9.07063892e-01 -4.20987943e-01 2.06095792e-03 9.06051400e+01] [ 4.20986801e-01 9.07066233e-01 9.80794590e-04 -9.86499613e+00] [-2.28232803e-03 -2.20072777e-05 9.99997395e-01 -2.68113945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-9.85, Z:-0.27 [[ 9.07422562e-01 -4.20214288e-01 2.06067885e-03 9.06309163e+01] [ 4.20213143e-01 9.07424901e-01 9.81380556e-04 -9.85280333e+00] [-2.28230144e-03 -2.46025199e-05 9.99997395e-01 -2.65865629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:-9.84, Z:-0.27 [[ 9.07690310e-01 -4.19635622e-01 2.06040093e-03 9.06558750e+01] [ 4.19634474e-01 9.07692648e-01 9.81963712e-04 -9.84091963e+00] [-2.28227773e-03 -2.67036865e-05 9.99997395e-01 -2.65321194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:90.68, Y:-9.83, Z:-0.27 [[ 9.07248402e-01 -4.20590171e-01 2.06012403e-03 9.06811132e+01] [ 4.20589024e-01 9.07250741e-01 9.82544291e-04 -9.82887647e+00] [-2.28229753e-03 -2.49461821e-05 9.99997395e-01 -2.67215408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:90.71, Y:-9.82, Z:-0.27 [[ 9.07628904e-01 -4.19768425e-01 2.05984741e-03 9.07055381e+01] [ 4.19767274e-01 9.07631241e-01 9.83123870e-04 -9.81761415e+00] [-2.28226622e-03 -2.76551073e-05 9.99997395e-01 -2.67720947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-9.81, Z:-0.26 [[ 9.07985007e-01 -4.18997595e-01 2.05972744e-03 9.07306507e+01] [ 4.18996442e-01 9.07987343e-01 9.83375146e-04 -9.80578135e+00] [-2.28223827e-03 -2.98714183e-05 9.99997395e-01 -2.64310741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:90.76, Y:-9.79, Z:-0.27 [[ 9.07976474e-01 -4.19016087e-01 2.05944208e-03 9.07559501e+01] [ 4.19014932e-01 9.07978809e-01 9.83972411e-04 -9.79306732e+00] [-2.28223003e-03 -3.04868176e-05 9.99997395e-01 -2.66978576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-9.78, Z:-0.27 [[ 9.08396681e-01 -4.18104328e-01 2.05935377e-03 9.07804883e+01] [ 4.18103172e-01 9.08399014e-01 9.84157191e-04 -9.78099344e+00] [-2.28219532e-03 -3.29827825e-05 9.99997395e-01 -2.67112793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:-9.77, Z:-0.27 [[ 9.08317395e-01 -4.18276546e-01 2.05923649e-03 9.08054727e+01] [ 4.18275389e-01 9.08319729e-01 9.84402528e-04 -9.76875241e+00] [-2.28219762e-03 -3.28219966e-05 9.99997395e-01 -2.66977956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-9.76, Z:-0.27 [[ 9.07792234e-01 -4.19415094e-01 2.05895442e-03 9.08301250e+01] [ 4.19413939e-01 9.07794568e-01 9.84992153e-04 -9.75768045e+00] [-2.28222821e-03 -3.06140445e-05 9.99997395e-01 -2.67971985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-9.75, Z:-0.27 [[ 9.07779467e-01 -4.19442726e-01 2.05866203e-03 9.08551403e+01] [ 4.19441570e-01 9.07781801e-01 9.85602879e-04 -9.74587358e+00] [-2.28221988e-03 -3.12216243e-05 9.99997395e-01 -2.67221020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:90.88, Y:-9.73, Z:-0.27 [[ 9.07216207e-01 -4.20659620e-01 2.05836455e-03 9.08803856e+01] [ 4.20658465e-01 9.07218542e-01 9.86223748e-04 -9.73403200e+00] [-2.28225099e-03 -2.88496954e-05 9.99997395e-01 -2.67910129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:90.91, Y:-9.72, Z:-0.27 [[ 9.06630208e-01 -4.21921117e-01 2.05808220e-03 9.09064910e+01] [ 4.21919964e-01 9.06632544e-01 9.86812614e-04 -9.72227855e+00] [-2.28228138e-03 -2.63281574e-05 9.99997395e-01 -2.66789355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:90.93, Y:-9.71, Z:-0.27 [[ 9.05849397e-01 -4.23594896e-01 2.05783260e-03 9.09319602e+01] [ 4.23593746e-01 9.05851734e-01 9.87332833e-04 -9.70984542e+00] [-2.28232038e-03 -2.26898309e-05 9.99997395e-01 -2.68851076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-9.70, Z:-0.27 [[ 9.05999095e-01 -4.23274621e-01 2.05774408e-03 9.09568651e+01] [ 4.23273470e-01 9.06001432e-01 9.87517294e-04 -9.69843924e+00] [-2.28231009e-03 -2.37012984e-05 9.99997395e-01 -2.66437457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-9.68, Z:-0.27 [[ 9.02336457e-01 -4.31027475e-01 2.05755400e-03 9.09714886e+01] [ 4.31026343e-01 9.02338803e-01 9.87913172e-04 -9.68245429e+00] [-2.28242854e-03 -4.57009454e-06 9.99997395e-01 -2.72209040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-9.67, Z:-0.27 [[ 9.02226726e-01 -4.31257210e-01 2.03792790e-03 9.09965091e+01] [ 4.31255986e-01 9.02229026e-01 1.02879929e-03 -9.67051903e+00] [-2.28235481e-03 -4.93416123e-05 9.99997394e-01 -2.71588925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-9.66, Z:-0.27 [[ 9.05077754e-01 -4.25241242e-01 2.03631119e-03 9.10328747e+01] [ 4.25239994e-01 9.05080042e-01 1.03216587e-03 -9.66260556e+00] [-2.28194412e-03 -6.82694068e-05 9.99997394e-01 -2.65677579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:-9.65, Z:-0.27 [[ 9.04654013e-01 -4.26141855e-01 2.05813866e-03 9.10577427e+01] [ 4.26140713e-01 9.04656354e-01 9.86633307e-04 -9.65022878e+00] [-2.28235396e-03 -1.55051045e-05 9.99997395e-01 -2.65892627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:91.08, Y:-9.64, Z:-0.27 [[ 9.03297933e-01 -4.29008869e-01 2.05786500e-03 9.10828359e+01] [ 4.29007733e-01 9.03300277e-01 9.87203757e-04 -9.63743255e+00] [-2.28238919e-03 -8.89911270e-06 9.99997395e-01 -2.69869090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:-9.63, Z:-0.27 [[ 9.03452148e-01 -4.28684013e-01 2.05758283e-03 9.11085144e+01] [ 4.28682875e-01 9.03454491e-01 9.87791529e-04 -9.62509822e+00] [-2.28238288e-03 -1.03718561e-05 9.99997395e-01 -2.67406379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:-9.61, Z:-0.27 [[ 8.99879639e-01 -4.36133469e-01 2.05730240e-03 9.11227715e+01] [ 4.36132349e-01 8.99881991e-01 9.88375241e-04 -9.60802145e+00] [-2.28239290e-03 7.83737274e-06 9.99997395e-01 -2.74941271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:91.16, Y:-9.60, Z:-0.27 [[ 9.02793198e-01 -4.30070118e-01 2.03337442e-03 9.11597241e+01] [ 4.30068870e-01 9.02795486e-01 1.03808551e-03 -9.59936298e+00] [-2.28217080e-03 -6.26854973e-05 9.99997394e-01 -2.71894677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:-9.59, Z:-0.27 [[ 9.02784508e-01 -4.30088246e-01 2.05724677e-03 9.11850316e+01] [ 4.30087110e-01 9.02786852e-01 9.88397688e-04 -9.58674520e+00] [-2.28235357e-03 -7.51480008e-06 9.99997395e-01 -2.71958790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:-9.57, Z:-0.27 [[ 9.02657251e-01 -4.30355267e-01 2.05697220e-03 9.12100268e+01] [ 4.30354131e-01 9.02659595e-01 9.88968784e-04 -9.57427285e+00] [-2.28235362e-03 -7.47336151e-06 9.99997395e-01 -2.72590959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:-9.56, Z:-0.27 [[ 9.02535874e-01 -4.30609761e-01 2.05669295e-03 9.12357762e+01] [ 4.30608624e-01 9.02538217e-01 9.89549178e-04 -9.56180145e+00] [-2.28235352e-03 -7.47391047e-06 9.99997395e-01 -2.72655968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-9.55, Z:-0.27 [[ 9.02284105e-01 -4.31137060e-01 2.05641378e-03 9.12602299e+01] [ 4.31135924e-01 9.02286448e-01 9.90128997e-04 -9.54982191e+00] [-2.28235559e-03 -6.78380362e-06 9.99997395e-01 -2.74190813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:91.28, Y:-9.54, Z:-0.28 [[ 9.01542825e-01 -4.32684996e-01 2.05629279e-03 9.12841295e+01] [ 4.32683863e-01 9.01545170e-01 9.90380189e-04 -9.53811490e+00] [-2.28236349e-03 -3.14544408e-06 9.99997395e-01 -2.77339372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:-9.52, Z:-0.28 [[ 8.98291480e-01 -4.39395254e-01 2.05617537e-03 9.12991179e+01] [ 4.39394137e-01 8.98293833e-01 9.90623917e-04 -9.52273856e+00] [-2.28232510e-03 1.36023786e-05 9.99997395e-01 -2.79219674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-9.51, Z:-0.27 [[ 9.01068502e-01 -4.33672021e-01 2.03282362e-03 9.13356568e+01] [ 4.33670779e-01 9.01070794e-01 1.03899955e-03 -9.51488561e+00] [-2.28230302e-03 -5.46335697e-05 9.99997394e-01 -2.72794357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:91.35, Y:-9.50, Z:-0.28 [[ 8.97372546e-01 -4.41268951e-01 2.05605466e-03 9.13514499e+01] [ 4.41267839e-01 8.97374901e-01 9.90791324e-04 -9.49960469e+00] [-2.28225730e-03 1.81618657e-05 9.99997395e-01 -2.79457179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:91.39, Y:-9.49, Z:-0.27 [[ 8.99563106e-01 -4.36786076e-01 2.03529801e-03 9.13869939e+01] [ 4.36784855e-01 8.99565407e-01 1.03378176e-03 -9.49189734e+00] [-2.28242516e-03 -4.09645839e-05 9.99997394e-01 -2.72864619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:-9.48, Z:-0.27 [[ 8.99425593e-01 -4.37069076e-01 2.05585581e-03 9.14110960e+01] [ 4.37067952e-01 8.99427942e-01 9.91140090e-04 -9.48053219e+00] [-2.28229084e-03 7.09192377e-06 9.99997396e-01 -2.70857254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:-9.47, Z:-0.27 [[ 8.99018168e-01 -4.37906506e-01 2.05573388e-03 9.14367749e+01] [ 4.37905384e-01 8.99020518e-01 9.91392924e-04 -9.46841296e+00] [-2.28228435e-03 8.93668204e-06 9.99997396e-01 -2.70390740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:-9.46, Z:-0.27 [[ 8.98661383e-01 -4.38638227e-01 2.05545370e-03 9.14611393e+01] [ 4.38637105e-01 8.98663733e-01 9.91973463e-04 -9.45690256e+00] [-2.28227918e-03 1.01500189e-05 9.99997396e-01 -2.70144514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:-9.44, Z:-0.27 [[ 8.95879401e-01 -4.44292555e-01 2.05533255e-03 9.14789785e+01] [ 4.44291448e-01 8.95881758e-01 9.92224434e-04 -9.44227080e+00] [-2.28217286e-03 2.42532406e-05 9.99997396e-01 -2.73903294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:-9.43, Z:-0.27 [[ 8.95816210e-01 -4.44420021e-01 2.04050060e-03 9.15051746e+01] [ 4.44418844e-01 8.95818533e-01 1.02291777e-03 -9.43016532e+00] [-2.28252340e-03 -9.50940082e-06 9.99997395e-01 -2.73258028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:91.53, Y:-9.42, Z:-0.27 [[ 8.96111404e-01 -4.43824495e-01 2.04181509e-03 9.15324567e+01] [ 4.43823323e-01 8.96113730e-01 1.02019795e-03 -9.41857724e+00] [-2.28248738e-03 -8.00585715e-06 9.99997395e-01 -2.74912361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-9.41, Z:-0.27 [[ 8.97587647e-01 -4.40831302e-01 2.04436571e-03 9.15629919e+01] [ 4.40830134e-01 8.97589975e-01 1.01492039e-03 -9.40841848e+00] [-2.28241084e-03 -9.76199396e-06 9.99997395e-01 -2.72089610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:-9.39, Z:-0.27 [[ 8.96295321e-01 -4.43452900e-01 2.05519581e-03 9.15835267e+01] [ 4.43451790e-01 8.96297677e-01 9.92494080e-04 -9.39420462e+00] [-2.28219160e-03 2.18124592e-05 9.99997396e-01 -2.72507633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:-9.38, Z:-0.27 [[ 8.97336965e-01 -4.41341355e-01 2.04421703e-03 9.16105534e+01] [ 4.41340188e-01 8.97339294e-01 1.01521220e-03 -9.38249567e+00] [-2.28241139e-03 -8.79230526e-06 9.99997395e-01 -2.74305486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-9.37, Z:-0.27 [[ 8.98488466e-01 -4.38992352e-01 2.04722901e-03 9.16393932e+01] [ 4.38991192e-01 8.98490799e-01 1.00898151e-03 -9.37034320e+00] [-2.28235159e-03 -7.84274838e-06 9.99997395e-01 -2.72632757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:-9.36, Z:-0.27 [[ 8.99567770e-01 -4.36776378e-01 2.05489691e-03 9.16651885e+01] [ 4.36775249e-01 8.99570117e-01 9.93115532e-04 -9.35639920e+00] [-2.28229326e-03 4.15338560e-06 9.99997396e-01 -2.73153391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-9.34, Z:-0.27 [[ 8.99584001e-01 -4.36742949e-01 2.05465285e-03 9.16875451e+01] [ 4.36741819e-01 8.99586347e-01 9.93620212e-04 -9.34267979e+00] [-2.28229428e-03 3.50797883e-06 9.99997396e-01 -2.74944941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-9.33, Z:-0.27 [[ 8.99878433e-01 -4.36136008e-01 2.04662451e-03 9.17131422e+01] [ 4.36134838e-01 8.99880760e-01 1.01021790e-03 -9.32982824e+00] [-2.28231042e-03 -1.64690514e-05 9.99997395e-01 -2.74229997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-9.32, Z:-0.27 [[ 9.00494314e-01 -4.34862970e-01 2.04624258e-03 9.17420739e+01] [ 4.34861795e-01 9.00496639e-01 1.01100702e-03 -9.31757559e+00] [-2.28228409e-03 -2.05733510e-05 9.99997395e-01 -2.71353848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:-9.30, Z:-0.27 [[ 8.99287594e-01 -4.37352949e-01 2.05445329e-03 9.17618700e+01] [ 4.37351819e-01 8.99289941e-01 9.94037327e-04 -9.30433887e+00] [-2.28229433e-03 4.59344645e-06 9.99997396e-01 -2.70337164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:91.79, Y:-9.29, Z:-0.27 [[ 8.99780124e-01 -4.36338810e-01 2.04225517e-03 9.17918683e+01] [ 4.36337620e-01 8.99782442e-01 1.01920885e-03 -9.29297550e+00] [-2.28230572e-03 -2.59511084e-05 9.99997395e-01 -2.72044656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:-9.28, Z:-0.27 [[ 8.99363819e-01 -4.37196183e-01 2.05410370e-03 9.18131000e+01] [ 4.37195052e-01 8.99366164e-01 9.94742099e-04 -9.27924194e+00] [-2.28228882e-03 3.40892100e-06 9.99997396e-01 -2.69098697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-9.27, Z:-0.27 [[ 9.00493039e-01 -4.34865629e-01 2.04245009e-03 9.18433524e+01] [ 4.34864437e-01 9.00495355e-01 1.01878172e-03 -9.26817656e+00] [-2.28224997e-03 -2.92169432e-05 9.99997395e-01 -2.69879257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:-9.25, Z:-0.27 [[ 8.99351447e-01 -4.37221633e-01 2.05402000e-03 9.18637855e+01] [ 4.37220501e-01 8.99353792e-01 9.94894956e-04 -9.25384172e+00] [-2.28228027e-03 3.29943452e-06 9.99997396e-01 -2.68054743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:91.90, Y:-9.24, Z:-0.27 [[ 9.00457172e-01 -4.34939898e-01 2.04130712e-03 9.18953103e+01] [ 4.34938701e-01 9.00459485e-01 1.02110621e-03 -9.24261682e+00] [-2.28223419e-03 -3.16189440e-05 9.99997395e-01 -2.70123366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:-9.23, Z:-0.27 [[ 9.00588617e-01 -4.34667602e-01 2.05380373e-03 9.19210715e+01] [ 4.34666462e-01 9.00590959e-01 9.95319947e-04 -9.23061011e+00] [-2.28227041e-03 -3.65421180e-06 9.99997396e-01 -2.68667064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:91.95, Y:-9.22, Z:-0.27 [[ 8.99955430e-01 -4.35977072e-01 2.05352124e-03 9.19455023e+01] [ 4.35975934e-01 8.99957773e-01 9.95902441e-04 -9.21780920e+00] [-2.28227303e-03 -9.81968594e-07 9.99997396e-01 -2.71109409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:91.96, Y:-9.20, Z:-0.27 [[ 8.97141264e-01 -4.41738991e-01 2.05343375e-03 9.19645066e+01] [ 4.41737868e-01 8.97143614e-01 9.96082810e-04 -9.20292577e+00] [-2.28223359e-03 1.34524544e-05 9.99997396e-01 -2.74163312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:91.99, Y:-9.19, Z:-0.28 [[ 8.96031405e-01 -4.43986004e-01 2.03685657e-03 9.19897549e+01] [ 4.43984809e-01 8.96033720e-01 1.03021890e-03 -9.19040438e+00] [-2.28249495e-03 -1.87751135e-05 9.99997395e-01 -2.75981144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:92.02, Y:-9.18, Z:-0.28 [[ 8.95257038e-01 -4.45545392e-01 2.03468730e-03 9.20151145e+01] [ 4.45544191e-01 8.95259350e-01 1.03468304e-03 -9.17921662e+00] [-2.28257109e-03 -1.97641690e-05 9.99997395e-01 -2.76535344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:-9.17, Z:-0.27 [[ 8.96223286e-01 -4.43598554e-01 2.03606721e-03 9.20498547e+01] [ 4.43597354e-01 8.96225598e-01 1.03184537e-03 -9.17263157e+00] [-2.28250067e-03 -2.15698241e-05 9.99997395e-01 -2.67592226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:-9.16, Z:-0.28 [[ 8.91367770e-01 -4.53276167e-01 2.05294403e-03 9.20630211e+01] [ 4.53275072e-01 8.91370133e-01 9.97097343e-04 -9.15634663e+00] [-2.28189346e-03 4.17679187e-05 9.99997396e-01 -2.75397039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-9.15, Z:-0.27 [[ 8.94263587e-01 -4.47536067e-01 2.02622722e-03 9.21015746e+01] [ 4.47534832e-01 8.94265882e-01 1.05199219e-03 -9.14984495e+00] [-2.28279032e-03 -3.39510528e-05 9.99997394e-01 -2.65513466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-9.14, Z:-0.26 [[ 8.93215625e-01 -4.49623878e-01 2.05295157e-03 9.21280073e+01] [ 4.49622774e-01 8.93217984e-01 9.96961172e-04 -9.13764207e+00] [-2.28199081e-03 3.25524842e-05 9.99997396e-01 -2.64838954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:-9.13, Z:-0.26 [[ 8.91204956e-01 -4.53596200e-01 2.05270602e-03 9.21531542e+01] [ 4.53595106e-01 8.91207319e-01 9.97466500e-04 -9.12619217e+00] [-2.28183364e-03 4.21503160e-05 9.99997396e-01 -2.64550707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:-9.11, Z:-0.27 [[ 8.90247572e-01 -4.55472334e-01 2.05242155e-03 9.21787283e+01] [ 4.55471243e-01 8.90249937e-01 9.98051495e-04 -9.11399586e+00] [-2.28175300e-03 4.63060737e-05 9.99997396e-01 -2.65180184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:-9.10, Z:-0.27 [[ 8.89487132e-01 -4.56955611e-01 2.05213807e-03 9.22033500e+01] [ 4.56954522e-01 8.89489498e-01 9.98634030e-04 -9.10218057e+00] [-2.28168668e-03 4.94616514e-05 9.99997396e-01 -2.65544300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:-9.09, Z:-0.27 [[ 8.88802760e-01 -4.58285329e-01 2.05194539e-03 9.22283122e+01] [ 4.58284243e-01 8.88805127e-01 9.99029791e-04 -9.08955314e+00] [-2.28162028e-03 5.24338020e-05 9.99997396e-01 -2.65977398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:-9.08, Z:-0.27 [[ 8.88815357e-01 -4.58260899e-01 2.05166375e-03 9.22530556e+01] [ 4.58259812e-01 8.88817723e-01 9.99607844e-04 -9.07714827e+00] [-2.28163629e-03 5.17282407e-05 9.99997396e-01 -2.66527109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-9.06, Z:-0.27 [[ 8.89116508e-01 -4.57676333e-01 2.05157651e-03 9.22785659e+01] [ 4.57675244e-01 8.89118874e-01 9.99786848e-04 -9.06358902e+00] [-2.28167418e-03 5.00287900e-05 9.99997396e-01 -2.65037915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:-9.05, Z:-0.27 [[ 8.89531082e-01 -4.56870054e-01 2.05133407e-03 9.23035761e+01] [ 4.56868962e-01 8.89533446e-01 1.00028405e-03 -9.05045770e+00] [-2.28173009e-03 4.74071142e-05 9.99997396e-01 -2.65089718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:-9.04, Z:-0.27 [[ 8.90085273e-01 -4.55789424e-01 2.05105440e-03 9.23279166e+01] [ 4.55788327e-01 8.90087636e-01 1.00085716e-03 -9.03770965e+00] [-2.28179827e-03 4.39984356e-05 9.99997396e-01 -2.65485336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:-9.02, Z:-0.27 [[ 8.90694684e-01 -4.54597376e-01 2.05093339e-03 9.23524736e+01] [ 4.54596275e-01 8.90697044e-01 1.00110508e-03 -9.02486095e+00] [-2.28186005e-03 4.06677080e-05 9.99997396e-01 -2.65304375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:-9.01, Z:-0.27 [[ 8.92439679e-01 -4.51162071e-01 2.05065261e-03 9.23767240e+01] [ 4.51160960e-01 8.92442034e-01 1.00167989e-03 -9.01012245e+00] [-2.28200856e-03 3.12355164e-05 9.99997396e-01 -2.65823592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:-9.00, Z:-0.27 [[ 8.93523319e-01 -4.49012109e-01 2.05037040e-03 9.24000027e+01] [ 4.49010991e-01 8.93525671e-01 1.00225723e-03 -8.99679324e+00] [-2.28208422e-03 2.50986338e-05 9.99997396e-01 -2.66987866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:-8.98, Z:-0.27 [[ 8.94450335e-01 -4.47162604e-01 2.05024798e-03 9.24240734e+01] [ 4.47161481e-01 8.94452685e-01 1.00250758e-03 -8.98304679e+00] [-2.28213371e-03 2.00986808e-05 9.99997396e-01 -2.68076717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:-8.97, Z:-0.27 [[ 8.96289203e-01 -4.43465289e-01 2.04997277e-03 9.24475898e+01] [ 4.43464154e-01 8.96291547e-01 1.00307003e-03 -8.96831271e+00] [-2.28220001e-03 1.00486090e-05 9.99997396e-01 -2.69415699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:-8.95, Z:-0.27 [[ 8.96936088e-01 -4.42155462e-01 2.04969979e-03 9.24715000e+01] [ 4.42154323e-01 8.96938430e-01 1.00362755e-03 -8.95496465e+00] [-2.28221391e-03 6.09385446e-06 9.99997396e-01 -2.70805185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-8.94, Z:-0.28 [[ 8.94360537e-01 -4.47342183e-01 2.04958172e-03 9.24868491e+01] [ 4.47341057e-01 8.94362886e-01 1.00386860e-03 -8.93795995e+00] [-2.28214259e-03 1.90415921e-05 9.99997396e-01 -2.77848923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:-8.93, Z:-0.27 [[ 8.97940749e-01 -4.40111675e-01 2.03087519e-03 9.25203741e+01] [ 4.40110443e-01 8.97943045e-01 1.04199000e-03 -8.92946831e+00] [-2.28220222e-03 -4.18359038e-05 9.99997395e-01 -2.71197384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:-8.92, Z:-0.27 [[ 8.97888719e-01 -4.40217744e-01 2.04619008e-03 9.25463453e+01] [ 4.40216584e-01 8.97891050e-01 1.01075696e-03 -8.91574845e+00] [-2.28220891e-03 -6.78046023e-06 9.99997396e-01 -2.69659614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:-8.90, Z:-0.27 [[ 8.97820844e-01 -4.40356144e-01 2.04900976e-03 9.25715050e+01] [ 4.40354997e-01 8.97823182e-01 1.00500820e-03 -8.90250745e+00] [-2.28221000e-03 -2.56222291e-08 9.99997396e-01 -2.69772050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:-8.89, Z:-0.27 [[ 8.97663938e-01 -4.40675909e-01 2.04872637e-03 9.25970235e+01] [ 4.40674762e-01 8.97666276e-01 1.00558557e-03 -8.88895352e+00] [-2.28220990e-03 1.44106232e-07 9.99997396e-01 -2.69540072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-8.88, Z:-0.27 [[ 8.97440514e-01 -4.41130737e-01 2.04847819e-03 9.26220773e+01] [ 4.41129589e-01 8.97442852e-01 1.00609087e-03 -8.87651857e+00] [-2.28220972e-03 7.37633913e-07 9.99997396e-01 -2.69470776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:-8.86, Z:-0.28 [[ 8.94341922e-01 -4.47379405e-01 2.04819474e-03 9.26388777e+01] [ 4.47378273e-01 8.94344267e-01 1.00666760e-03 -8.86001306e+00] [-2.28215357e-03 1.60127889e-05 9.99997396e-01 -2.76528300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:-8.85, Z:-0.27 [[ 8.96514215e-01 -4.43010309e-01 2.03176111e-03 9.26731190e+01] [ 4.43009089e-01 8.96516517e-01 1.04005550e-03 -8.85148359e+00] [-2.28226270e-03 -3.23359049e-05 9.99997395e-01 -2.68804206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:-8.84, Z:-0.27 [[ 8.95931020e-01 -4.44188487e-01 2.04810451e-03 9.26984231e+01] [ 4.44187346e-01 8.95933361e-01 1.00680887e-03 -8.83892717e+00] [-2.28217807e-03 7.71080946e-06 9.99997396e-01 -2.68362471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:-8.83, Z:-0.27 [[ 8.95390640e-01 -4.45276777e-01 2.04781971e-03 9.27222369e+01] [ 4.45275637e-01 8.95392982e-01 1.00738783e-03 -8.82696874e+00] [-2.28216980e-03 9.83859422e-06 9.99997396e-01 -2.68505907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:-8.81, Z:-0.27 [[ 8.91675808e-01 -4.52669925e-01 2.04769634e-03 9.27369122e+01] [ 4.52668804e-01 8.91678158e-01 1.00763853e-03 -8.81038144e+00] [-2.28201376e-03 2.84413505e-05 9.99997396e-01 -2.74823759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.3 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:92.77, Y:-8.80, Z:-0.27 [[ 8.93873763e-01 -4.48314173e-01 2.02451302e-03 9.27730693e+01] [ 4.48312933e-01 8.93876055e-01 1.05466640e-03 -8.80123016e+00] [-2.28248560e-03 -3.51232562e-05 9.99997395e-01 -2.70436327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:92.80, Y:-8.79, Z:-0.27 [[ 8.93377507e-01 -4.49302167e-01 2.04770746e-03 9.27979281e+01] [ 4.49301038e-01 8.93379853e-01 1.00752574e-03 -8.78912537e+00] [-2.28206409e-03 1.99362537e-05 9.99997396e-01 -2.70382465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:-8.77, Z:-0.28 [[ 8.90038082e-01 -4.55881585e-01 2.04742594e-03 9.28143342e+01] [ 4.55880472e-01 8.90040437e-01 1.00809750e-03 -8.77367989e+00] [-2.28186496e-03 3.61363430e-05 9.99997396e-01 -2.75757038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:-8.76, Z:-0.28 [[ 8.90105652e-01 -4.55749720e-01 2.02995317e-03 9.28389682e+01] [ 4.55748525e-01 8.90107967e-01 1.04354805e-03 -8.76161743e+00] [-2.28247422e-03 -3.71984898e-06 9.99997395e-01 -2.75802539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:-8.75, Z:-0.28 [[ 8.89807282e-01 -4.56331983e-01 2.03018346e-03 9.28639161e+01] [ 4.56330791e-01 8.89809598e-01 1.04308037e-03 -8.74926851e+00] [-2.28246766e-03 -1.70528141e-06 9.99997395e-01 -2.76268600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:-8.74, Z:-0.28 [[ 8.89457695e-01 -4.57013006e-01 2.02991069e-03 9.28893350e+01] [ 4.57011814e-01 8.89460012e-01 1.04363450e-03 -8.73674665e+00] [-2.28247893e-03 -5.75569661e-07 9.99997395e-01 -2.76620297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:-8.72, Z:-0.28 [[ 8.88454693e-01 -4.58959844e-01 2.02995457e-03 9.29132142e+01] [ 4.58958657e-01 8.88457012e-01 1.04354535e-03 -8.72420042e+00] [-2.28247278e-03 4.52246002e-06 9.99997395e-01 -2.77323284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:92.94, Y:-8.71, Z:-0.28 [[ 8.87275684e-01 -4.61235019e-01 2.02918417e-03 9.29401386e+01] [ 4.61233835e-01 8.87278005e-01 1.04511057e-03 -8.71247955e+00] [-2.28249207e-03 8.62720245e-06 9.99997395e-01 -2.76120852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:92.97, Y:-8.70, Z:-0.27 [[ 8.86434642e-01 -4.62849321e-01 2.03272170e-03 9.29662911e+01] [ 4.62848158e-01 8.86436972e-01 1.03791769e-03 -8.70043646e+00] [-2.28227917e-03 2.07952959e-05 9.99997395e-01 -2.74708748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:-8.69, Z:-0.27 [[ 8.85190031e-01 -4.65225182e-01 2.03441842e-03 9.29914019e+01] [ 4.65224032e-01 8.85192369e-01 1.03446416e-03 -8.68781413e+00] [-2.28211043e-03 3.07629817e-05 9.99997396e-01 -2.73899258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:-8.68, Z:-0.27 [[ 8.86315273e-01 -4.63077865e-01 2.03157920e-03 9.30242080e+01] [ 4.63076697e-01 8.86317602e-01 1.04024105e-03 -8.67828481e+00] [-2.28233701e-03 1.87954517e-05 9.99997395e-01 -2.70677058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.04, Y:-8.66, Z:-0.27 [[ 8.82001877e-01 -4.71241437e-01 2.04861967e-03 9.30425803e+01] [ 4.71240370e-01 8.82004253e-01 1.00552337e-03 -8.66374089e+00] [-2.28073554e-03 7.85187904e-05 9.99997396e-01 -2.72861708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:-8.65, Z:-0.27 [[ 8.82912847e-01 -4.69532499e-01 2.03372521e-03 9.30746635e+01] [ 4.69531358e-01 8.82915189e-01 1.03582886e-03 -8.65364220e+00] [-2.28196219e-03 4.03511520e-05 9.99997396e-01 -2.70455163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:93.09, Y:-8.64, Z:-0.27 [[ 8.80093220e-01 -4.74796512e-01 2.04840484e-03 9.30944865e+01] [ 4.74795454e-01 8.80095600e-01 1.00593651e-03 -8.63930370e+00] [-2.28040723e-03 8.72554060e-05 9.99997396e-01 -2.72835882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.12, Y:-8.63, Z:-0.27 [[ 8.80226451e-01 -4.74549525e-01 2.03573624e-03 9.31248833e+01] [ 4.74548407e-01 8.80228803e-01 1.03169829e-03 -8.62873175e+00] [-2.28150561e-03 5.79272603e-05 9.99997396e-01 -2.70767977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:-8.62, Z:-0.27 [[ 8.79922498e-01 -4.75112831e-01 2.04812179e-03 9.31487375e+01] [ 4.75111773e-01 8.79924877e-01 1.00649486e-03 -8.61626442e+00] [-2.28039194e-03 8.74493040e-05 9.99997396e-01 -2.70492767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:-8.60, Z:-0.27 [[ 8.79612902e-01 -4.75685767e-01 2.04799940e-03 9.31736673e+01] [ 4.75684710e-01 8.79615281e-01 1.00674384e-03 -8.60286668e+00] [-2.28034529e-03 8.86571318e-05 9.99997396e-01 -2.70389413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:93.20, Y:-8.59, Z:-0.27 [[ 8.80140185e-01 -4.74709450e-01 2.04771615e-03 9.31981089e+01] [ 4.74708389e-01 8.80142563e-01 1.00731966e-03 -8.58788107e+00] [-2.28046630e-03 8.54855240e-05 9.99997396e-01 -2.72417761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:-8.57, Z:-0.27 [[ 8.80486615e-01 -4.74066586e-01 2.04743452e-03 9.32198529e+01] [ 4.74065522e-01 8.80488992e-01 1.00789176e-03 -8.57353022e+00] [-2.28055136e-03 8.31829094e-05 9.99997396e-01 -2.73060657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:93.25, Y:-8.56, Z:-0.27 [[ 8.82010921e-01 -4.71224547e-01 2.03978318e-03 9.32467102e+01] [ 4.71223439e-01 8.82013278e-01 1.02342038e-03 -8.55992854e+00] [-2.28137665e-03 5.85256929e-05 9.99997396e-01 -2.74517369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:-8.54, Z:-0.27 [[ 8.83574825e-01 -4.68285530e-01 2.04711458e-03 9.32666197e+01] [ 4.68284449e-01 8.83577194e-01 1.00853924e-03 -8.54330932e+00] [-2.28106809e-03 6.75120376e-05 9.99997396e-01 -2.74649212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.29, Y:-8.53, Z:-0.28 [[ 8.84841488e-01 -4.65887744e-01 2.03746127e-03 9.32910248e+01] [ 4.65886611e-01 8.84843833e-01 1.02811156e-03 -8.52990957e+00] [-2.28181961e-03 3.95101595e-05 9.99997396e-01 -2.75599084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:-8.52, Z:-0.28 [[ 8.86707103e-01 -4.62327111e-01 2.03871051e-03 9.33181683e+01] [ 4.62325974e-01 8.86709446e-01 1.02558008e-03 -8.51703724e+00] [-2.28189734e-03 3.31596773e-05 9.99997396e-01 -2.75731347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:-8.50, Z:-0.28 [[ 8.88987788e-01 -4.57926331e-01 2.04647366e-03 9.33418824e+01] [ 4.57925219e-01 8.88990143e-01 1.00984793e-03 -8.50153502e+00] [-2.28173087e-03 3.93894208e-05 9.99997396e-01 -2.75031429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:93.37, Y:-8.49, Z:-0.28 [[ 8.89911816e-01 -4.56128022e-01 2.04618455e-03 9.33663215e+01] [ 4.56126904e-01 8.89914168e-01 1.01043339e-03 -8.48745148e+00] [-2.28181561e-03 3.41232107e-05 9.99997396e-01 -2.75374302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.39, Y:-8.47, Z:-0.27 [[ 8.90888255e-01 -4.54217933e-01 2.04589510e-03 9.33923915e+01] [ 4.54216809e-01 8.90890604e-01 1.01101913e-03 -8.47263893e+00] [-2.28189174e-03 2.85748728e-05 9.99997396e-01 -2.73419398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.41, Y:-8.46, Z:-0.27 [[ 8.93908226e-01 -4.48245343e-01 2.04841629e-03 9.34144008e+01] [ 4.48244215e-01 8.93910573e-01 1.00591795e-03 -8.45763646e+00] [-2.28199902e-03 1.89924223e-05 9.99997396e-01 -2.73845305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:93.44, Y:-8.44, Z:-0.27 [[ 8.95115644e-01 -4.45829340e-01 2.04553878e-03 9.34391723e+01] [ 4.45828192e-01 8.95117981e-01 1.01173574e-03 -8.44329466e+00] [-2.28206002e-03 6.33836618e-06 9.99997396e-01 -2.74376711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:93.46, Y:-8.43, Z:-0.27 [[ 8.95977234e-01 -4.44095274e-01 2.04536016e-03 9.34621980e+01] [ 4.44094121e-01 8.95979569e-01 1.01209672e-03 -8.42973164e+00] [-2.28206828e-03 1.51680501e-06 9.99997396e-01 -2.74289023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:93.49, Y:-8.42, Z:-0.27 [[ 8.97300799e-01 -4.41414895e-01 2.04141772e-03 9.34875758e+01] [ 4.41413717e-01 8.97303121e-01 1.02005662e-03 -8.41659258e+00] [-2.28203867e-03 -1.41878358e-05 9.99997396e-01 -2.74738118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.2 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:93.51, Y:-8.40, Z:-0.28 [[ 8.98758917e-01 -4.38438395e-01 2.04498604e-03 9.35104516e+01] [ 4.38437226e-01 8.98761244e-01 1.01285204e-03 -8.40154192e+00] [-2.28202742e-03 -1.37117985e-05 9.99997396e-01 -2.75245269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:-8.39, Z:-0.27 [[ 8.99951150e-01 -4.35985966e-01 2.04094852e-03 9.35362630e+01] [ 4.35984772e-01 8.99953463e-01 1.02099969e-03 -8.38792651e+00] [-2.28190023e-03 -2.90273734e-05 9.99997396e-01 -2.74810285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25999999999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:93.56, Y:-8.37, Z:-0.28 [[ 9.00439752e-01 -4.34975960e-01 2.04119135e-03 9.35615562e+01] [ 4.34974764e-01 9.00442065e-01 1.02050976e-03 -8.37421035e+00] [-2.28187177e-03 -3.10408322e-05 9.99997396e-01 -2.77015371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:-8.36, Z:-0.28 [[ 9.01352730e-01 -4.33080910e-01 2.04471205e-03 9.35865451e+01] [ 4.33079725e-01 9.01355049e-01 1.01340618e-03 -8.36076209e+00] [-2.28189840e-03 -2.79130912e-05 9.99997396e-01 -2.78338923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:93.61, Y:-8.35, Z:-0.28 [[ 9.01117300e-01 -4.33570561e-01 2.04442065e-03 9.36117453e+01] [ 4.33569376e-01 9.01119619e-01 1.01399369e-03 -8.34771259e+00] [-2.28190537e-03 -2.73290671e-05 9.99997396e-01 -2.79943740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:93.64, Y:-8.34, Z:-0.28 [[ 9.00977293e-01 -4.33861428e-01 2.04416791e-03 9.36376290e+01] [ 4.33860243e-01 9.00979612e-01 1.01450296e-03 -8.33503433e+00] [-2.28190731e-03 -2.71609440e-05 9.99997396e-01 -2.80944060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.65, Y:-8.32, Z:-0.29 [[ 8.97733887e-01 -4.40533416e-01 2.04391555e-03 9.36527097e+01] [ 4.40532247e-01 8.97736214e-01 1.01501113e-03 -8.31930945e+00] [-2.28204332e-03 -1.07991782e-05 9.99997396e-01 -2.86209759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:-8.31, Z:-0.28 [[ 9.00480703e-01 -4.34891281e-01 2.01907354e-03 9.36893775e+01] [ 4.34889985e-01 9.00482963e-01 1.06491768e-03 -8.31136140e+00] [-2.28126474e-03 -8.08629600e-05 9.99997395e-01 -2.80593767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.70, Y:-8.29, Z:-0.29 [[ 8.95561596e-01 -4.44932862e-01 2.04366442e-03 9.36997740e+01] [ 4.44931703e-01 8.95563928e-01 1.01542564e-03 -8.29401952e+00] [-2.28202837e-03 -8.51137599e-08 9.99997396e-01 -2.87415508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:-8.29, Z:-0.28 [[ 9.00023909e-01 -4.35835899e-01 2.00816229e-03 9.37420197e+01] [ 4.35834557e-01 9.00026143e-01 1.08666901e-03 -8.28711359e+00] [-2.28100792e-03 -1.02801566e-04 9.99997393e-01 -2.79861364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.5 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:93.77, Y:-8.27, Z:-0.28 [[ 8.99588031e-01 -4.36734700e-01 2.04363634e-03 9.37684616e+01] [ 4.36733520e-01 8.99590352e-01 1.01526281e-03 -8.27449753e+00] [-2.28183604e-03 -2.07937742e-05 9.99997396e-01 -2.80611606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.79, Y:-8.26, Z:-0.28 [[ 9.00037770e-01 -4.35807110e-01 2.04338494e-03 9.37942215e+01] [ 4.35805927e-01 9.00040089e-01 1.01576856e-03 -8.26320801e+00] [-2.28180752e-03 -2.37108028e-05 9.99997396e-01 -2.80738858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:-8.25, Z:-0.28 [[ 9.00431014e-01 -4.34994040e-01 2.04309682e-03 9.38198116e+01] [ 4.34992854e-01 9.00433331e-01 1.01634774e-03 -8.25150509e+00] [-2.28177768e-03 -2.64185127e-05 9.99997396e-01 -2.80528799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:-8.24, Z:-0.29 [[ 8.97612608e-01 -4.40780482e-01 2.04280960e-03 9.38366892e+01] [ 4.40779309e-01 8.97614932e-01 1.01692471e-03 -8.23613544e+00] [-2.28189696e-03 -1.23762369e-05 9.99997396e-01 -2.87320733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61999999999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:93.87, Y:-8.23, Z:-0.28 [[ 9.00701653e-01 -4.34433476e-01 2.02174408e-03 9.38727245e+01] [ 4.34432191e-01 9.00703919e-01 1.05915349e-03 -8.22958088e+00] [-2.28112455e-03 -7.56705901e-05 9.99997395e-01 -2.82129466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64999999999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.90, Y:-8.22, Z:-0.28 [[ 9.00976241e-01 -4.33863620e-01 2.04256106e-03 9.38982449e+01] [ 4.33862428e-01 9.00978556e-01 1.01735904e-03 -8.21805148e+00] [-2.28169880e-03 -3.04258235e-05 9.99997396e-01 -2.81862887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.91, Y:-8.20, Z:-0.29 [[ 8.98074465e-01 -4.39838703e-01 2.04226916e-03 9.39132572e+01] [ 4.39837525e-01 8.98076787e-01 1.01794469e-03 -8.20250305e+00] [-2.28184599e-03 -1.59235235e-05 9.99997396e-01 -2.90054910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.95, Y:-8.20, Z:-0.28 [[ 9.01624105e-01 -4.32515782e-01 2.01771156e-03 9.39502770e+01] [ 4.32514474e-01 9.01626359e-01 1.06709435e-03 -8.19539605e+00] [-2.28075707e-03 -8.94285374e-05 9.99997395e-01 -2.82474055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:93.96, Y:-8.18, Z:-0.29 [[ 8.97913989e-01 -4.40166218e-01 2.04194723e-03 9.39628424e+01] [ 4.40165040e-01 8.97916310e-01 1.01850557e-03 -8.18093171e+00] [-2.28180946e-03 -1.57366139e-05 9.99997397e-01 -2.93175425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:93.99, Y:-8.17, Z:-0.29 [[ 8.98868967e-01 -4.38212882e-01 2.01238348e-03 9.39923929e+01] [ 4.38211566e-01 8.98871216e-01 1.07768272e-03 -8.17046366e+00] [-2.28112803e-03 -8.68458368e-05 9.99997394e-01 -2.92318954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:-8.16, Z:-0.28 [[ 9.02716730e-01 -4.30230678e-01 2.01722052e-03 9.40304428e+01] [ 4.30229364e-01 9.02718978e-01 1.06799540e-03 -8.16390129e+00] [-2.28046763e-03 -9.62298092e-05 9.99997395e-01 -2.82329974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:-8.15, Z:-0.29 [[ 8.98414549e-01 -4.39143631e-01 2.04223842e-03 9.40462852e+01] [ 4.39142451e-01 8.98416870e-01 1.01779625e-03 -8.15012390e+00] [-2.28174019e-03 -1.75693745e-05 9.99997397e-01 -2.90203144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:-8.14, Z:-0.29 [[ 8.97788201e-01 -4.40422830e-01 2.01923182e-03 9.40717490e+01] [ 4.40421550e-01 8.97790469e-01 1.06395570e-03 -8.13940118e+00] [-2.28143746e-03 -6.58936622e-05 9.99997395e-01 -2.88943269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:-8.13, Z:-0.29 [[ 8.97255562e-01 -4.41506962e-01 2.01457990e-03 9.40989878e+01] [ 4.41505664e-01 8.97257821e-01 1.07328694e-03 -8.12919105e+00] [-2.28146123e-03 -7.35642380e-05 9.99997395e-01 -2.87797845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:-8.12, Z:-0.29 [[ 8.94721178e-01 -4.46620579e-01 2.01773210e-03 9.41253699e+01] [ 4.46619308e-01 8.94723452e-01 1.06695451e-03 -8.12057848e+00] [-2.28183607e-03 -5.34686812e-05 9.99997395e-01 -2.85517812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:-8.12, Z:-0.28 [[ 8.97526473e-01 -4.40955973e-01 2.01486592e-03 9.41646412e+01] [ 4.40954675e-01 8.97528732e-01 1.07270971e-03 -8.11539070e+00] [-2.28141781e-03 -7.43208117e-05 9.99997395e-01 -2.75895549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:-8.10, Z:-0.29 [[ 8.91477553e-01 -4.53060257e-01 2.04334327e-03 9.41764984e+01] [ 4.53059120e-01 8.91479895e-01 1.01540344e-03 -8.09927971e+00] [-2.28163838e-03 2.05459318e-05 9.99997397e-01 -2.85125038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:-8.09, Z:-0.29 [[ 8.89394504e-01 -4.57136036e-01 2.01486850e-03 9.42042490e+01] [ 4.57134779e-01 8.89396786e-01 1.07274282e-03 -8.09172640e+00] [-2.28240697e-03 -3.30250965e-05 9.99997395e-01 -2.85147771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:-8.08, Z:-0.29 [[ 8.88597440e-01 -4.58683472e-01 2.01542878e-03 9.42316435e+01] [ 4.58682221e-01 8.88599725e-01 1.07161384e-03 -8.08126796e+00] [-2.28244101e-03 -2.77919657e-05 9.99997395e-01 -2.85871726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:-8.08, Z:-0.28 [[ 8.92098588e-01 -4.51836304e-01 2.01599056e-03 9.42716632e+01] [ 4.51835038e-01 8.92100864e-01 1.07048147e-03 -8.07551093e+00] [-2.28214931e-03 -4.40798356e-05 9.99997395e-01 -2.77975832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.1 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:94.29, Y:-8.06, Z:-0.29 [[ 8.88063630e-01 -4.59716009e-01 2.04479949e-03 9.42889661e+01] [ 4.59714896e-01 8.88065983e-01 1.01228806e-03 -8.06017271e+00] [-2.28128190e-03 4.10485731e-05 9.99997397e-01 -2.87933748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:-8.05, Z:-0.28 [[ 8.91493103e-01 -4.53029738e-01 2.02558208e-03 9.43229277e+01] [ 4.53028520e-01 8.91495404e-01 1.05102278e-03 -8.05163171e+00] [-2.28194169e-03 -1.93331077e-05 9.99997396e-01 -2.80144663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.34, Y:-8.03, Z:-0.29 [[ 8.88662874e-01 -4.58556558e-01 2.04440740e-03 9.43380210e+01] [ 4.58555440e-01 8.88665225e-01 1.01303122e-03 -8.03401642e+00] [-2.28132587e-03 3.72309046e-05 9.99997397e-01 -2.89742402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.36, Y:-8.02, Z:-0.29 [[ 8.89237356e-01 -4.57441599e-01 2.02704553e-03 9.43609811e+01] [ 4.57440398e-01 8.89239666e-01 1.04807742e-03 -8.02006566e+00] [-2.28196351e-03 -4.73707958e-06 9.99997396e-01 -2.90215550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:94.40, Y:-8.01, Z:-0.28 [[ 8.94240382e-01 -4.47582458e-01 2.02068508e-03 9.43962096e+01] [ 4.47581203e-01 8.94242663e-01 1.06091073e-03 -8.00948615e+00] [-2.28182784e-03 -4.42885567e-05 9.99997396e-01 -2.82112401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:-7.99, Z:-0.29 [[ 8.91757262e-01 -4.52509451e-01 2.04502485e-03 9.44118287e+01] [ 4.52508320e-01 8.91759607e-01 1.01171149e-03 -7.99293740e+00] [-2.28147957e-03 2.31896945e-05 9.99997397e-01 -2.89507209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:-7.98, Z:-0.29 [[ 8.91814196e-01 -4.52397324e-01 2.02496392e-03 9.44364579e+01] [ 4.52396101e-01 8.91816495e-01 1.05221929e-03 -7.98085087e+00] [-2.28191742e-03 -2.22983137e-05 9.99997396e-01 -2.89549963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.46, Y:-7.97, Z:-0.29 [[ 8.92059664e-01 -4.51913108e-01 2.02465034e-03 9.44628513e+01] [ 4.51911882e-01 8.92061961e-01 1.05285270e-03 -7.96931795e+00] [-2.28191149e-03 -2.42438831e-05 9.99997396e-01 -2.89128739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:-7.96, Z:-0.28 [[ 8.95257813e-01 -4.45543872e-01 2.02618324e-03 9.44976056e+01] [ 4.45542637e-01 8.95260106e-01 1.04975756e-03 -7.96167688e+00] [-2.28167407e-03 -3.70526359e-05 9.99997396e-01 -2.81645470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:-7.95, Z:-0.29 [[ 8.92817704e-01 -4.50413548e-01 2.04517513e-03 9.45162643e+01] [ 4.50412413e-01 8.92820047e-01 1.01135180e-03 -7.94617794e+00] [-2.28149990e-03 1.82194713e-05 9.99997397e-01 -2.87248031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:94.55, Y:-7.94, Z:-0.28 [[ 8.95465104e-01 -4.45127090e-01 2.03008967e-03 9.45485720e+01] [ 4.45125872e-01 8.95467405e-01 1.04182132e-03 -7.93696728e+00] [-2.28162202e-03 -2.92691958e-05 9.99997397e-01 -2.82344119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:94.57, Y:-7.92, Z:-0.28 [[ 8.96083328e-01 -4.43881163e-01 2.04514575e-03 9.45731799e+01] [ 4.43880011e-01 8.96085662e-01 1.01137580e-03 -7.92474520e+00] [-2.28155645e-03 1.52232356e-06 9.99997397e-01 -2.82614450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:94.60, Y:-7.91, Z:-0.28 [[ 8.97619288e-01 -4.40766867e-01 2.04505645e-03 9.45983266e+01] [ 4.40765706e-01 8.97621618e-01 1.01155633e-03 -7.91240208e+00] [-2.28154739e-03 -6.60171956e-06 9.99997397e-01 -2.83184381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:94.62, Y:-7.90, Z:-0.28 [[ 8.98673571e-01 -4.38613306e-01 2.04477892e-03 9.46234752e+01] [ 4.38612139e-01 8.98675897e-01 1.01211701e-03 -7.90008983e+00] [-2.28152152e-03 -1.26979541e-05 9.99997397e-01 -2.82469716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:94.64, Y:-7.89, Z:-0.28 [[ 8.98026813e-01 -4.39935976e-01 2.04449290e-03 9.46431514e+01] [ 4.39934811e-01 8.98029140e-01 1.01269446e-03 -7.88500886e+00] [-2.28153493e-03 -9.98317919e-06 9.99997397e-01 -2.83353000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:94.67, Y:-7.87, Z:-0.28 [[ 9.02602365e-01 -4.30470491e-01 2.03159500e-03 9.46731164e+01] [ 4.30469242e-01 9.02604649e-01 1.03869929e-03 -7.87365976e+00] [-2.28085649e-03 -6.29932774e-05 9.99997397e-01 -2.81854018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:94.69, Y:-7.86, Z:-0.28 [[ 9.02053396e-01 -4.31619615e-01 2.04420141e-03 9.46913774e+01] [ 4.31618427e-01 9.02055711e-01 1.01326667e-03 -7.85753582e+00] [-2.28132933e-03 -3.17056476e-05 9.99997397e-01 -2.82632594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:-7.84, Z:-0.28 [[ 9.03147132e-01 -4.29326380e-01 2.02912585e-03 9.47147229e+01] [ 4.29325118e-01 9.03149409e-01 1.04364831e-03 -7.84378647e+00] [-2.28066957e-03 -7.14132852e-05 9.99997397e-01 -2.83280321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:94.74, Y:-7.83, Z:-0.28 [[ 9.04884230e-01 -4.25652927e-01 2.02875006e-03 9.47393386e+01] [ 4.25651654e-01 9.04886500e-01 1.04440576e-03 -7.82961333e+00] [-2.28034292e-03 -8.15254857e-05 9.99997397e-01 -2.84156076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:-7.82, Z:-0.28 [[ 9.07290195e-01 -4.20500164e-01 2.02848332e-03 9.47711657e+01] [ 4.20498876e-01 9.07292457e-01 1.04494315e-03 -7.81885754e+00] [-2.27982638e-03 -9.50917202e-05 9.99997397e-01 -2.81895875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:-7.80, Z:-0.28 [[ 9.04978457e-01 -4.25452481e-01 2.04409039e-03 9.47878189e+01] [ 4.25451276e-01 9.04980765e-01 1.01346473e-03 -7.80406836e+00] [-2.28104357e-03 -4.75028808e-05 9.99997397e-01 -2.84990764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:94.82, Y:-7.79, Z:-0.28 [[ 9.06699673e-01 -4.21771979e-01 2.02515691e-03 9.48218987e+01] [ 4.21770679e-01 9.06701929e-01 1.05159978e-03 -7.79494322e+00] [-2.27974899e-03 -9.93333673e-05 9.99997396e-01 -2.82788447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:94.84, Y:-7.78, Z:-0.28 [[ 9.03804013e-01 -4.27941735e-01 2.04410908e-03 9.48408077e+01] [ 4.27940537e-01 9.03806323e-01 1.01337061e-03 -7.78100981e+00] [-2.28114229e-03 -4.11312891e-05 9.99997397e-01 -2.84817845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:94.87, Y:-7.77, Z:-0.28 [[ 9.05459035e-01 -4.24428822e-01 2.02754775e-03 9.48744302e+01] [ 4.24427540e-01 9.05461301e-01 1.04672891e-03 -7.77150863e+00] [-2.28012795e-03 -8.72230423e-05 9.99997397e-01 -2.82214497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.89, Y:-7.76, Z:-0.29 [[ 9.02916490e-01 -4.29811161e-01 2.04393333e-03 9.48927584e+01] [ 4.29809967e-01 9.02918803e-01 1.01369019e-03 -7.75622658e+00] [-2.28120120e-03 -3.67746699e-05 9.99997397e-01 -2.85650377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:-7.75, Z:-0.28 [[ 9.04533388e-01 -4.26397987e-01 2.02628443e-03 9.49261399e+01] [ 4.26396705e-01 9.04535654e-01 1.04921685e-03 -7.74776500e+00] [-2.28023047e-03 -8.50506703e-05 9.99997397e-01 -2.82738124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:-7.74, Z:-0.28 [[ 9.04163648e-01 -4.27181368e-01 2.04370781e-03 9.49512081e+01] [ 4.27180167e-01 9.04165956e-01 1.01410380e-03 -7.73587205e+00] [-2.28105727e-03 -4.38843478e-05 9.99997397e-01 -2.84419073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:94.98, Y:-7.72, Z:-0.29 [[ 9.03395031e-01 -4.28804432e-01 2.04361823e-03 9.49769644e+01] [ 4.28803235e-01 9.03397342e-01 1.01428429e-03 -7.72370781e+00] [-2.28112887e-03 -3.99892841e-05 9.99997397e-01 -2.85936505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:94.99, Y:-7.71, Z:-0.29 [[ 8.99170893e-01 -4.37592882e-01 2.04337118e-03 9.49949470e+01] [ 4.37591706e-01 8.99173214e-01 1.01478175e-03 -7.70989369e+00] [-2.28140590e-03 -1.82999372e-05 9.99997397e-01 -2.90197877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:95.02, Y:-7.70, Z:-0.29 [[ 8.98026246e-01 -4.39937229e-01 2.02385496e-03 9.50205218e+01] [ 4.39935970e-01 8.98028525e-01 1.05403176e-03 -7.69869705e+00] [-2.28118729e-03 -5.61815891e-05 9.99997397e-01 -2.90240131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:-7.69, Z:-0.29 [[ 8.97288112e-01 -4.41440768e-01 2.02294934e-03 9.50473442e+01] [ 4.41439509e-01 8.97290391e-01 1.05585306e-03 -7.68725971e+00] [-2.28126959e-03 -5.43946397e-05 9.99997396e-01 -2.88275693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:-7.68, Z:-0.28 [[ 8.98794815e-01 -4.38364900e-01 2.02384080e-03 9.50815427e+01] [ 4.38363637e-01 8.98797091e-01 1.05406044e-03 -7.67770371e+00] [-2.28108533e-03 -6.02058448e-05 9.99997397e-01 -2.84461291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:95.11, Y:-7.66, Z:-0.28 [[ 8.97758420e-01 -4.40483420e-01 2.04336555e-03 9.51067586e+01] [ 4.40482252e-01 8.97760746e-01 1.01474394e-03 -7.66485888e+00] [-2.28143126e-03 -1.09286612e-05 9.99997397e-01 -2.84334955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:-7.65, Z:-0.28 [[ 8.96179247e-01 -4.43687484e-01 2.04307662e-03 9.51319878e+01] [ 4.43686322e-01 8.96181576e-01 1.01532534e-03 -7.65232922e+00] [-2.28145476e-03 -3.42834537e-06 9.99997397e-01 -2.82369816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:95.15, Y:-7.64, Z:-0.29 [[ 8.92501597e-01 -4.51039605e-01 2.04294225e-03 9.51485194e+01] [ 4.51038462e-01 8.92503935e-01 1.01559563e-03 -7.63628102e+00] [-2.28140785e-03 1.50248109e-05 9.99997397e-01 -2.86390660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:-7.63, Z:-0.28 [[ 8.94426614e-01 -4.47210175e-01 2.02262103e-03 9.51833317e+01] [ 4.47208929e-01 8.94428900e-01 1.05641385e-03 -7.62753948e+00] [-2.28152973e-03 -4.03504835e-05 9.99997396e-01 -2.80994027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:95.20, Y:-7.61, Z:-0.28 [[ 8.89589902e-01 -4.56755549e-01 2.04298000e-03 9.51993605e+01] [ 4.56754422e-01 8.89592248e-01 1.01545388e-03 -7.61214207e+00] [-2.28123336e-03 2.98026269e-05 9.99997398e-01 -2.84763563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:95.22, Y:-7.60, Z:-0.28 [[ 8.89114768e-01 -4.57679841e-01 2.02296591e-03 9.52247443e+01] [ 4.57678623e-01 8.89117070e-01 1.05568405e-03 -7.59929633e+00] [-2.28181883e-03 -1.27560303e-05 9.99997397e-01 -2.84152388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:95.25, Y:-7.59, Z:-0.28 [[ 8.88355916e-01 -4.59151038e-01 2.02270355e-03 9.52493660e+01] [ 4.59149823e-01 8.88358219e-01 1.05621143e-03 -7.58608307e+00] [-2.28184589e-03 -9.56769702e-06 9.99997397e-01 -2.84937070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:-7.57, Z:-0.29 [[ 8.88385259e-01 -4.59094258e-01 2.02323035e-03 9.52726048e+01] [ 4.59093045e-01 8.88387563e-01 1.05515321e-03 -7.57193218e+00] [-2.28182746e-03 -8.53157792e-06 9.99997397e-01 -2.85053544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.3 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:95.30, Y:-7.56, Z:-0.29 [[ 8.88314340e-01 -4.59231468e-01 2.02302208e-03 9.52965047e+01] [ 4.59230255e-01 8.88316643e-01 1.05557230e-03 -7.55847874e+00] [-2.28183620e-03 -8.64706807e-06 9.99997397e-01 -2.86476341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:-7.55, Z:-0.29 [[ 8.89095664e-01 -4.57716960e-01 2.02078687e-03 9.53208023e+01] [ 4.57715733e-01 8.89097961e-01 1.06007231e-03 -7.54550926e+00] [-2.28189056e-03 -1.75597472e-05 9.99997396e-01 -2.86358825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:-7.53, Z:-0.29 [[ 8.89690423e-01 -4.56559823e-01 2.01959364e-03 9.53463867e+01] [ 4.56558587e-01 8.89692715e-01 1.06247423e-03 -7.53281808e+00] [-2.28190079e-03 -2.32103254e-05 9.99997396e-01 -2.87469922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:-7.52, Z:-0.29 [[ 8.91148380e-01 -4.53707476e-01 2.02269542e-03 9.53707045e+01] [ 4.53706247e-01 8.91150675e-01 1.05622394e-03 -7.52036270e+00] [-2.28174309e-03 -2.35427072e-05 9.99997397e-01 -2.87588085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:-7.51, Z:-0.29 [[ 8.91940489e-01 -4.52148288e-01 2.02217020e-03 9.53967960e+01] [ 4.52147053e-01 8.91942781e-01 1.05728215e-03 -7.50740382e+00] [-2.28170843e-03 -2.87144631e-05 9.99997396e-01 -2.87363539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:95.42, Y:-7.49, Z:-0.29 [[ 8.92323762e-01 -4.51391413e-01 2.02373414e-03 9.54212627e+01] [ 4.51390183e-01 8.92326057e-01 1.05412936e-03 -7.49478219e+00] [-2.28165565e-03 -2.71309505e-05 9.99997397e-01 -2.88777796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:-7.48, Z:-0.29 [[ 8.93868033e-01 -4.48325600e-01 2.02376321e-03 9.54469647e+01] [ 4.48324362e-01 8.93870323e-01 1.05407075e-03 -7.48168965e+00] [-2.28154878e-03 -3.48977969e-05 9.99997397e-01 -2.87221962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:-7.47, Z:-0.29 [[ 8.94683099e-01 -4.46696824e-01 2.02457399e-03 9.54727132e+01] [ 4.46695586e-01 8.94685389e-01 1.05243598e-03 -7.46971225e+00] [-2.28147658e-03 -3.72284222e-05 9.99997397e-01 -2.85292974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:-7.46, Z:-0.28 [[ 8.97701497e-01 -4.40599494e-01 2.02657678e-03 9.55061437e+01] [ 4.40598250e-01 8.97703784e-01 1.04839900e-03 -7.46054407e+00] [-2.28118971e-03 -4.82431725e-05 9.99997397e-01 -2.78783362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:95.52, Y:-7.45, Z:-0.28 [[ 8.95541157e-01 -4.44973997e-01 2.04415808e-03 9.55237099e+01] [ 4.44972844e-01 8.95543490e-01 1.01291840e-03 -7.44568390e+00] [-2.28135481e-03 2.48472223e-06 9.99997398e-01 -2.84155427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.6 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:95.55, Y:-7.43, Z:-0.28 [[ 8.96603196e-01 -4.42830218e-01 2.02648821e-03 9.55486919e+01] [ 4.42828978e-01 8.96605485e-01 1.04853694e-03 -7.43416853e+00] [-2.28128429e-03 -4.27338721e-05 9.99997397e-01 -2.82416276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:95.58, Y:-7.42, Z:-0.28 [[ 8.99842595e-01 -4.36210043e-01 2.02559965e-03 9.55821978e+01] [ 4.36208783e-01 8.99844872e-01 1.05032727e-03 -7.42454863e+00] [-2.28088876e-03 -6.15448555e-05 9.99997397e-01 -2.76093724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:95.61, Y:-7.41, Z:-0.28 [[ 9.00694842e-01 -4.34447494e-01 2.04395439e-03 9.56072242e+01] [ 4.34446313e-01 9.00697160e-01 1.01330357e-03 -7.41190883e+00] [-2.28121111e-03 -2.46888486e-05 9.99997398e-01 -2.78328861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:95.62, Y:-7.40, Z:-0.28 [[ 8.98643792e-01 -4.38674319e-01 2.04366601e-03 9.56247055e+01] [ 4.38673147e-01 8.98646116e-01 1.01388484e-03 -7.39605168e+00] [-2.28129776e-03 -1.46199157e-05 9.99997398e-01 -2.83209185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:95.65, Y:-7.38, Z:-0.28 [[ 8.99602308e-01 -4.36705374e-01 2.02590917e-03 9.56505786e+01] [ 4.36704116e-01 8.99604587e-01 1.04965151e-03 -7.38411797e+00] [-2.28090564e-03 -5.95460472e-05 9.99997397e-01 -2.82543470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:95.68, Y:-7.37, Z:-0.29 [[ 9.00604137e-01 -4.34635572e-01 2.02685775e-03 9.56764910e+01] [ 4.34634314e-01 9.00606416e-01 1.04774162e-03 -7.37188493e+00] [-2.28078687e-03 -6.26585129e-05 9.99997397e-01 -2.85267736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:-7.36, Z:-0.28 [[ 9.03472921e-01 -4.28640374e-01 2.02750906e-03 9.57098410e+01] [ 4.28639103e-01 9.03475193e-01 1.04643191e-03 -7.36232757e+00] [-2.28034710e-03 -7.63532248e-05 9.99997397e-01 -2.79499229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:95.73, Y:-7.35, Z:-0.29 [[ 9.01384017e-01 -4.33015795e-01 2.04317163e-03 9.57289715e+01] [ 4.33014607e-01 9.01386332e-01 1.01490043e-03 -7.34776668e+00] [-2.28115490e-03 -3.00918625e-05 9.99997398e-01 -2.86449180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:-7.34, Z:-0.29 [[ 9.01972375e-01 -4.31788976e-01 2.02857059e-03 9.57558347e+01] [ 4.31787718e-01 9.01974654e-01 1.04426632e-03 -7.33593263e+00] [-2.28062194e-03 -6.59875092e-05 9.99997397e-01 -2.86396649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:-7.32, Z:-0.29 [[ 9.01772002e-01 -4.32207288e-01 2.02903702e-03 9.57809255e+01] [ 4.32206033e-01 9.01774282e-01 1.04332819e-03 -7.32434280e+00] [-2.28066745e-03 -6.38821105e-05 9.99997397e-01 -2.86459073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:95.81, Y:-7.31, Z:-0.29 [[ 9.01110046e-01 -4.33585710e-01 2.02901510e-03 9.58069037e+01] [ 4.33584459e-01 9.01112328e-01 1.04337227e-03 -7.31277589e+00] [-2.28076183e-03 -6.04438175e-05 9.99997397e-01 -2.88033277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:95.84, Y:-7.30, Z:-0.28 [[ 9.02630085e-01 -4.30412378e-01 2.02861847e-03 9.58391833e+01] [ 4.30411117e-01 9.02632362e-01 1.04416935e-03 -7.30383189e+00] [-2.28052009e-03 -6.93587262e-05 9.99997397e-01 -2.84430712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:95.87, Y:-7.29, Z:-0.28 [[ 9.00812310e-01 -4.34203880e-01 2.04284741e-03 9.58658474e+01] [ 4.34202693e-01 9.00814626e-01 1.01554677e-03 -7.29388065e+00] [-2.28118118e-03 -2.78071883e-05 9.99997398e-01 -2.83453864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-7.28, Z:-0.28 [[ 8.99884869e-01 -4.36122747e-01 2.04255857e-03 9.58904085e+01] [ 4.36121564e-01 8.99887187e-01 1.01612738e-03 -7.28350769e+00] [-2.28122855e-03 -2.35938121e-05 9.99997398e-01 -2.82895533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-7.27, Z:-0.28 [[ 8.98675510e-01 -4.38609344e-01 2.04243419e-03 9.59157608e+01] [ 4.38608167e-01 8.98677830e-01 1.01637734e-03 -7.27231382e+00] [-2.28128292e-03 -1.75651060e-05 9.99997398e-01 -2.81789348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:95.94, Y:-7.26, Z:-0.29 [[ 8.95288608e-01 -4.45481916e-01 2.04214526e-03 9.59363798e+01] [ 4.45480756e-01 8.95290937e-01 1.01695753e-03 -7.25810332e+00] [-2.28135033e-03 -7.34082787e-07 9.99997398e-01 -2.86024871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:-7.25, Z:-0.28 [[ 8.95716466e-01 -4.44621067e-01 2.02962234e-03 9.59673636e+01] [ 4.44619847e-01 8.95718765e-01 1.04206179e-03 -7.24916155e+00] [-2.28129344e-03 -3.09815303e-05 9.99997397e-01 -2.79342509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-7.23, Z:-0.28 [[ 8.92610689e-01 -4.50823678e-01 2.04177693e-03 9.59861877e+01] [ 4.50822529e-01 8.92613025e-01 1.01767588e-03 -7.23435596e+00] [-2.28130906e-03 1.20906721e-05 9.99997398e-01 -2.83731643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-7.22, Z:-0.28 [[ 8.91035717e-01 -4.53928675e-01 2.02719261e-03 9.60106837e+01] [ 4.53927468e-01 8.91038023e-01 1.04690256e-03 -7.22104749e+00] [-2.28152479e-03 -1.26291601e-05 9.99997397e-01 -2.83806135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-7.21, Z:-0.28 [[ 8.93353330e-01 -4.49350341e-01 2.02480278e-03 9.60435077e+01] [ 4.49349111e-01 8.93355624e-01 1.05168954e-03 -7.21096533e+00] [-2.28144601e-03 -2.96870240e-05 9.99997397e-01 -2.77336492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:-7.20, Z:-0.28 [[ 8.93224900e-01 -4.49605506e-01 2.04150863e-03 9.60690772e+01] [ 4.49604353e-01 8.93227232e-01 1.01819384e-03 -7.19812099e+00] [-2.28131666e-03 8.39507494e-06 9.99997398e-01 -2.77419009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-7.19, Z:-0.28 [[ 8.92926819e-01 -4.50197211e-01 2.04121753e-03 9.60930677e+01] [ 4.50196058e-01 8.92929152e-01 1.01877708e-03 -7.18500017e+00] [-2.28131324e-03 9.25470390e-06 9.99997398e-01 -2.77749410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:-7.17, Z:-0.28 [[ 8.89930423e-01 -4.56091741e-01 2.04109142e-03 9.61094315e+01] [ 4.56090603e-01 8.89932763e-01 1.01902968e-03 -7.16812751e+00] [-2.28120515e-03 2.40570984e-05 9.99997398e-01 -2.84472434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-7.16, Z:-0.28 [[ 8.90257915e-01 -4.55452250e-01 2.02288945e-03 9.61344640e+01] [ 4.55451027e-01 8.90260213e-01 1.05545655e-03 -7.15508475e+00] [-2.28160806e-03 -1.83014686e-05 9.99997397e-01 -2.84460401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:-7.14, Z:-0.28 [[ 8.93230304e-01 -4.49594855e-01 2.02235491e-03 9.61672194e+01] [ 4.49593615e-01 8.93232593e-01 1.05652576e-03 -7.14429890e+00] [-2.28144187e-03 -3.44829692e-05 9.99997397e-01 -2.79081768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:-7.13, Z:-0.28 [[ 8.93361010e-01 -4.49334998e-01 2.04097376e-03 9.61916663e+01] [ 4.49333842e-01 8.93363341e-01 1.01924261e-03 -7.13128888e+00] [-2.28131251e-03 6.52697391e-06 9.99997398e-01 -2.79191355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:-7.11, Z:-0.29 [[ 8.90308466e-01 -4.55353348e-01 2.04068487e-03 9.62075296e+01] [ 4.55352206e-01 8.90310804e-01 1.01982068e-03 -7.11434978e+00] [-2.28122255e-03 2.12753751e-05 9.99997398e-01 -2.87367350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:-7.10, Z:-0.28 [[ 8.93457873e-01 -4.49142456e-01 2.02077763e-03 9.62415740e+01] [ 4.49141208e-01 8.93460157e-01 1.05958064e-03 -7.10431617e+00] [-2.28138695e-03 -3.90761617e-05 9.99997397e-01 -2.80765190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:-7.09, Z:-0.29 [[ 8.90548065e-01 -4.54884580e-01 2.04043531e-03 9.62581095e+01] [ 4.54883436e-01 8.90550402e-01 1.02026720e-03 -7.08803054e+00] [-2.28121430e-03 1.95632395e-05 9.99997398e-01 -2.87387805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:-7.08, Z:-0.28 [[ 8.93188111e-01 -4.49678673e-01 2.02204230e-03 9.62921289e+01] [ 4.49677432e-01 8.93190399e-01 1.05699788e-03 -7.07799464e+00] [-2.28137817e-03 -3.48311503e-05 9.99997397e-01 -2.80511821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-7.06, Z:-0.28 [[ 8.92680553e-01 -4.50685331e-01 2.04029590e-03 9.63180942e+01] [ 4.50684176e-01 8.92682884e-01 1.02050339e-03 -7.06440988e+00] [-2.28126314e-03 8.54554482e-06 9.99997398e-01 -2.80075575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-7.05, Z:-0.28 [[ 8.91430253e-01 -4.53153332e-01 2.04003920e-03 9.63429011e+01] [ 4.53152182e-01 8.91432587e-01 1.02101628e-03 -7.05143253e+00] [-2.28123436e-03 1.42834129e-05 9.99997398e-01 -2.78906573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:-7.04, Z:-0.28 [[ 8.90477012e-01 -4.55023659e-01 2.03994848e-03 9.63685328e+01] [ 4.55022514e-01 8.90479348e-01 1.02119751e-03 -7.03845449e+00] [-2.28120102e-03 1.88695839e-05 9.99997398e-01 -2.77989314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.38, Y:-7.02, Z:-0.28 [[ 8.86656478e-01 -4.62424187e-01 2.03969881e-03 9.63846482e+01] [ 4.62423060e-01 8.86658824e-01 1.02169595e-03 -7.02238095e+00] [-2.28097387e-03 3.73104323e-05 9.99997398e-01 -2.84861801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:-7.01, Z:-0.28 [[ 8.84143705e-01 -4.67210677e-01 2.02321872e-03 9.64069989e+01] [ 4.67209487e-01 8.84146019e-01 1.05461435e-03 -7.00857749e+00] [-2.28154787e-03 1.28363400e-05 9.99997397e-01 -2.84152290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:96.44, Y:-7.00, Z:-0.28 [[ 8.86531596e-01 -4.62663661e-01 2.01654641e-03 9.64431789e+01] [ 4.62662428e-01 8.86533889e-01 1.06793420e-03 -6.99980771e+00] [-2.28183108e-03 -1.37771542e-05 9.99997397e-01 -2.78053029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:96.47, Y:-6.99, Z:-0.28 [[ 8.85268915e-01 -4.65075031e-01 2.04034586e-03 9.64682425e+01] [ 4.65073914e-01 8.85271265e-01 1.02034325e-03 -6.98686313e+00] [-2.28079573e-03 4.56334799e-05 9.99997398e-01 -2.78746718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.49, Y:-6.97, Z:-0.28 [[ 8.84669870e-01 -4.66213534e-01 2.04006039e-03 9.64935422e+01] [ 4.66212418e-01 8.84672221e-01 1.02091370e-03 -6.97392908e+00] [-2.28074854e-03 4.79298919e-05 9.99997398e-01 -2.76729893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:96.52, Y:-6.96, Z:-0.28 [[ 8.83312460e-01 -4.68780266e-01 2.03977430e-03 9.65181650e+01] [ 4.68779156e-01 8.83314813e-01 1.02148499e-03 -6.96012990e+00] [-2.28061486e-03 5.39132586e-05 9.99997398e-01 -2.77961673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:-6.95, Z:-0.28 [[ 8.83462066e-01 -4.68498260e-01 2.03948502e-03 9.65417958e+01] [ 4.68497148e-01 8.83464418e-01 1.02206222e-03 -6.94729486e+00] [-2.28064682e-03 5.25397139e-05 9.99997398e-01 -2.76411425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.8 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:96.57, Y:-6.93, Z:-0.28 [[ 8.82880964e-01 -4.69592424e-01 2.03935958e-03 9.65666918e+01] [ 4.69591314e-01 8.82883318e-01 1.02231247e-03 -6.93344243e+00] [-2.28058674e-03 5.50853196e-05 9.99997398e-01 -2.79405845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.91, Z:-0.29 [[ 8.80400584e-01 -4.74226375e-01 2.03907452e-03 9.65802131e+01] [ 4.74225276e-01 8.80402942e-01 1.02288072e-03 -6.91442215e+00] [-2.28028422e-03 6.64358903e-05 9.99997398e-01 -2.85849387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:-6.90, Z:-0.28 [[ 8.84926596e-01 -4.65726176e-01 2.01200166e-03 9.66173227e+01] [ 4.65724932e-01 8.84928883e-01 1.07669089e-03 -6.90451637e+00] [-2.28192151e-03 -1.57530646e-05 9.99997396e-01 -2.78896091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-6.89, Z:-0.28 [[ 8.85429876e-01 -4.64768521e-01 2.03869968e-03 9.66415518e+01] [ 4.64767395e-01 8.85432222e-01 1.02351199e-03 -6.89102275e+00] [-2.28082655e-03 4.12730438e-05 9.99997398e-01 -2.78978621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:96.67, Y:-6.88, Z:-0.28 [[ 8.86040667e-01 -4.63603042e-01 2.03840553e-03 9.66658074e+01] [ 4.63601913e-01 8.86043011e-01 1.02409748e-03 -6.87769513e+00] [-2.28088968e-03 3.76166868e-05 9.99997398e-01 -2.80373542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.69, Y:-6.86, Z:-0.28 [[ 8.87368141e-01 -4.61057076e-01 2.03831446e-03 9.66900920e+01] [ 4.61055939e-01 8.87370482e-01 1.02427871e-03 -6.86323774e+00] [-2.28099103e-03 3.08646922e-05 9.99997398e-01 -2.80572757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-6.85, Z:-0.28 [[ 8.88149351e-01 -4.59550407e-01 2.03802550e-03 9.67147760e+01] [ 4.59549265e-01 8.88151689e-01 1.02485335e-03 -6.85025075e+00] [-2.28104756e-03 2.63502847e-05 9.99997398e-01 -2.79765725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:-6.84, Z:-0.28 [[ 8.88736381e-01 -4.58414106e-01 2.03773481e-03 9.67398412e+01] [ 4.58412960e-01 8.88738717e-01 1.02543101e-03 -6.83704305e+00] [-2.28108586e-03 2.27861972e-05 9.99997398e-01 -2.79651367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.76, Y:-6.82, Z:-0.28 [[ 8.89980254e-01 -4.55994513e-01 2.03744605e-03 9.67639792e+01] [ 4.55993359e-01 8.89982586e-01 1.02600443e-03 -6.82386991e+00] [-2.28114389e-03 1.59381861e-05 9.99997398e-01 -2.79684165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:-6.81, Z:-0.28 [[ 8.91053285e-01 -4.53894142e-01 2.03735667e-03 9.67891578e+01] [ 4.53892982e-01 8.91055614e-01 1.02618188e-03 -6.81066920e+00] [-2.28117604e-03 1.03591560e-05 9.99997398e-01 -2.78021840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.1 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.81, Y:-6.80, Z:-0.28 [[ 8.91870575e-01 -4.52286113e-01 2.03707184e-03 9.68140970e+01] [ 4.52284948e-01 8.91872901e-01 1.02674698e-03 -6.79720469e+00] [-2.28119257e-03 5.61151337e-06 9.99997398e-01 -2.78967107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.84, Y:-6.78, Z:-0.28 [[ 8.92751999e-01 -4.50543803e-01 2.03698364e-03 9.68385904e+01] [ 4.50542632e-01 8.92754323e-01 1.02692193e-03 -6.78358615e+00] [-2.28119926e-03 9.61367314e-07 9.99997398e-01 -2.78561775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:-6.77, Z:-0.28 [[ 8.95199235e-01 -4.45661511e-01 2.03669892e-03 9.68629085e+01] [ 4.45660326e-01 8.95201551e-01 1.02748631e-03 -6.76992005e+00] [-2.28116713e-03 -1.21290547e-05 9.99997398e-01 -2.76839766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.89, Y:-6.76, Z:-0.28 [[ 8.96100083e-01 -4.43847377e-01 2.03640669e-03 9.68878673e+01] [ 4.43846186e-01 8.96102397e-01 1.02806517e-03 -6.75687018e+00] [-2.28113294e-03 -1.73979382e-05 9.99997398e-01 -2.77591879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:-6.74, Z:-0.28 [[ 8.97374888e-01 -4.41264281e-01 2.03611123e-03 9.69120034e+01] [ 4.41263082e-01 8.97377197e-01 1.02865000e-03 -6.74418455e+00] [-2.28106629e-03 -2.46239574e-05 9.99997398e-01 -2.77925045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:96.94, Y:-6.73, Z:-0.28 [[ 8.98994671e-01 -4.37954833e-01 2.03598321e-03 9.69367902e+01] [ 4.37953625e-01 8.98996976e-01 1.02890333e-03 -6.72994561e+00] [-2.28095593e-03 -3.33123862e-05 9.99997398e-01 -2.79057070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.96, Y:-6.72, Z:-0.28 [[ 8.99819608e-01 -4.36257412e-01 2.03568531e-03 9.69611038e+01] [ 4.36256198e-01 8.99821910e-01 1.02949237e-03 -6.71716516e+00] [-2.28087792e-03 -3.82770887e-05 9.99997398e-01 -2.79914379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:-6.70, Z:-0.28 [[ 9.00748524e-01 -4.34336221e-01 2.03555631e-03 9.69858075e+01] [ 4.34335003e-01 9.00750823e-01 1.02974739e-03 -6.70437188e+00] [-2.28078561e-03 -4.34300851e-05 9.99997398e-01 -2.78201697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.01, Y:-6.69, Z:-0.28 [[ 9.01175448e-01 -4.33449732e-01 2.03525899e-03 9.70092372e+01] [ 4.33448510e-01 9.01177745e-01 1.03033468e-03 -6.69168694e+00] [-2.28072840e-03 -4.63323436e-05 9.99997398e-01 -2.79693560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:97.03, Y:-6.68, Z:-0.28 [[ 9.01777768e-01 -4.32195229e-01 2.03513000e-03 9.70339984e+01] [ 4.32194003e-01 9.01780063e-01 1.03058940e-03 -6.67884231e+00] [-2.28065548e-03 -4.97916307e-05 9.99997398e-01 -2.81905411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.06, Y:-6.67, Z:-0.28 [[ 9.02197426e-01 -4.31318517e-01 2.03483598e-03 9.70593033e+01] [ 4.31317288e-01 9.02199720e-01 1.03116960e-03 -6.66635186e+00] [-2.28059100e-03 -5.26586194e-05 9.99997398e-01 -2.80857611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:-6.65, Z:-0.28 [[ 9.02628883e-01 -4.30414870e-01 2.03474522e-03 9.70848438e+01] [ 4.30413637e-01 9.02631174e-01 1.03134866e-03 -6.65423962e+00] [-2.28053227e-03 -5.51429920e-05 9.99997398e-01 -2.79463870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:-6.64, Z:-0.28 [[ 9.02802729e-01 -4.30050105e-01 2.03445298e-03 9.71091114e+01] [ 4.30048870e-01 9.02805020e-01 1.03192482e-03 -6.64278394e+00] [-2.28049374e-03 -5.67103361e-05 9.99997398e-01 -2.79650986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:97.14, Y:-6.63, Z:-0.28 [[ 9.02386927e-01 -4.30921913e-01 2.03432622e-03 9.71350495e+01] [ 4.30920681e-01 9.02389219e-01 1.03217466e-03 -6.63120123e+00] [-2.28054072e-03 -5.47876810e-05 9.99997398e-01 -2.81519296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.16, Y:-6.62, Z:-0.28 [[ 9.02759825e-01 -4.30140165e-01 2.03403032e-03 9.71610184e+01] [ 4.30138929e-01 9.02762114e-01 1.03275744e-03 -6.61924562e+00] [-2.28047596e-03 -5.74163030e-05 9.99997398e-01 -2.79371415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:97.19, Y:-6.61, Z:-0.28 [[ 9.02680234e-01 -4.30307168e-01 2.03377107e-03 9.71863516e+01] [ 4.30305932e-01 9.02682523e-01 1.03326770e-03 -6.60754345e+00] [-2.28047210e-03 -5.75665743e-05 9.99997398e-01 -2.81445313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:97.21, Y:-6.59, Z:-0.29 [[ 9.00596647e-01 -4.34651060e-01 2.03347356e-03 9.72059495e+01] [ 4.34649833e-01 9.00598942e-01 1.03385287e-03 -6.59273853e+00] [-2.28070939e-03 -4.72354853e-05 9.99997398e-01 -2.86427751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:97.24, Y:-6.58, Z:-0.28 [[ 9.02601204e-01 -4.30472987e-01 2.01852670e-03 9.72385291e+01] [ 4.30471684e-01 9.02603456e-01 1.06320965e-03 -6.58306400e+00] [-2.27961221e-03 -9.07357236e-05 9.99997398e-01 -2.81969789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:97.26, Y:-6.57, Z:-0.28 [[ 9.02406497e-01 -4.30880935e-01 2.03324411e-03 9.72638597e+01] [ 4.30879698e-01 9.02408786e-01 1.03427730e-03 -6.57162898e+00] [-2.28046772e-03 -5.72549516e-05 9.99997398e-01 -2.80367754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:97.29, Y:-6.56, Z:-0.28 [[ 9.01596630e-01 -4.32572982e-01 2.03294590e-03 9.72897647e+01] [ 4.32571748e-01 9.01598920e-01 1.03486313e-03 -6.56159154e+00] [-2.28055565e-03 -5.36341473e-05 9.99997398e-01 -2.80189027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.7 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:97.32, Y:-6.55, Z:-0.28 [[ 9.00964189e-01 -4.33888692e-01 2.03280669e-03 9.73151488e+01] [ 4.33887460e-01 9.00966481e-01 1.03513650e-03 -6.55037760e+00] [-2.28062471e-03 -5.06115820e-05 9.99997398e-01 -2.79380745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:97.34, Y:-6.54, Z:-0.28 [[ 9.00297921e-01 -4.35269482e-01 2.03250928e-03 9.73410002e+01] [ 4.35268252e-01 9.00300214e-01 1.03572014e-03 -6.53883687e+00] [-2.28068591e-03 -4.77699329e-05 9.99997398e-01 -2.78973802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:97.37, Y:-6.53, Z:-0.28 [[ 8.99322097e-01 -4.37282102e-01 2.03221500e-03 9.73660724e+01] [ 4.37280876e-01 8.99324392e-01 1.03629723e-03 -6.52742837e+00] [-2.28077475e-03 -4.33162460e-05 9.99997398e-01 -2.80820621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:97.39, Y:-6.52, Z:-0.28 [[ 8.98413544e-01 -4.39145733e-01 2.03192233e-03 9.73918545e+01] [ 4.39144510e-01 8.98415841e-01 1.03687078e-03 -6.51518413e+00] [-2.28084858e-03 -3.92312172e-05 9.99997398e-01 -2.81130550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:-6.50, Z:-0.28 [[ 8.97011571e-01 -4.42002392e-01 2.03162630e-03 9.74177063e+01] [ 4.42001176e-01 8.97013871e-01 1.03745049e-03 -6.50480360e+00] [-2.28095257e-03 -3.26238831e-05 9.99997398e-01 -2.78901160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:-6.49, Z:-0.28 [[ 8.95961484e-01 -4.44127112e-01 2.03153559e-03 9.74438360e+01] [ 4.44125901e-01 8.95963787e-01 1.03762807e-03 -6.49324052e+00] [-2.28102108e-03 -2.74172144e-05 9.99997398e-01 -2.78787369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:-6.48, Z:-0.28 [[ 8.91301745e-01 -4.53406079e-01 2.03125061e-03 9.74645039e+01] [ 4.53404891e-01 8.91304060e-01 1.03818565e-03 -6.48094276e+00] [-2.28118160e-03 -4.35771696e-06 9.99997398e-01 -2.82406503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:97.50, Y:-6.47, Z:-0.28 [[ 8.91701474e-01 -4.52619505e-01 2.01620997e-03 9.74975725e+01] [ 4.52618248e-01 8.91703752e-01 1.06756900e-03 -6.47223159e+00] [-2.28106455e-03 -3.93794296e-05 9.99997398e-01 -2.80298507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:-6.46, Z:-0.28 [[ 8.88367233e-01 -4.59129105e-01 2.03093349e-03 9.75177261e+01] [ 4.59127930e-01 8.88369554e-01 1.03878292e-03 -6.45847136e+00] [-2.28115496e-03 9.63758052e-06 9.99997398e-01 -2.81695508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:97.54, Y:-6.45, Z:-0.28 [[ 8.86780389e-01 -4.62186621e-01 2.01714416e-03 9.75439987e+01] [ 4.62185393e-01 8.86782683e-01 1.06571663e-03 -6.44738072e+00] [-2.28132848e-03 -1.27620364e-05 9.99997398e-01 -2.83087847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:-6.44, Z:-0.28 [[ 8.85005570e-01 -4.65576066e-01 2.01709796e-03 9.75708035e+01] [ 4.65574846e-01 8.85007868e-01 1.06580691e-03 -6.43697730e+00] [-2.28136175e-03 -4.13497996e-06 9.99997398e-01 -2.81992127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-6.42, Z:-0.28 [[ 8.84762821e-01 -4.66037209e-01 2.01780078e-03 9.75957586e+01] [ 4.66035993e-01 8.84765121e-01 1.06443315e-03 -6.42388645e+00] [-2.28134521e-03 -1.40308748e-06 9.99997398e-01 -2.81569394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.62, Y:-6.41, Z:-0.28 [[ 8.84655483e-01 -4.66240930e-01 2.01778780e-03 9.76207961e+01] [ 4.66239715e-01 8.84657784e-01 1.06445852e-03 -6.41046746e+00] [-2.28134581e-03 -9.06261033e-07 9.99997398e-01 -2.82681145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.65, Y:-6.40, Z:-0.28 [[ 8.84669826e-01 -4.66213716e-01 2.01741353e-03 9.76461592e+01] [ 4.66212499e-01 8.84672126e-01 1.06518977e-03 -6.39752128e+00] [-2.28135560e-03 -1.79784253e-06 9.99997398e-01 -2.82745727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:-6.39, Z:-0.28 [[ 8.86995095e-01 -4.61774439e-01 2.01719684e-03 9.76777236e+01] [ 4.61773209e-01 8.86997389e-01 1.06561303e-03 -6.38626046e+00] [-2.28132119e-03 -1.37060747e-05 9.99997398e-01 -2.78005475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:97.70, Y:-6.37, Z:-0.28 [[ 8.87021055e-01 -4.61724511e-01 2.03089975e-03 9.77008089e+01] [ 4.61723342e-01 8.87023380e-01 1.03882387e-03 -6.37291820e+00] [-2.28110600e-03 1.62551704e-05 9.99997398e-01 -2.79915177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17999999999999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:97.73, Y:-6.36, Z:-0.28 [[ 8.87133226e-01 -4.61508954e-01 2.03077086e-03 9.77254301e+01] [ 4.61507785e-01 8.87135550e-01 1.03907577e-03 -6.35928092e+00] [-2.28111180e-03 1.54179199e-05 9.99997398e-01 -2.78883279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:97.75, Y:-6.35, Z:-0.28 [[ 8.87093967e-01 -4.61584413e-01 2.03047682e-03 9.77495137e+01] [ 4.61583242e-01 8.87096291e-01 1.03965003e-03 -6.34607041e+00] [-2.28111471e-03 1.49668071e-05 9.99997398e-01 -2.79745667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.77, Y:-6.33, Z:-0.28 [[ 8.87226735e-01 -4.61329165e-01 2.03034968e-03 9.77734781e+01] [ 4.61327993e-01 8.87229058e-01 1.03989828e-03 -6.33317546e+00] [-2.28112064e-03 1.40315851e-05 9.99997398e-01 -2.78215711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:97.80, Y:-6.32, Z:-0.28 [[ 8.86807103e-01 -4.62135304e-01 2.03022580e-03 9.77978774e+01] [ 4.62134134e-01 8.86809427e-01 1.04014006e-03 -6.31865490e+00] [-2.28110883e-03 1.58330470e-05 9.99997398e-01 -2.80013930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.3 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.82, Y:-6.30, Z:-0.28 [[ 8.84950430e-01 -4.65680810e-01 2.02993078e-03 9.78181765e+01] [ 4.65679647e-01 8.84952757e-01 1.04071552e-03 -6.30308318e+00] [-2.28103408e-03 2.43158066e-05 9.99997398e-01 -2.81673710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:97.85, Y:-6.29, Z:-0.28 [[ 8.86511172e-01 -4.62702788e-01 2.01805139e-03 9.78486129e+01] [ 4.62701565e-01 8.86513469e-01 1.06385882e-03 -6.29143957e+00] [-2.28128017e-03 -9.36719433e-06 9.99997398e-01 -2.78972248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:97.87, Y:-6.28, Z:-0.28 [[ 8.86547359e-01 -4.62633398e-01 2.02964761e-03 9.78733798e+01] [ 4.62632227e-01 8.86549682e-01 1.04125509e-03 -6.27756896e+00] [-2.28110282e-03 1.58584401e-05 9.99997398e-01 -2.77395768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:-6.26, Z:-0.28 [[ 8.84667027e-01 -4.66218975e-01 2.02950857e-03 9.78911678e+01] [ 4.66217812e-01 8.84669354e-01 1.04152603e-03 -6.26162621e+00] [-2.28102323e-03 2.47893105e-05 9.99997398e-01 -2.79420198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:97.92, Y:-6.25, Z:-0.28 [[ 8.86919250e-01 -4.61920112e-01 2.01351286e-03 9.79221697e+01] [ 4.61918867e-01 8.86921535e-01 1.07265755e-03 -6.25041473e+00] [-2.28131001e-03 -2.12810555e-05 9.99997398e-01 -2.76868019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:-6.23, Z:-0.28 [[ 8.85050898e-01 -4.65489837e-01 2.02944637e-03 9.79404261e+01] [ 4.65488672e-01 8.85053225e-01 1.04161319e-03 -6.23448766e+00] [-2.28102841e-03 2.28036046e-05 9.99997398e-01 -2.79656028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:97.97, Y:-6.22, Z:-0.28 [[ 8.87549516e-01 -4.60707933e-01 2.01418701e-03 9.79717982e+01] [ 4.60706688e-01 8.87551801e-01 1.07129897e-03 -6.22222671e+00] [-2.28125124e-03 -2.28814536e-05 9.99997398e-01 -2.78611968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:98.00, Y:-6.21, Z:-0.28 [[ 8.87811898e-01 -4.60202040e-01 2.02915432e-03 9.79962640e+01] [ 4.60200860e-01 8.87814216e-01 1.04215654e-03 -6.20852712e+00] [-2.28111462e-03 8.57959110e-06 9.99997398e-01 -2.78505244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-6.20, Z:-0.28 [[ 8.88269313e-01 -4.59318529e-01 2.02885358e-03 9.80198200e+01] [ 4.59317345e-01 8.88271630e-01 1.04274169e-03 -6.19547038e+00] [-2.28112365e-03 5.65219468e-06 9.99997398e-01 -2.76941697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-6.18, Z:-0.28 [[ 8.88544152e-01 -4.58786633e-01 2.02864940e-03 9.80440565e+01] [ 4.58785447e-01 8.88546468e-01 1.04313876e-03 -6.18170915e+00] [-2.28112738e-03 3.83997983e-06 9.99997398e-01 -2.78421229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.6 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:98.07, Y:-6.17, Z:-0.28 [[ 8.88196031e-01 -4.59460221e-01 2.02855816e-03 9.80687391e+01] [ 4.59459037e-01 8.88198348e-01 1.04331615e-03 -6.16819558e+00] [-2.28112428e-03 5.37011284e-06 9.99997398e-01 -2.80458779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.09, Y:-6.16, Z:-0.28 [[ 8.88460108e-01 -4.58949368e-01 2.02826333e-03 9.80936970e+01] [ 4.58948181e-01 8.88462423e-01 1.04388901e-03 -6.15513028e+00] [-2.28112796e-03 3.41402018e-06 9.99997398e-01 -2.78760773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:-6.14, Z:-0.28 [[ 8.89133566e-01 -4.57643299e-01 2.02796913e-03 9.81177865e+01] [ 4.57642107e-01 8.89135879e-01 1.04446025e-03 -6.14270790e+00] [-2.28113035e-03 -5.80602274e-07 9.99997398e-01 -2.77851610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-6.13, Z:-0.28 [[ 8.89530470e-01 -4.56871351e-01 2.02784161e-03 9.81424872e+01] [ 4.56870156e-01 8.89532781e-01 1.04470776e-03 -6.12961691e+00] [-2.28112864e-03 -2.83907085e-06 9.99997398e-01 -2.76562689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:98.17, Y:-6.12, Z:-0.28 [[ 8.89767292e-01 -4.56409965e-01 2.02754145e-03 9.81671676e+01] [ 4.56408768e-01 8.89769602e-01 1.04528998e-03 -6.11615799e+00] [-2.28112552e-03 -4.67714219e-06 9.99997398e-01 -2.79082164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:98.19, Y:-6.10, Z:-0.28 [[ 8.90356419e-01 -4.55259638e-01 2.02724261e-03 9.81921115e+01] [ 4.55258437e-01 8.90358727e-01 1.04586923e-03 -6.10256877e+00] [-2.28111520e-03 -8.27708332e-06 9.99997398e-01 -2.79397364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:98.22, Y:-6.09, Z:-0.28 [[ 8.91918008e-01 -4.52192612e-01 2.02694402e-03 9.82164274e+01] [ 4.52191401e-01 8.91920311e-01 1.04644761e-03 -6.08857337e+00] [-2.28106842e-03 -1.67788136e-05 9.99997398e-01 -2.79816655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:98.24, Y:-6.08, Z:-0.28 [[ 8.92674391e-01 -4.50697598e-01 2.02664581e-03 9.82409961e+01] [ 4.50696382e-01 8.92676691e-01 1.04702483e-03 -6.07525801e+00] [-2.28103105e-03 -2.12503151e-05 9.99997398e-01 -2.80025913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:98.27, Y:-6.06, Z:-0.28 [[ 8.93163133e-01 -4.49728264e-01 2.02634810e-03 9.82652559e+01] [ 4.49727045e-01 8.93165431e-01 1.04760068e-03 -6.06194961e+00] [-2.28099971e-03 -2.43747624e-05 9.99997398e-01 -2.80294216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:98.29, Y:-6.05, Z:-0.28 [[ 8.93477119e-01 -4.49104145e-01 2.02605143e-03 9.82896659e+01] [ 4.49102923e-01 8.93479416e-01 1.04817411e-03 -6.04898739e+00] [-2.28097459e-03 -2.66139653e-05 9.99997398e-01 -2.81111947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:98.31, Y:-6.04, Z:-0.28 [[ 8.94116867e-01 -4.47829123e-01 2.02575355e-03 9.83147720e+01] [ 4.47827896e-01 8.94119162e-01 1.04874951e-03 -6.03623647e+00] [-2.28092564e-03 -3.05156768e-05 9.99997398e-01 -2.79874821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:98.34, Y:-6.02, Z:-0.28 [[ 8.94216789e-01 -4.47629569e-01 2.02545743e-03 9.83394979e+01] [ 4.47628340e-01 8.94219083e-01 1.04932109e-03 -6.02376358e+00] [-2.28090983e-03 -3.16683866e-05 9.99997398e-01 -2.79896180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:-6.01, Z:-0.28 [[ 8.92854103e-01 -4.50341481e-01 2.02516235e-03 9.83589205e+01] [ 4.50340258e-01 8.92856399e-01 1.04989028e-03 -6.00884481e+00] [-2.28098831e-03 -2.53867128e-05 9.99997398e-01 -2.77870626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.39, Y:-6.00, Z:-0.28 [[ 8.94618742e-01 -4.46825771e-01 2.00920188e-03 9.83911517e+01] [ 4.46824469e-01 8.94620996e-01 1.08063344e-03 -5.99771462e+00] [-2.28032905e-03 -6.89943681e-05 9.99997398e-01 -2.79415339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.42, Y:-5.98, Z:-0.28 [[ 8.94675288e-01 -4.46712467e-01 2.02506450e-03 9.84163434e+01] [ 4.46711235e-01 8.94677579e-01 1.05004147e-03 -5.98489506e+00] [-2.28084642e-03 -3.48270944e-05 9.99997398e-01 -2.79798991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:-5.97, Z:-0.28 [[ 8.94611837e-01 -4.46839526e-01 2.02476802e-03 9.84411742e+01] [ 4.46838292e-01 8.94614127e-01 1.05061286e-03 -5.97240926e+00] [-2.28084143e-03 -3.51468147e-05 9.99997398e-01 -2.79108229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:-5.96, Z:-0.28 [[ 8.93849711e-01 -4.48362125e-01 2.02446766e-03 9.84668368e+01] [ 4.48360894e-01 8.93852003e-01 1.05119132e-03 -5.96128146e+00] [-2.28088885e-03 -3.19149234e-05 9.99997398e-01 -2.79398502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:-5.95, Z:-0.28 [[ 8.93134722e-01 -4.49784695e-01 2.02416972e-03 9.84930690e+01] [ 4.49783466e-01 8.93137015e-01 1.05176471e-03 -5.94917570e+00] [-2.28092857e-03 -2.89295041e-05 9.99997398e-01 -2.78594130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:98.52, Y:-5.94, Z:-0.28 [[ 8.92166173e-01 -4.51702804e-01 2.02390899e-03 9.85189289e+01] [ 4.51701579e-01 8.92168468e-01 1.05226620e-03 -5.93710108e+00] [-2.28097938e-03 -2.45934251e-05 9.99997398e-01 -2.79578777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:-5.93, Z:-0.28 [[ 8.91380290e-01 -4.53251677e-01 2.02365000e-03 9.85444310e+01] [ 4.53250455e-01 8.91382587e-01 1.05276405e-03 -5.92675228e+00] [-2.28101344e-03 -2.11928386e-05 9.99997398e-01 -2.76986610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.2 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:98.57, Y:-5.91, Z:-0.28 [[ 8.90599069e-01 -4.54784789e-01 2.02348982e-03 9.85704686e+01] [ 4.54783570e-01 8.90601367e-01 1.05307182e-03 -5.91420598e+00] [-2.28104385e-03 -1.76148624e-05 9.99997398e-01 -2.79214262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-5.90, Z:-0.28 [[ 8.87489085e-01 -4.60824295e-01 2.02322905e-03 9.85856231e+01] [ 4.60823090e-01 8.87491391e-01 1.05357259e-03 -5.89826168e+00] [-2.28111021e-03 -2.68350508e-06 9.99997398e-01 -2.82497545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-5.88, Z:-0.28 [[ 8.87247331e-01 -4.61289691e-01 1.99856972e-03 9.86136382e+01] [ 4.61288380e-01 8.87249581e-01 1.10085036e-03 -5.88490358e+00] [-2.28104107e-03 -5.48095522e-05 9.99997397e-01 -2.83519616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:98.64, Y:-5.87, Z:-0.29 [[ 8.86601806e-01 -4.62529161e-01 2.00338418e-03 9.86366743e+01] [ 4.62527875e-01 8.86604068e-01 1.09161524e-03 -5.87330132e+00] [-2.28111245e-03 -4.12070141e-05 9.99997397e-01 -2.85169613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:-5.87, Z:-0.28 [[ 8.90800933e-01 -4.54389388e-01 1.99554127e-03 9.86744641e+01] [ 4.54388048e-01 8.90803164e-01 1.10665139e-03 -5.86591692e+00] [-2.28048512e-03 -7.90559897e-05 9.99997397e-01 -2.75764430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-5.85, Z:-0.28 [[ 8.90911843e-01 -4.54171767e-01 2.02327929e-03 9.86987252e+01] [ 4.54170546e-01 8.90914141e-01 1.05337327e-03 -5.85479006e+00] [-2.28098053e-03 -1.95488624e-05 9.99997398e-01 -2.75735610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.72, Y:-5.84, Z:-0.27 [[ 8.89653615e-01 -4.56631528e-01 2.02315131e-03 9.87194158e+01] [ 4.56630313e-01 8.89655915e-01 1.05361900e-03 -5.84122989e+00] [-2.28102419e-03 -1.35237336e-05 9.99997398e-01 -2.74117361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:98.75, Y:-5.83, Z:-0.28 [[ 8.91914991e-01 -4.52198630e-01 2.01166170e-03 9.87497419e+01] [ 4.52197354e-01 8.91917259e-01 1.07565335e-03 -5.82985229e+00] [-2.28064475e-03 -4.97232491e-05 9.99997398e-01 -2.76600114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:98.77, Y:-5.82, Z:-0.28 [[ 8.92411052e-01 -4.51218818e-01 2.02290324e-03 9.87744630e+01] [ 4.51217588e-01 8.92413344e-01 1.05407950e-03 -5.81661074e+00] [-2.28088635e-03 -2.79026720e-05 9.99997398e-01 -2.76674330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-5.80, Z:-0.28 [[ 8.93070913e-01 -4.49911384e-01 2.02260408e-03 9.87992547e+01] [ 4.49910149e-01 8.93073203e-01 1.05465322e-03 -5.80326891e+00] [-2.28083399e-03 -3.18900121e-05 9.99997398e-01 -2.75599629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.5 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:98.82, Y:-5.79, Z:-0.28 [[ 8.92987225e-01 -4.50077466e-01 2.02251167e-03 9.88236795e+01] [ 4.50076231e-01 8.92989515e-01 1.05483040e-03 -5.78970829e+00] [-2.28083711e-03 -3.16656394e-05 9.99997398e-01 -2.78536778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:98.85, Y:-5.78, Z:-0.28 [[ 8.92495675e-01 -4.51051416e-01 2.02242015e-03 9.88496487e+01] [ 4.51050183e-01 8.92497966e-01 1.05500585e-03 -5.77613321e+00] [-2.28086775e-03 -2.93751812e-05 9.99997398e-01 -2.79969440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:-5.76, Z:-0.28 [[ 8.92383237e-01 -4.51273829e-01 2.02216216e-03 9.88753666e+01] [ 4.51272595e-01 8.92385528e-01 1.05550012e-03 -5.76307479e+00] [-2.28086782e-03 -2.93642480e-05 9.99997398e-01 -2.78714299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:98.90, Y:-5.75, Z:-0.28 [[ 8.91602211e-01 -4.52814984e-01 2.02190473e-03 9.88999556e+01] [ 4.52813754e-01 8.91604503e-01 1.05599301e-03 -5.75078821e+00] [-2.28090882e-03 -2.59794300e-05 9.99997398e-01 -2.80636470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61999999999999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:98.93, Y:-5.74, Z:-0.28 [[ 8.90817270e-01 -4.54357242e-01 2.02181347e-03 9.89250432e+01] [ 4.54356015e-01 8.90819565e-01 1.05616771e-03 -5.73951765e+00] [-2.28094844e-03 -2.22293306e-05 9.99997398e-01 -2.79271527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:-5.73, Z:-0.28 [[ 8.90504887e-01 -4.54969185e-01 2.02172303e-03 9.89505027e+01] [ 4.54967959e-01 8.90507182e-01 1.05634081e-03 -5.72696375e+00] [-2.28096139e-03 -2.08574562e-05 9.99997398e-01 -2.77645337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:98.98, Y:-5.71, Z:-0.28 [[ 8.89567152e-01 -4.56799951e-01 2.02163296e-03 9.89760362e+01] [ 4.56798729e-01 8.89569449e-01 1.05651316e-03 -5.71452768e+00] [-2.28099807e-03 -1.63600319e-05 9.99997398e-01 -2.77527536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-5.70, Z:-0.28 [[ 8.89120368e-01 -4.57668970e-01 2.02133783e-03 9.90007967e+01] [ 4.57667749e-01 8.89122665e-01 1.05707750e-03 -5.70221239e+00] [-2.28100885e-03 -1.47679970e-05 9.99997398e-01 -2.76471944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:99.02, Y:-5.69, Z:-0.28 [[ 8.84934165e-01 -4.65711755e-01 2.02124627e-03 9.90180242e+01] [ 4.65710555e-01 8.84936473e-01 1.05725254e-03 -5.68716599e+00] [-2.28104948e-03 5.71682590e-06 9.99997398e-01 -2.83211769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:99.04, Y:-5.68, Z:-0.28 [[ 8.84469930e-01 -4.66592872e-01 2.00884327e-03 9.90405379e+01] [ 4.66591620e-01 8.84472211e-01 1.08104502e-03 -5.67535069e+00] [-2.28117395e-03 -1.88423713e-05 9.99997398e-01 -2.81281707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:-5.67, Z:-0.27 [[ 8.87018136e-01 -4.61730243e-01 2.00219879e-03 9.90756312e+01] [ 4.61728950e-01 8.87020395e-01 1.09378524e-03 -5.66553073e+00] [-2.28102489e-03 -4.57342028e-05 9.99997397e-01 -2.74200922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:-5.65, Z:-0.28 [[ 8.83205970e-01 -4.68980941e-01 2.02303991e-03 9.90907426e+01] [ 4.68979757e-01 8.83208286e-01 1.05377439e-03 -5.64814674e+00] [-2.28096572e-03 1.80649343e-05 9.99997398e-01 -2.80143936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:99.11, Y:-5.63, Z:-0.28 [[ 8.81247378e-01 -4.72651096e-01 2.00026723e-03 9.91125176e+01] [ 4.72649822e-01 8.81249647e-01 1.09741855e-03 -5.63436341e+00] [-2.28143087e-03 -2.16712731e-05 9.99997397e-01 -2.82702759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:-5.63, Z:-0.27 [[ 8.84720103e-01 -4.66118397e-01 1.99490652e-03 9.91500162e+01] [ 4.66117084e-01 8.84722350e-01 1.10768863e-03 -5.62591679e+00] [-2.28125244e-03 -5.01343913e-05 9.99997397e-01 -2.74511107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:99.16, Y:-5.61, Z:-0.29 [[ 8.78965651e-01 -4.76880794e-01 2.02300393e-03 9.91613086e+01] [ 4.76879631e-01 8.78967978e-01 1.05374667e-03 -5.60714382e+00] [-2.28066723e-03 3.85222380e-05 9.99997399e-01 -2.86078457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:99.20, Y:-5.60, Z:-0.28 [[ 8.81119338e-01 -4.72889776e-01 1.99304438e-03 9.92002485e+01] [ 4.72888472e-01 8.81121591e-01 1.11113370e-03 -5.59842072e+00] [-2.28155820e-03 -3.65536762e-05 9.99997397e-01 -2.77918265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:-5.58, Z:-0.29 [[ 8.75247585e-01 -4.83670934e-01 2.02288969e-03 9.92110337e+01] [ 4.83669789e-01 8.75249921e-01 1.05384466e-03 -5.57945299e+00] [-2.28024807e-03 5.60356388e-05 9.99997399e-01 -2.87626456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:-5.57, Z:-0.29 [[ 8.75461917e-01 -4.83283013e-01 1.99026030e-03 9.92360739e+01] [ 4.83281724e-01 8.75464179e-01 1.11642244e-03 -5.56663357e+00] [-2.28194960e-03 -1.55288991e-05 9.99997396e-01 -2.87658750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:-5.56, Z:-0.28 [[ 8.79028594e-01 -4.76764905e-01 1.98893588e-03 9.92762775e+01] [ 4.76763594e-01 8.79030843e-01 1.11896265e-03 -5.55869364e+00] [-2.28181811e-03 -3.53479492e-05 9.99997396e-01 -2.79113684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:-5.54, Z:-0.29 [[ 8.70585451e-01 -4.92013087e-01 2.02357491e-03 9.92840130e+01] [ 4.92011968e-01 8.70587799e-01 1.05235524e-03 -5.53945288e+00] [-2.27947218e-03 7.94579159e-05 9.99997399e-01 -2.90215962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:-5.53, Z:-0.29 [[ 8.69021954e-01 -4.94769535e-01 1.98759552e-03 9.93084117e+01] [ 4.94768264e-01 8.69024227e-01 1.12147041e-03 -5.52596642e+00] [-2.28213805e-03 8.81677915e-06 9.99997396e-01 -2.90648197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:-5.51, Z:-0.29 [[ 8.67992498e-01 -4.96573344e-01 1.98416068e-03 9.93347734e+01] [ 4.96572063e-01 8.67994766e-01 1.12806832e-03 -5.51277559e+00] [-2.28240975e-03 6.12392377e-06 9.99997395e-01 -2.89910697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:-5.50, Z:-0.29 [[ 8.66882439e-01 -4.98508662e-01 1.98767121e-03 9.93591651e+01] [ 4.98507401e-01 8.66884717e-01 1.12132448e-03 -5.49825794e+00] [-2.28207177e-03 1.88123082e-05 9.99997396e-01 -2.88081174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:99.38, Y:-5.48, Z:-0.29 [[ 8.66682458e-01 -4.98856248e-01 1.99015931e-03 9.93838987e+01] [ 4.98855000e-01 8.66684742e-01 1.11653176e-03 -5.48385019e+00] [-2.28182956e-03 2.51224304e-05 9.99997396e-01 -2.88299923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:99.41, Y:-5.47, Z:-0.29 [[ 8.66899550e-01 -4.98478896e-01 1.98990270e-03 9.94082845e+01] [ 4.98477645e-01 8.66901834e-01 1.11702610e-03 -5.46970709e+00] [-2.28186423e-03 2.35725881e-05 9.99997396e-01 -2.88647092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:-5.46, Z:-0.28 [[ 8.73459740e-01 -4.86892307e-01 1.99105535e-03 9.94472787e+01] [ 4.86891030e-01 8.73462009e-01 1.11480673e-03 -5.45912878e+00] [-2.28190203e-03 -4.31180765e-06 9.99997396e-01 -2.76702085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:99.47, Y:-5.44, Z:-0.28 [[ 8.73452667e-01 -4.86904854e-01 2.02507078e-03 9.94704489e+01] [ 4.86903729e-01 8.73455012e-01 1.04915012e-03 -5.44385702e+00] [-2.27964451e-03 6.96315404e-05 9.99997399e-01 -2.79927321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:-5.43, Z:-0.28 [[ 8.74968319e-01 -4.84175941e-01 2.02477786e-03 9.94943231e+01] [ 4.84174807e-01 8.74970659e-01 1.04971514e-03 -5.42983159e+00] [-2.27986803e-03 6.18789367e-05 9.99997399e-01 -2.78033322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:99.52, Y:-5.41, Z:-0.28 [[ 8.76829584e-01 -4.80797028e-01 2.02449114e-03 9.95167877e+01] [ 4.80795884e-01 8.76831920e-01 1.05026783e-03 -5.41273262e+00] [-2.28010410e-03 5.24610999e-05 9.99997399e-01 -2.77765360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:99.54, Y:-5.40, Z:-0.28 [[ 8.78234429e-01 -4.78226087e-01 2.02418748e-03 9.95403136e+01] [ 4.78224935e-01 8.78236761e-01 1.05085274e-03 -5.39805948e+00] [-2.28026105e-03 4.51218717e-05 9.99997399e-01 -2.78491039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.56, Y:-5.38, Z:-0.28 [[ 8.79609281e-01 -4.75692564e-01 2.02409347e-03 9.95638002e+01] [ 4.75691405e-01 8.79611609e-01 1.05103378e-03 -5.38305414e+00] [-2.28038507e-03 3.83447987e-05 9.99997399e-01 -2.77169298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:99.59, Y:-5.37, Z:-0.28 [[ 8.80515059e-01 -4.74013856e-01 2.02379525e-03 9.95875941e+01] [ 4.74012691e-01 8.80517384e-01 1.05160770e-03 -5.36774077e+00] [-2.28046352e-03 3.33482164e-05 9.99997399e-01 -2.78606025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:-5.35, Z:-0.28 [[ 8.81674602e-01 -4.71853581e-01 2.02349745e-03 9.96046360e+01] [ 4.71852409e-01 8.81676923e-01 1.05218041e-03 -5.34886737e+00] [-2.28054610e-03 2.71114024e-05 9.99997399e-01 -2.82659053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:-5.34, Z:-0.28 [[ 8.85150502e-01 -4.65300497e-01 2.00884107e-03 9.96355209e+01] [ 4.65299244e-01 8.85152782e-01 1.08032250e-03 -5.33615423e+00] [-2.28080586e-03 -2.15357749e-05 9.99997399e-01 -2.78392488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:-5.32, Z:-0.28 [[ 8.86525377e-01 -4.62675548e-01 2.02320232e-03 9.96594573e+01] [ 4.62674351e-01 8.86527685e-01 1.05272195e-03 -5.32178574e+00] [-2.28069357e-03 2.81909315e-06 9.99997399e-01 -2.78802540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:-5.30, Z:-0.28 [[ 8.87355670e-01 -4.61081145e-01 2.02290387e-03 9.96764863e+01] [ 4.61079942e-01 8.87357976e-01 1.05329513e-03 -5.30341434e+00] [-2.28069441e-03 -1.92700327e-06 9.99997399e-01 -2.84330188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:-5.29, Z:-0.28 [[ 8.90652563e-01 -4.54680083e-01 2.00838651e-03 9.97070846e+01] [ 4.54678800e-01 8.90654826e-01 1.08113223e-03 -5.29115301e+00] [-2.28034843e-03 -4.97424267e-05 9.99997399e-01 -2.80116085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.73, Y:-5.28, Z:-0.28 [[ 8.91505377e-01 -4.53005598e-01 2.02260876e-03 9.97309602e+01] [ 4.53004373e-01 8.91507671e-01 1.05383571e-03 -5.27699569e+00] [-2.28056470e-03 -2.32495873e-05 9.99997399e-01 -2.80314169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:99.75, Y:-5.26, Z:-0.28 [[ 8.92393997e-01 -4.51252551e-01 2.02230722e-03 9.97544094e+01] [ 4.51251320e-01 8.92396288e-01 1.05441405e-03 -5.26325300e+00] [-2.28050649e-03 -2.83839644e-05 9.99997399e-01 -2.81389960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:99.78, Y:-5.25, Z:-0.28 [[ 8.91699387e-01 -4.52623590e-01 2.02210203e-03 9.97776267e+01] [ 4.52622362e-01 8.91701679e-01 1.05480741e-03 -5.24936179e+00] [-2.28054249e-03 -2.53225197e-05 9.99997399e-01 -2.80551952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:-5.24, Z:-0.28 [[ 8.92187108e-01 -4.51661489e-01 2.01590883e-03 9.98039109e+01] [ 4.51660232e-01 8.92189384e-01 1.06667007e-03 -5.23667219e+00] [-2.28034625e-03 -4.11634350e-05 9.99997399e-01 -2.78296887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:-5.22, Z:-0.28 [[ 8.91948340e-01 -4.52132824e-01 2.01688659e-03 9.98279437e+01] [ 4.52131572e-01 8.91950620e-01 1.06479788e-03 -5.22423710e+00] [-2.28039331e-03 -3.78466032e-05 9.99997399e-01 -2.78307444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:-5.21, Z:-0.28 [[ 8.91604422e-01 -4.52810654e-01 2.01637000e-03 9.98518737e+01] [ 4.52809401e-01 8.91606702e-01 1.06578635e-03 -5.21200800e+00] [-2.28040842e-03 -3.72285307e-05 9.99997399e-01 -2.80611292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.88, Y:-5.20, Z:-0.28 [[ 8.91661288e-01 -4.52698674e-01 2.01420211e-03 9.98781168e+01] [ 4.52697412e-01 8.91663562e-01 1.06993424e-03 -5.19940329e+00] [-2.28034844e-03 -4.21948639e-05 9.99997399e-01 -2.80850587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:-5.19, Z:-0.28 [[ 8.92830383e-01 -4.50388550e-01 2.01549211e-03 9.99046180e+01] [ 4.50387287e-01 8.92832656e-01 1.06746714e-03 -5.18838321e+00] [-2.28027215e-03 -4.53150743e-05 9.99997399e-01 -2.79646025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-5.18, Z:-0.28 [[ 8.91454553e-01 -4.53105612e-01 2.02106669e-03 9.99264845e+01] [ 4.53104380e-01 8.91456843e-01 1.05680616e-03 -5.17503453e+00] [-2.28053853e-03 -2.63404932e-05 9.99997399e-01 -2.82777586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:-5.16, Z:-0.28 [[ 8.92860590e-01 -4.50328681e-01 2.01171779e-03 9.99560692e+01] [ 4.50327402e-01 8.92862854e-01 1.07466479e-03 -5.16466195e+00] [-2.28014047e-03 -5.35941909e-05 9.99997399e-01 -2.80031590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:-5.15, Z:-0.28 [[ 8.90942709e-01 -4.54111226e-01 2.02077735e-03 9.99781212e+01] [ 4.54109996e-01 8.90945000e-01 1.05735043e-03 -5.15067920e+00] [-2.28055618e-03 -2.43834668e-05 9.99997399e-01 -2.82822835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:-5.14, Z:-0.28 [[ 8.91975567e-01 -4.52079134e-01 2.01102759e-03 1.00007412e+02] [ 4.52077856e-01 8.91977833e-01 1.07596123e-03 -5.14068638e+00] [-2.28021165e-03 -5.05900885e-05 9.99997399e-01 -2.80684283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:-5.13, Z:-0.28 [[ 8.90310504e-01 -4.55349454e-01 2.02043805e-03 1.00032212e+02] [ 4.55348225e-01 8.90312796e-01 1.05799012e-03 -5.13063898e+00] [-2.28057708e-03 -2.19368370e-05 9.99997399e-01 -2.81334465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:-5.12, Z:-0.28 [[ 8.88993215e-01 -4.57915912e-01 2.02030785e-03 1.00058264e+02] [ 4.57914689e-01 8.88995510e-01 1.05823870e-03 -5.11914547e+00] [-2.28062895e-03 -1.56383866e-05 9.99997399e-01 -2.81091671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:100.08, Y:-5.11, Z:-0.29 [[ 8.84749560e-01 -4.66062374e-01 2.02000546e-03 1.00076385e+02] [ 4.66061171e-01 8.84751866e-01 1.05881560e-03 -5.10575356e+00] [-2.28067771e-03 4.65947760e-06 9.99997399e-01 -2.86847478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:-5.10, Z:-0.28 [[ 8.84074963e-01 -4.67340828e-01 2.00266932e-03 1.00111249e+02] [ 4.67339553e-01 8.84077231e-01 1.09183389e-03 -5.09976625e+00] [-2.28077291e-03 -2.93364230e-05 9.99997399e-01 -2.79713637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:100.13, Y:-5.09, Z:-0.29 [[ 8.79868393e-01 -4.75213143e-01 2.01969703e-03 1.00131058e+02] [ 4.75211963e-01 8.79870711e-01 1.05937046e-03 -5.08647472e+00] [-2.28049903e-03 2.76776074e-05 9.99997399e-01 -2.85200708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:-5.08, Z:-0.28 [[ 8.78524422e-01 -4.77693227e-01 2.00535089e-03 1.00157575e+02] [ 4.77691991e-01 8.78526710e-01 1.08669549e-03 -5.07538573e+00] [-2.28086139e-03 3.25153013e-06 9.99997399e-01 -2.83012417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:-5.06, Z:-0.28 [[ 8.76998581e-01 -4.80488777e-01 2.00609477e-03 1.00184113e+02] [ 4.80487551e-01 8.77000875e-01 1.08527817e-03 -5.06399629e+00] [-2.28081085e-03 1.21161440e-05 9.99997399e-01 -2.82822699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:-5.05, Z:-0.28 [[ 8.74542454e-01 -4.84944808e-01 2.00721270e-03 1.00211858e+02] [ 4.84943599e-01 8.74544757e-01 1.08314804e-03 -5.05380845e+00] [-2.28066436e-03 2.61260091e-05 9.99997399e-01 -2.82352690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:-5.04, Z:-0.28 [[ 8.75378502e-01 -4.83434011e-01 2.00860605e-03 1.00242463e+02] [ 4.83432805e-01 8.75380806e-01 1.08049390e-03 -5.04355347e+00] [-2.28064268e-03 2.51849239e-05 9.99997399e-01 -2.78900133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:-5.03, Z:-0.28 [[ 8.74684948e-01 -4.84687696e-01 2.01961398e-03 1.00267223e+02] [ 4.84686541e-01 8.74687278e-01 1.05951085e-03 -5.03114628e+00] [-2.28006253e-03 5.21415173e-05 9.99997399e-01 -2.78212353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:-5.02, Z:-0.28 [[ 8.72766179e-01 -4.88134324e-01 2.01930975e-03 1.00286181e+02] [ 4.88133177e-01 8.72768513e-01 1.06009035e-03 -5.01610019e+00] [-2.27985646e-03 6.04810777e-05 9.99997399e-01 -2.82135718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:-5.00, Z:-0.28 [[ 8.73158147e-01 -4.87432877e-01 2.01027091e-03 1.00309578e+02] [ 4.87431688e-01 8.73160460e-01 1.07732689e-03 -5.00357099e+00] [-2.28041362e-03 3.91929906e-05 9.99997399e-01 -2.81543395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:100.34, Y:-4.99, Z:-0.28 [[ 8.73621834e-01 -4.86601345e-01 2.00568845e-03 1.00335788e+02] [ 4.86600134e-01 8.73624135e-01 1.08605926e-03 -4.99051448e+00] [-2.28069573e-03 2.71631831e-05 9.99997399e-01 -2.82459992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:-4.98, Z:-0.28 [[ 8.77031869e-01 -4.80428003e-01 2.00880826e-03 1.00364241e+02] [ 4.80426789e-01 8.77034169e-01 1.08011712e-03 -4.97692802e+00] [-2.28071199e-03 1.77881629e-05 9.99997399e-01 -2.79167338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:-4.96, Z:-0.28 [[ 8.75998605e-01 -4.82309409e-01 2.01955676e-03 1.00384484e+02] [ 4.82308247e-01 8.76000931e-01 1.05963150e-03 -4.96108522e+00] [-2.28020384e-03 4.58131608e-05 9.99997399e-01 -2.83270302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:100.41, Y:-4.95, Z:-0.28 [[ 8.78364180e-01 -4.77987794e-01 2.00891087e-03 1.00412858e+02] [ 4.77986575e-01 8.78366477e-01 1.07990204e-03 -4.94868882e+00] [-2.28073996e-03 1.16851608e-05 9.99997399e-01 -2.81828920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.44, Y:-4.93, Z:-0.28 [[ 8.78976797e-01 -4.76860266e-01 2.01932070e-03 1.00437150e+02] [ 4.76859089e-01 8.78979116e-01 1.06007248e-03 -4.93439672e+00] [-2.28044716e-03 3.11523170e-05 9.99997399e-01 -2.81278564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:-4.92, Z:-0.28 [[ 8.79899114e-01 -4.75156262e-01 2.01901771e-03 1.00461441e+02] [ 4.75155079e-01 8.79901430e-01 1.06064923e-03 -4.92024016e+00] [-2.28051069e-03 2.60821995e-05 9.99997399e-01 -2.80063877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:100.49, Y:-4.91, Z:-0.28 [[ 8.79799874e-01 -4.75339991e-01 2.01871523e-03 1.00486712e+02] [ 4.75338807e-01 8.79802189e-01 1.06122462e-03 -4.90708970e+00] [-2.28051258e-03 2.59084036e-05 9.99997399e-01 -2.80311117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:100.51, Y:-4.89, Z:-0.28 [[ 8.79769123e-01 -4.75396903e-01 2.01840999e-03 1.00510717e+02] [ 4.75395718e-01 8.79771438e-01 1.06180487e-03 -4.89461603e+00] [-2.28051820e-03 2.54003245e-05 9.99997399e-01 -2.80271127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.54, Y:-4.88, Z:-0.28 [[ 8.79691698e-01 -4.75540159e-01 2.01827777e-03 1.00535287e+02] [ 4.75538973e-01 8.79694013e-01 1.06205613e-03 -4.88148974e+00] [-2.28051721e-03 2.54877735e-05 9.99997399e-01 -2.78551753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.6 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:100.56, Y:-4.87, Z:-0.28 [[ 8.79256517e-01 -4.76344313e-01 2.01797668e-03 1.00561470e+02] [ 4.76343128e-01 8.79258833e-01 1.06262791e-03 -4.86786149e+00] [-2.28050058e-03 2.69268065e-05 9.99997399e-01 -2.79115494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:100.59, Y:-4.85, Z:-0.28 [[ 8.79401344e-01 -4.76076879e-01 2.02022579e-03 1.00587160e+02] [ 4.76075704e-01 8.79403664e-01 1.05835951e-03 -4.85407085e+00] [-2.28045445e-03 3.10576426e-05 9.99997399e-01 -2.77629539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.61, Y:-4.84, Z:-0.28 [[ 8.79793101e-01 -4.75352516e-01 2.02108536e-03 1.00610662e+02] [ 4.75351343e-01 8.79795422e-01 1.05672927e-03 -4.83937866e+00] [-2.28046056e-03 3.10225142e-05 9.99997399e-01 -2.75697134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:100.63, Y:-4.83, Z:-0.28 [[ 8.80606155e-01 -4.73844622e-01 2.01856906e-03 1.00634249e+02] [ 4.73843433e-01 8.80608468e-01 1.06149720e-03 -4.82585549e+00] [-2.28055375e-03 2.17247266e-05 9.99997399e-01 -2.78183394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:-4.81, Z:-0.28 [[ 8.81124150e-01 -4.72880710e-01 2.01678220e-03 1.00658771e+02] [ 4.72879511e-01 8.81126458e-01 1.06488134e-03 -4.81190992e+00] [-2.28060200e-03 1.54023118e-05 9.99997399e-01 -2.77339744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:-4.80, Z:-0.28 [[ 8.82096783e-01 -4.71063901e-01 2.01648387e-03 1.00683200e+02] [ 4.71062696e-01 8.82099088e-01 1.06544596e-03 -4.79735484e+00] [-2.28063171e-03 1.00638706e-05 9.99997399e-01 -2.78042241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:-4.78, Z:-0.28 [[ 8.82487763e-01 -4.70331035e-01 2.01618216e-03 1.00706933e+02] [ 4.70329827e-01 8.82490066e-01 1.06601660e-03 -4.78389389e+00] [-2.28064142e-03 7.52399672e-06 9.99997399e-01 -2.78560887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:100.73, Y:-4.77, Z:-0.28 [[ 8.82170671e-01 -4.70925517e-01 2.01605119e-03 1.00731342e+02] [ 4.70924310e-01 8.82172975e-01 1.06626422e-03 -4.76985703e+00] [-2.28063691e-03 8.78048864e-06 9.99997399e-01 -2.80479979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:-4.76, Z:-0.28 [[ 8.83337481e-01 -4.68733227e-01 2.01409361e-03 1.00755803e+02] [ 4.68732005e-01 8.83339777e-01 1.06996250e-03 -4.75631986e+00] [-2.28065598e-03 -1.06784058e-06 9.99997399e-01 -2.79771030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:100.78, Y:-4.74, Z:-0.28 [[ 8.83494696e-01 -4.68436827e-01 2.01555519e-03 1.00779757e+02] [ 4.68435611e-01 8.83496995e-01 1.06720210e-03 -4.74172321e+00] [-2.28065372e-03 1.29043060e-06 9.99997399e-01 -2.82601324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:100.81, Y:-4.73, Z:-0.28 [[ 8.83368886e-01 -4.68674038e-01 2.01427514e-03 1.00805012e+02] [ 4.68672818e-01 8.83371182e-01 1.06961852e-03 -4.72830046e+00] [-2.28065504e-03 -8.31713946e-07 9.99997399e-01 -2.82665361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:100.83, Y:-4.72, Z:-0.28 [[ 8.84411437e-01 -4.66703712e-01 2.01396708e-03 1.00830356e+02] [ 4.66702485e-01 8.84413730e-01 1.07019966e-03 -4.71555583e+00] [-2.28064629e-03 -6.57337896e-06 9.99997399e-01 -2.83745058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:100.86, Y:-4.70, Z:-0.28 [[ 8.84170702e-01 -4.67159619e-01 2.01487006e-03 1.00855811e+02] [ 4.67158397e-01 8.84172998e-01 1.06849691e-03 -4.70138988e+00] [-2.28065231e-03 -3.47019357e-06 9.99997399e-01 -2.82991435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:100.88, Y:-4.69, Z:-0.28 [[ 8.84982454e-01 -4.65620019e-01 2.01343139e-03 1.00881154e+02] [ 4.65618787e-01 8.84984744e-01 1.07120885e-03 -4.68928604e+00] [-2.28063235e-03 -1.05095542e-05 9.99997399e-01 -2.84120165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:-4.68, Z:-0.28 [[ 8.84795769e-01 -4.65974664e-01 2.01459616e-03 1.00906989e+02] [ 4.65973438e-01 8.84798063e-01 1.06901381e-03 -4.67534364e+00] [-2.28064413e-03 -7.11059481e-06 9.99997399e-01 -2.81585395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:100.93, Y:-4.66, Z:-0.28 [[ 8.84221431e-01 -4.67063598e-01 2.01432378e-03 1.00933110e+02] [ 4.67062373e-01 8.84223725e-01 1.06952680e-03 -4.66221320e+00] [-2.28064991e-03 -4.88367232e-06 9.99997399e-01 -2.80447563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:100.96, Y:-4.65, Z:-0.28 [[ 8.84398883e-01 -4.66727494e-01 2.01541531e-03 1.00956852e+02] [ 4.66726274e-01 8.84401179e-01 1.06747194e-03 -4.64959327e+00] [-2.28065418e-03 -3.42371521e-06 9.99997399e-01 -2.81580590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.98, Y:-4.64, Z:-0.28 [[ 8.83716983e-01 -4.68017347e-01 2.01392059e-03 1.00983434e+02] [ 4.68016124e-01 8.83719278e-01 1.07028451e-03 -4.63548357e+00] [-2.28065217e-03 -3.28129100e-06 9.99997399e-01 -2.80212796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:101.01, Y:-4.62, Z:-0.28 [[ 8.83579328e-01 -4.68277173e-01 2.01498428e-03 1.01009380e+02] [ 4.68275955e-01 8.83581625e-01 1.06828396e-03 -4.62244780e+00] [-2.28065608e-03 -3.44936735e-07 9.99997399e-01 -2.79662125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:-4.61, Z:-0.28 [[ 8.83636664e-01 -4.68168971e-01 2.01518668e-03 1.01032664e+02] [ 4.68167753e-01 8.83638962e-01 1.06790341e-03 -4.60991148e+00] [-2.28065670e-03 -1.93187787e-07 9.99997399e-01 -2.80207816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.2 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:101.06, Y:-4.60, Z:-0.28 [[ 8.82927275e-01 -4.69505455e-01 2.01337904e-03 1.01058414e+02] [ 4.69504233e-01 8.82929571e-01 1.07130063e-03 -4.59782319e+00] [-2.28065339e-03 -5.90563128e-07 9.99997399e-01 -2.81602244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:-4.59, Z:-0.28 [[ 8.82550324e-01 -4.70213647e-01 2.01307508e-03 1.01083464e+02] [ 4.70212425e-01 8.82552620e-01 1.07187151e-03 -4.58514259e+00] [-2.28065329e-03 5.92365468e-07 9.99997399e-01 -2.80331673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:101.11, Y:-4.57, Z:-0.28 [[ 8.81534370e-01 -4.72115561e-01 2.01277053e-03 1.01109171e+02] [ 4.72114343e-01 8.81536668e-01 1.07244308e-03 -4.57244099e+00] [-2.28064810e-03 4.86240660e-06 9.99997399e-01 -2.80805358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:-4.56, Z:-0.28 [[ 8.81318114e-01 -4.72519130e-01 2.01354266e-03 1.01134807e+02] [ 4.72517916e-01 8.81320414e-01 1.07099449e-03 -4.55967988e+00] [-2.28064164e-03 7.54813842e-06 9.99997399e-01 -2.79732608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:-4.55, Z:-0.28 [[ 8.79743312e-01 -4.75444684e-01 2.01440578e-03 1.01158957e+02] [ 4.75443482e-01 8.79745618e-01 1.06937625e-03 -4.54769030e+00] [-2.28059391e-03 1.69594957e-05 9.99997399e-01 -2.79224614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:-4.54, Z:-0.28 [[ 8.78773944e-01 -4.77234026e-01 2.00999865e-03 1.01183270e+02] [ 4.77232810e-01 8.78776242e-01 1.07763180e-03 -4.53542237e+00] [-2.28062162e-03 1.22425578e-05 9.99997399e-01 -2.80828538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:101.21, Y:-4.52, Z:-0.28 [[ 8.78737373e-01 -4.77301369e-01 2.00824630e-03 1.01210153e+02] [ 4.77300145e-01 8.78739668e-01 1.08091146e-03 -4.52423962e+00] [-2.28064620e-03 8.69894833e-06 9.99997399e-01 -2.81714980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:-4.51, Z:-0.28 [[ 8.77201550e-01 -4.80118104e-01 2.01155489e-03 1.01233457e+02] [ 4.80116902e-01 8.77203856e-01 1.07471877e-03 -4.51065878e+00] [-2.28053564e-03 2.30365321e-05 9.99997399e-01 -2.81607935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:-4.50, Z:-0.28 [[ 8.77052365e-01 -4.80390594e-01 2.00652269e-03 1.01260859e+02] [ 4.80389371e-01 8.77054660e-01 1.08413130e-03 -4.50043979e+00] [-2.28063655e-03 1.30722531e-05 9.99997399e-01 -2.78774338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:-4.49, Z:-0.28 [[ 8.75537073e-01 -4.83146757e-01 2.01127189e-03 1.01283897e+02] [ 4.83145561e-01 8.75539383e-01 1.07524782e-03 -4.48683208e+00] [-2.28045025e-03 3.03177575e-05 9.99997399e-01 -2.81309723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:-4.48, Z:-0.28 [[ 8.76522346e-01 -4.81356997e-01 2.00471507e-03 1.01311758e+02] [ 4.81355769e-01 8.76524638e-01 1.08750267e-03 -4.47584132e+00] [-2.28065917e-03 1.17607766e-05 9.99997399e-01 -2.77915041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:-4.46, Z:-0.28 [[ 8.76642035e-01 -4.81138959e-01 2.01093881e-03 1.01337045e+02] [ 4.81137757e-01 8.76644341e-01 1.07586971e-03 -4.46321058e+00] [-2.28052096e-03 2.43859761e-05 9.99997399e-01 -2.77984396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:-4.45, Z:-0.28 [[ 8.76866802e-01 -4.80729205e-01 2.01063354e-03 1.01361626e+02] [ 4.80728001e-01 8.76869107e-01 1.07643990e-03 -4.45034876e+00] [-2.28053854e-03 2.26734349e-05 9.99997399e-01 -2.78220880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:-4.44, Z:-0.28 [[ 8.77069081e-01 -4.80360058e-01 2.01033077e-03 1.01386443e+02] [ 4.80358852e-01 8.77071385e-01 1.07700506e-03 -4.43680867e+00] [-2.28055380e-03 2.10723388e-05 9.99997399e-01 -2.78365978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:-4.42, Z:-0.28 [[ 8.76693696e-01 -4.81044824e-01 2.01002469e-03 1.01409147e+02] [ 4.81043618e-01 8.76696000e-01 1.07757599e-03 -4.42266168e+00] [-2.28054296e-03 2.22054707e-05 9.99997399e-01 -2.79448466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:-4.41, Z:-0.28 [[ 8.78387669e-01 -4.77944648e-01 2.00399427e-03 1.01436462e+02] [ 4.77943408e-01 8.78389955e-01 1.08881395e-03 -4.41088468e+00] [-2.28068124e-03 1.39510523e-06 9.99997399e-01 -2.78608919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:-4.40, Z:-0.28 [[ 8.78653523e-01 -4.77455703e-01 2.00966713e-03 1.01461425e+02] [ 4.77454486e-01 8.78655821e-01 1.07824067e-03 -4.39731725e+00] [-2.28061787e-03 1.21246234e-05 9.99997399e-01 -2.78239455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:-4.38, Z:-0.28 [[ 8.78988202e-01 -4.76839284e-01 2.00935868e-03 1.01486051e+02] [ 4.76838063e-01 8.78990499e-01 1.07881516e-03 -4.38372940e+00] [-2.28062864e-03 9.87290444e-06 9.99997399e-01 -2.78197608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:-4.37, Z:-0.28 [[ 8.79171422e-01 -4.76501390e-01 2.00905126e-03 1.01508582e+02] [ 4.76500168e-01 8.79173717e-01 1.07938737e-03 -4.36926306e+00] [-2.28063464e-03 8.34673690e-06 9.99997399e-01 -2.78937313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:-4.36, Z:-0.28 [[ 8.80160742e-01 -4.74671522e-01 2.00357243e-03 1.01535057e+02] [ 4.74670271e-01 8.80163023e-01 1.08957821e-03 -4.35700448e+00] [-2.28066211e-03 -7.96769718e-06 9.99997399e-01 -2.78632414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:-4.34, Z:-0.28 [[ 8.80248984e-01 -4.74507841e-01 2.00863422e-03 1.01559884e+02] [ 4.74506612e-01 8.80251276e-01 1.08016549e-03 -4.34335288e+00] [-2.28064983e-03 2.29564410e-06 9.99997399e-01 -2.78738403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:-4.33, Z:-0.28 [[ 8.80304746e-01 -4.74404385e-01 2.00832676e-03 1.01584644e+02] [ 4.74403154e-01 8.80307037e-01 1.08073686e-03 -4.32956206e+00] [-2.28065048e-03 1.37876471e-06 9.99997399e-01 -2.79295238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:-4.32, Z:-0.28 [[ 8.80199268e-01 -4.74600059e-01 2.00801970e-03 1.01609202e+02] [ 4.74598827e-01 8.80201559e-01 1.08130707e-03 -4.31618649e+00] [-2.28065047e-03 1.23809809e-06 9.99997399e-01 -2.80222309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:-4.30, Z:-0.28 [[ 8.79866621e-01 -4.75216474e-01 2.00792445e-03 1.01633452e+02] [ 4.75215243e-01 8.79868912e-01 1.08148392e-03 -4.30328311e+00] [-2.28064927e-03 2.63470263e-06 9.99997399e-01 -2.80659581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:-4.29, Z:-0.28 [[ 8.79384912e-01 -4.76107284e-01 2.00779236e-03 1.01657503e+02] [ 4.76106055e-01 8.79387204e-01 1.08172909e-03 -4.28999743e+00] [-2.28064601e-03 4.66586498e-06 9.99997399e-01 -2.81271860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:-4.28, Z:-0.28 [[ 8.79031244e-01 -4.76759952e-01 2.00493955e-03 1.01682844e+02] [ 4.76758713e-01 8.79033530e-01 1.08702020e-03 -4.27713165e+00] [-2.28065679e-03 3.47682109e-07 9.99997399e-01 -2.80541255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:101.71, Y:-4.26, Z:-0.28 [[ 8.78567686e-01 -4.77613643e-01 2.00733475e-03 1.01707626e+02] [ 4.77612416e-01 8.78569979e-01 1.08257898e-03 -4.26379918e+00] [-2.28063854e-03 7.60909256e-06 9.99997399e-01 -2.80616731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:-4.25, Z:-0.28 [[ 8.77085161e-01 -4.80330710e-01 2.00702984e-03 1.01728001e+02] [ 4.80329489e-01 8.77087458e-01 1.08314397e-03 -4.24871023e+00] [-2.28060801e-03 1.40261107e-05 9.99997399e-01 -2.83267107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:-4.24, Z:-0.28 [[ 8.78369208e-01 -4.77978612e-01 1.99505812e-03 1.01757649e+02] [ 4.77977335e-01 8.78371474e-01 1.10529848e-03 -4.23595365e+00] [-2.28071117e-03 -1.72675865e-05 9.99997399e-01 -2.78968109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:-4.22, Z:-0.28 [[ 8.78256024e-01 -4.78186500e-01 2.00673211e-03 1.01780981e+02] [ 4.78185272e-01 8.78258317e-01 1.08368089e-03 -4.22296881e+00] [-2.28063074e-03 7.84046933e-06 9.99997399e-01 -2.79618097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:-4.21, Z:-0.28 [[ 8.76290315e-01 -4.81779261e-01 2.00659910e-03 1.01800164e+02] [ 4.81778042e-01 8.76292613e-01 1.08392712e-03 -4.20719964e+00] [-2.28058158e-03 1.69005462e-05 9.99997399e-01 -2.83639639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:101.83, Y:-4.20, Z:-0.28 [[ 8.78032943e-01 -4.78596048e-01 1.99330791e-03 1.01830704e+02] [ 4.78594764e-01 8.78035206e-01 1.10849959e-03 -4.19510573e+00] [-2.28071804e-03 -1.93124238e-05 9.99997399e-01 -2.80355641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:-4.18, Z:-0.28 [[ 8.77907212e-01 -4.78826590e-01 2.00622189e-03 1.01854852e+02] [ 4.78825361e-01 8.77909504e-01 1.08461243e-03 -4.18148014e+00] [-2.28062254e-03 8.44084761e-06 9.99997399e-01 -2.79761765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:-4.17, Z:-0.29 [[ 8.75758812e-01 -4.82744735e-01 2.00591282e-03 1.01874490e+02] [ 4.82743516e-01 8.75761109e-01 1.08518374e-03 -4.16533995e+00] [-2.28056717e-03 1.79821810e-05 9.99997399e-01 -2.85909920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:101.90, Y:-4.15, Z:-0.28 [[ 8.77700242e-01 -4.79205923e-01 1.99192298e-03 1.01904756e+02] [ 4.79204636e-01 8.77702503e-01 1.11100189e-03 -4.15374698e+00] [-2.28071447e-03 -2.05879039e-05 9.99997399e-01 -2.82321940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:101.93, Y:-4.14, Z:-0.28 [[ 8.77804846e-01 -4.79014228e-01 2.00552028e-03 1.01928302e+02] [ 4.79012998e-01 8.77807137e-01 1.08588915e-03 -4.14068752e+00] [-2.28061637e-03 7.47152137e-06 9.99997399e-01 -2.83602335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:-4.13, Z:-0.28 [[ 8.77914309e-01 -4.78813580e-01 2.00531672e-03 1.01953221e+02] [ 4.78812348e-01 8.77916600e-01 1.08626494e-03 -4.12678220e+00] [-2.28061924e-03 6.52287473e-06 9.99997399e-01 -2.80274749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:101.98, Y:-4.11, Z:-0.28 [[ 8.78022163e-01 -4.78615776e-01 2.00500641e-03 1.01977493e+02] [ 4.78614542e-01 8.78024452e-01 1.08683740e-03 -4.11356263e+00] [-2.28062218e-03 5.35789460e-06 9.99997399e-01 -2.79941413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:-4.10, Z:-0.28 [[ 8.78504069e-01 -4.77730658e-01 2.00469913e-03 1.02002620e+02] [ 4.77729420e-01 8.78506357e-01 1.08740389e-03 -4.09922042e+00] [-2.28062710e-03 2.41501207e-06 9.99997399e-01 -2.79266985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36999999999999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:102.03, Y:-4.08, Z:-0.28 [[ 8.78177393e-01 -4.78330899e-01 2.00442742e-03 1.02028312e+02] [ 4.78329662e-01 8.78179680e-01 1.08790451e-03 -4.08395109e+00] [-2.28062577e-03 3.40394849e-06 9.99997399e-01 -2.83361234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39999999999999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:102.05, Y:-4.07, Z:-0.28 [[ 8.79201881e-01 -4.76445201e-01 2.00601217e-03 1.02053513e+02] [ 4.76443965e-01 8.79204169e-01 1.08498650e-03 -4.06931386e+00] [-2.28063088e-03 1.83021736e-06 9.99997399e-01 -2.82502032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:102.08, Y:-4.06, Z:-0.28 [[ 8.80032671e-01 -4.74908900e-01 2.00848247e-03 1.02076381e+02] [ 4.74907671e-01 8.80034963e-01 1.08043883e-03 -4.05649312e+00] [-2.28064481e-03 3.02226203e-06 9.99997399e-01 -2.80169954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:102.10, Y:-4.04, Z:-0.28 [[ 8.80266546e-01 -4.74475281e-01 2.00373439e-03 1.02102254e+02] [ 4.74474031e-01 8.80268827e-01 1.08917379e-03 -4.04114020e+00] [-2.28061096e-03 -8.04332005e-06 9.99997399e-01 -2.82871721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:102.13, Y:-4.03, Z:-0.28 [[ 8.80862807e-01 -4.73367397e-01 2.00565476e-03 1.02126652e+02] [ 4.73366152e-01 8.80865090e-01 1.08564239e-03 -4.02763885e+00] [-2.28061897e-03 -6.89292587e-06 9.99997399e-01 -2.83970174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:-4.01, Z:-0.28 [[ 8.82491960e-01 -4.70323194e-01 2.00844411e-03 1.02149256e+02] [ 4.70321953e-01 8.82494245e-01 1.08051379e-03 -4.01384609e+00] [-2.28063107e-03 -8.92937588e-06 9.99997399e-01 -2.79741783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:102.17, Y:-4.00, Z:-0.28 [[ 8.82564396e-01 -4.70187277e-01 2.00300456e-03 1.02174068e+02] [ 4.70186013e-01 8.82566668e-01 1.09050499e-03 -3.99946888e+00] [-2.28052663e-03 -2.06561498e-05 9.99997399e-01 -2.81701448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:-3.99, Z:-0.28 [[ 8.83306825e-01 -4.68791044e-01 2.00273404e-03 1.02198631e+02] [ 4.68789775e-01 8.83309095e-01 1.09100158e-03 -3.98580989e+00] [-2.28048496e-03 -2.48278975e-05 9.99997399e-01 -2.81878325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:-3.97, Z:-0.28 [[ 8.83447598e-01 -4.68525699e-01 2.00258824e-03 1.02223437e+02] [ 4.68524429e-01 8.83449868e-01 1.09126913e-03 -3.97170261e+00] [-2.28047395e-03 -2.58175800e-05 9.99997399e-01 -2.81478630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:102.25, Y:-3.96, Z:-0.28 [[ 8.83230750e-01 -4.68934359e-01 2.00228013e-03 1.02247482e+02] [ 4.68933088e-01 8.83233019e-01 1.09183417e-03 -3.95838114e+00] [-2.28047848e-03 -2.54061067e-05 9.99997399e-01 -2.82381353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:102.28, Y:-3.94, Z:-0.28 [[ 8.83629139e-01 -4.68183230e-01 2.00218476e-03 1.02277266e+02] [ 4.68181957e-01 8.83631407e-01 1.09200903e-03 -3.94496436e+00] [-2.28045365e-03 -2.75442137e-05 9.99997399e-01 -2.82622052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:-3.93, Z:-0.28 [[ 8.83445053e-01 -4.68530450e-01 2.01402417e-03 1.02297304e+02] [ 4.68529228e-01 8.83447348e-01 1.07028958e-03 -3.93221488e+00] [-2.28074757e-03 -1.91284105e-06 9.99997399e-01 -2.79606412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:102.32, Y:-3.92, Z:-0.28 [[ 8.81395767e-01 -4.72374316e-01 2.00177857e-03 1.02318903e+02] [ 4.72373052e-01 8.81398040e-01 1.09272253e-03 -3.91621220e+00] [-2.28053776e-03 -1.75347647e-05 9.99997399e-01 -2.84873154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.35, Y:-3.90, Z:-0.28 [[ 8.83262760e-01 -4.68874104e-01 1.99312378e-03 1.02347750e+02] [ 4.68872795e-01 8.83265007e-01 1.10856120e-03 -3.90486820e+00] [-2.28023212e-03 -4.46293042e-05 9.99997399e-01 -2.80198100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.37, Y:-3.89, Z:-0.28 [[ 8.83335947e-01 -4.68736171e-01 2.00143194e-03 1.02372463e+02] [ 4.68734897e-01 8.83338214e-01 1.09335272e-03 -3.89138693e+00] [-2.28043529e-03 -2.76567648e-05 9.99997399e-01 -2.78929823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.40, Y:-3.88, Z:-0.28 [[ 8.83201762e-01 -4.68988959e-01 2.00111817e-03 1.02397532e+02] [ 4.68987684e-01 8.83204028e-01 1.09392671e-03 -3.87760358e+00] [-2.28043517e-03 -2.76582238e-05 9.99997399e-01 -2.78994777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:-3.86, Z:-0.28 [[ 8.83313695e-01 -4.68778106e-01 2.00080493e-03 1.02421732e+02] [ 4.68776829e-01 8.83315961e-01 1.09449933e-03 -3.86390658e+00] [-2.28042025e-03 -2.88552613e-05 9.99997399e-01 -2.79167381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:-3.85, Z:-0.28 [[ 8.84079546e-01 -4.67332167e-01 2.00048917e-03 1.02447103e+02] [ 4.67330885e-01 8.84081809e-01 1.09507616e-03 -3.84937562e+00] [-2.28036040e-03 -3.32440602e-05 9.99997399e-01 -2.79927761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:-3.84, Z:-0.28 [[ 8.84382070e-01 -4.66759416e-01 2.00021442e-03 1.02471421e+02] [ 4.66758132e-01 8.84384332e-01 1.09557778e-03 -3.83574603e+00] [-2.28032953e-03 -3.52929961e-05 9.99997399e-01 -2.80668792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:-3.82, Z:-0.28 [[ 8.84651806e-01 -4.66247983e-01 2.00006838e-03 1.02497022e+02] [ 4.66246697e-01 8.84654066e-01 1.09584432e-03 -3.82163514e+00] [-2.28030383e-03 -3.69153775e-05 9.99997399e-01 -2.80516080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:-3.81, Z:-0.28 [[ 8.84963640e-01 -4.65655835e-01 1.99979599e-03 1.02521308e+02] [ 4.65654546e-01 8.84965899e-01 1.09634118e-03 -3.80819466e+00] [-2.28026892e-03 -3.90079900e-05 9.99997399e-01 -2.80592313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:-3.79, Z:-0.28 [[ 8.84637686e-01 -4.66274777e-01 1.99948392e-03 1.02546077e+02] [ 4.66273488e-01 8.84639944e-01 1.09691003e-03 -3.79237268e+00] [-2.28028482e-03 -3.80616079e-05 9.99997399e-01 -2.80104665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:-3.78, Z:-0.28 [[ 8.85889503e-01 -4.63892013e-01 1.99716829e-03 1.02571753e+02] [ 4.63890709e-01 8.85891753e-01 1.10112834e-03 -3.78018688e+00] [-2.28007956e-03 -4.90102261e-05 9.99997399e-01 -2.79585118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:102.60, Y:-3.77, Z:-0.28 [[ 8.85976480e-01 -4.63725868e-01 1.99914955e-03 1.02596173e+02] [ 4.63724572e-01 8.85978734e-01 1.09751945e-03 -3.76584790e+00] [-2.28015215e-03 -4.53216459e-05 9.99997399e-01 -2.80843803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:-3.75, Z:-0.28 [[ 8.86516585e-01 -4.62692499e-01 1.99905217e-03 1.02621737e+02] [ 4.62691199e-01 8.86518838e-01 1.09769680e-03 -3.75275152e+00] [-2.28009348e-03 -4.81825703e-05 9.99997399e-01 -2.80083844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:-3.74, Z:-0.28 [[ 8.86544530e-01 -4.62638953e-01 1.99878546e-03 1.02646248e+02] [ 4.62637652e-01 8.86546782e-01 1.09818222e-03 -3.73891281e+00] [-2.28007869e-03 -4.88740278e-05 9.99997399e-01 -2.80488900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:-3.72, Z:-0.28 [[ 8.85973860e-01 -4.63730875e-01 1.99869064e-03 1.02671922e+02] [ 4.63729576e-01 8.85976114e-01 1.09835477e-03 -3.72404606e+00] [-2.28013318e-03 -4.62616514e-05 9.99997399e-01 -2.78773492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:102.70, Y:-3.71, Z:-0.28 [[ 8.86182417e-01 -4.63332192e-01 2.00096749e-03 1.02695806e+02] [ 4.63330901e-01 8.86184675e-01 1.09421142e-03 -3.71189775e+00] [-2.28021010e-03 -4.25608548e-05 9.99997399e-01 -2.79021510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:102.72, Y:-3.70, Z:-0.28 [[ 8.85704957e-01 -4.64244263e-01 1.99851252e-03 1.02720189e+02] [ 4.64242965e-01 8.85707210e-01 1.09867705e-03 -3.69886925e+00] [-2.28015147e-03 -4.53083329e-05 9.99997399e-01 -2.78416234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:-3.69, Z:-0.28 [[ 8.85285782e-01 -4.65043108e-01 1.99819893e-03 1.02745946e+02] [ 4.65041810e-01 8.85288036e-01 1.09924708e-03 -3.68591149e+00] [-2.28017889e-03 -4.39017629e-05 9.99997399e-01 -2.76943930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:102.77, Y:-3.67, Z:-0.28 [[ 8.84086468e-01 -4.67319084e-01 1.99792270e-03 1.02769650e+02] [ 4.67317791e-01 8.84088724e-01 1.09974893e-03 -3.67247048e+00] [-2.28027459e-03 -3.86083210e-05 9.99997399e-01 -2.77829216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:-3.66, Z:-0.28 [[ 8.81387095e-01 -4.72390513e-01 1.99778607e-03 1.02795215e+02] [ 4.72389233e-01 8.81389359e-01 1.09999707e-03 -3.65854316e+00] [-2.28045556e-03 -2.57905895e-05 9.99997399e-01 -2.76546245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:102.82, Y:-3.65, Z:-0.28 [[ 8.79535253e-01 -4.75829537e-01 1.99751208e-03 1.02818802e+02] [ 4.75828265e-01 8.79537521e-01 1.10049438e-03 -3.64507975e+00] [-2.28053456e-03 -1.74508903e-05 9.99997399e-01 -2.76889289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:102.85, Y:-3.63, Z:-0.27 [[ 8.76938578e-01 -4.80598316e-01 1.99729924e-03 1.02845168e+02] [ 4.80597055e-01 8.76940852e-01 1.10088054e-03 -3.63357980e+00] [-2.28059463e-03 -5.50848120e-06 9.99997399e-01 -2.74962455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:-3.62, Z:-0.27 [[ 8.75900223e-01 -4.82488146e-01 1.99702823e-03 1.02871041e+02] [ 4.82486889e-01 8.75902500e-01 1.10137194e-03 -3.62116814e+00] [-2.28060092e-03 -1.15199164e-06 9.99997399e-01 -2.74404556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:-3.61, Z:-0.28 [[ 8.74607333e-01 -4.84827832e-01 1.99675532e-03 1.02895757e+02] [ 4.84826580e-01 8.74609612e-01 1.10186649e-03 -3.60821378e+00] [-2.28059694e-03 4.37954650e-06 9.99997399e-01 -2.75492168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.92, Y:-3.59, Z:-0.28 [[ 8.72312709e-01 -4.88944324e-01 1.99644311e-03 1.02920285e+02] [ 4.88943081e-01 8.72314994e-01 1.10243188e-03 -3.59433320e+00] [-2.28055507e-03 1.44817029e-05 9.99997399e-01 -2.78732711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:-3.58, Z:-0.28 [[ 8.71427854e-01 -4.90519632e-01 1.99634626e-03 1.02945125e+02] [ 4.90518393e-01 8.71430141e-01 1.10260724e-03 -3.58058044e+00] [-2.28052680e-03 1.84019019e-05 9.99997399e-01 -2.79478298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:-3.57, Z:-0.28 [[ 8.70125337e-01 -4.92826454e-01 1.99603745e-03 1.02969845e+02] [ 4.92825220e-01 8.70127626e-01 1.10316600e-03 -3.56617055e+00] [-2.28047671e-03 2.38049093e-05 9.99997399e-01 -2.78867629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:-3.55, Z:-0.28 [[ 8.70510841e-01 -4.92145196e-01 1.99538375e-03 1.02998272e+02] [ 4.92143957e-01 8.70513128e-01 1.10434813e-03 -3.55411708e+00] [-2.28050737e-03 2.06690384e-05 9.99997399e-01 -2.80805761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:-3.54, Z:-0.28 [[ 8.68871769e-01 -4.95033162e-01 2.00445932e-03 1.03020691e+02] [ 4.95031969e-01 8.68874080e-01 1.08793966e-03 -3.54131909e+00] [-2.28018895e-03 4.69913892e-05 9.99997399e-01 -2.76786458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:-3.53, Z:-0.28 [[ 8.67963569e-01 -4.96623858e-01 1.99677395e-03 1.03044068e+02] [ 4.96622637e-01 8.67965865e-01 1.10181404e-03 -3.52714914e+00] [-2.28031876e-03 3.53086991e-05 9.99997399e-01 -2.76003707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:-3.51, Z:-0.28 [[ 8.68729484e-01 -4.95282866e-01 1.99164719e-03 1.03070375e+02] [ 4.95281620e-01 8.68731766e-01 1.11106498e-03 -3.51415846e+00] [-2.28049863e-03 2.12113392e-05 9.99997399e-01 -2.76451147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:-3.50, Z:-0.28 [[ 8.69088561e-01 -4.94652499e-01 1.99463382e-03 1.03094805e+02] [ 4.94651264e-01 8.69090849e-01 1.10567713e-03 -3.49967559e+00] [-2.28044396e-03 2.57167945e-05 9.99997399e-01 -2.76259168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:-3.49, Z:-0.28 [[ 8.69428865e-01 -4.94054116e-01 1.99453563e-03 1.03119619e+02] [ 4.94052879e-01 8.69431153e-01 1.10585423e-03 -3.48563745e+00] [-2.28046324e-03 2.39444844e-05 9.99997399e-01 -2.76710275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:-3.47, Z:-0.28 [[ 8.69927313e-01 -4.93175925e-01 1.99422248e-03 1.03144305e+02] [ 4.93174684e-01 8.69929599e-01 1.10641865e-03 -3.47165999e+00] [-2.28049220e-03 2.09962359e-05 9.99997399e-01 -2.76658128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:-3.46, Z:-0.28 [[ 8.70612892e-01 -4.91964650e-01 1.99390805e-03 1.03167910e+02] [ 4.91963405e-01 8.70615175e-01 1.10698500e-03 -3.45851116e+00] [-2.28052410e-03 1.71743776e-05 9.99997399e-01 -2.76970004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:-3.44, Z:-0.28 [[ 8.72605660e-01 -4.88421320e-01 1.99377182e-03 1.03191493e+02] [ 4.88420065e-01 8.72607938e-01 1.10723032e-03 -3.44498037e+00] [-2.28057601e-03 7.62271749e-06 9.99997399e-01 -2.77828561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:-3.43, Z:-0.28 [[ 8.74338864e-01 -4.85311835e-01 1.99363712e-03 1.03218988e+02] [ 4.85310571e-01 8.74341137e-01 1.10747279e-03 -3.43116298e+00] [-2.28058860e-03 -7.73327184e-07 9.99997399e-01 -2.78124149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:-3.42, Z:-0.28 [[ 8.75004671e-01 -4.84110339e-01 2.00141453e-03 1.03239457e+02] [ 4.84109104e-01 8.75006960e-01 1.09347072e-03 -3.41639220e+00] [-2.28061213e-03 1.21110075e-05 9.99997399e-01 -2.77503806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:-3.40, Z:-0.28 [[ 8.76471689e-01 -4.81449277e-01 1.99317825e-03 1.03262410e+02] [ 4.81448002e-01 8.76473955e-01 1.10828317e-03 -3.40219850e+00] [-2.28055095e-03 -1.17671377e-05 9.99997399e-01 -2.78674511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:-3.39, Z:-0.28 [[ 8.79638813e-01 -4.75638084e-01 1.99296124e-03 1.03286089e+02] [ 4.75636793e-01 8.79641070e-01 1.10867325e-03 -3.38645028e+00] [-2.28041778e-03 -2.73063315e-05 9.99997399e-01 -2.77897211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:103.31, Y:-3.37, Z:-0.28 [[ 8.81179750e-01 -4.72777197e-01 1.99264248e-03 1.03310420e+02] [ 4.72775897e-01 8.81182002e-01 1.10924589e-03 -3.37194011e+00] [-2.28030685e-03 -3.53716792e-05 9.99997399e-01 -2.77526070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:103.33, Y:-3.36, Z:-0.28 [[ 8.83960901e-01 -4.67556581e-01 1.99232166e-03 1.03333605e+02] [ 4.67555267e-01 8.83963145e-01 1.10982180e-03 -3.35859032e+00] [-2.28004341e-03 -4.95185895e-05 9.99997399e-01 -2.77600979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:103.36, Y:-3.34, Z:-0.28 [[ 8.84886276e-01 -4.65802866e-01 1.99218260e-03 1.03358220e+02] [ 4.65801546e-01 8.84888517e-01 1.11007138e-03 -3.34483625e+00] [-2.27993393e-03 -5.43251946e-05 9.99997399e-01 -2.77254301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:103.38, Y:-3.33, Z:-0.28 [[ 8.85549262e-01 -4.64541211e-01 1.99186635e-03 1.03383095e+02] [ 4.64539887e-01 8.85551500e-01 1.11063855e-03 -3.33108689e+00] [-2.27983761e-03 -5.82237770e-05 9.99997399e-01 -2.77097038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:103.41, Y:-3.32, Z:-0.28 [[ 8.85950974e-01 -4.63774628e-01 1.99154805e-03 1.03407162e+02] [ 4.63773301e-01 8.85953210e-01 1.11120901e-03 -3.31753067e+00] [-2.27976894e-03 -6.08498937e-05 9.99997399e-01 -2.77284662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:-3.30, Z:-0.28 [[ 8.86551974e-01 -4.62624721e-01 1.99122712e-03 1.03432024e+02] [ 4.62623389e-01 8.86554208e-01 1.11178381e-03 -3.30439686e+00] [-2.27966945e-03 -6.44658987e-05 9.99997399e-01 -2.77243287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:103.46, Y:-3.29, Z:-0.28 [[ 8.86241596e-01 -4.63219029e-01 1.99112752e-03 1.03456447e+02] [ 4.63217699e-01 8.86243831e-01 1.11196215e-03 -3.29042092e+00] [-2.27970651e-03 -6.31416057e-05 9.99997399e-01 -2.77721481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:-3.28, Z:-0.28 [[ 8.86266122e-01 -4.63172104e-01 1.99080841e-03 1.03481517e+02] [ 4.63170772e-01 8.86268356e-01 1.11253319e-03 -3.27710771e+00] [-2.27968483e-03 -6.39162073e-05 9.99997399e-01 -2.77105862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:103.50, Y:-3.26, Z:-0.28 [[ 8.85953932e-01 -4.63768982e-01 1.99048288e-03 1.03504857e+02] [ 4.63767651e-01 8.85956166e-01 1.11311529e-03 -3.26379347e+00] [-2.27970893e-03 -6.30472975e-05 9.99997399e-01 -2.77689529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:-3.25, Z:-0.28 [[ 8.85825413e-01 -4.64014415e-01 1.99034166e-03 1.03529965e+02] [ 4.64013083e-01 8.85827646e-01 1.11336775e-03 -3.25165464e+00] [-2.27971835e-03 -6.27048711e-05 9.99997399e-01 -2.76925452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:103.55, Y:-3.24, Z:-0.28 [[ 8.85410598e-01 -4.64805456e-01 1.99002286e-03 1.03554140e+02] [ 4.64804126e-01 8.85412832e-01 1.11393728e-03 -3.23846301e+00] [-2.27975590e-03 -6.13210389e-05 9.99997399e-01 -2.77556723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:103.58, Y:-3.23, Z:-0.28 [[ 8.85003968e-01 -4.65579228e-01 1.98988484e-03 1.03578028e+02] [ 4.65577899e-01 8.85006203e-01 1.11418377e-03 -3.22590548e+00] [-2.27980125e-03 -5.96106550e-05 9.99997399e-01 -2.78344526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:103.60, Y:-3.21, Z:-0.28 [[ 8.83841993e-01 -4.67781329e-01 1.98974798e-03 1.03604258e+02] [ 4.67780005e-01 8.83844231e-01 1.11442814e-03 -3.21327361e+00] [-2.27993595e-03 -5.42140688e-05 9.99997399e-01 -2.78149567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:103.63, Y:-3.20, Z:-0.28 [[ 8.83034565e-01 -4.69303738e-01 1.98946612e-03 1.03628756e+02] [ 4.69302416e-01 8.83036805e-01 1.11493108e-03 -3.20022706e+00] [-2.28001313e-03 -5.08614183e-05 9.99997399e-01 -2.78938563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:103.65, Y:-3.19, Z:-0.28 [[ 8.82150743e-01 -4.70962961e-01 1.98914616e-03 1.03653146e+02] [ 4.70961642e-01 8.82152984e-01 1.11550163e-03 -3.18729911e+00] [-2.28009117e-03 -4.72290527e-05 9.99997399e-01 -2.79238249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:-3.17, Z:-0.28 [[ 8.81380360e-01 -4.72403117e-01 1.98904735e-03 1.03678382e+02] [ 4.72401801e-01 8.81382603e-01 1.11567778e-03 -3.17463988e+00] [-2.28016140e-03 -4.37069318e-05 9.99997399e-01 -2.78736788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:103.70, Y:-3.16, Z:-0.28 [[ 8.79083074e-01 -4.76664445e-01 1.98873123e-03 1.03702160e+02] [ 4.76663140e-01 8.79085323e-01 1.11624100e-03 -3.16105088e+00] [-2.28033683e-03 -3.33136928e-05 9.99997399e-01 -2.79895910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-3.15, Z:-0.28 [[ 8.77675361e-01 -4.79251506e-01 1.98851613e-03 1.03727628e+02] [ 4.79250206e-01 8.77677614e-01 1.11662406e-03 -3.14836104e+00] [-2.28041985e-03 -2.70366574e-05 9.99997399e-01 -2.78946726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:-3.14, Z:-0.28 [[ 8.75574995e-01 -4.83078125e-01 1.98820017e-03 1.03751423e+02] [ 4.83076834e-01 8.75577252e-01 1.11718636e-03 -3.13648841e+00] [-2.28051113e-03 -1.77269993e-05 9.99997399e-01 -2.79228485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.5 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:103.78, Y:-3.12, Z:-0.28 [[ 8.72967925e-01 -4.87773564e-01 1.98806317e-03 1.03777406e+02] [ 4.87772284e-01 8.72970188e-01 1.11743009e-03 -3.12328519e+00] [-2.28057274e-03 -5.75851099e-06 9.99997399e-01 -2.79046826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:103.80, Y:-3.11, Z:-0.28 [[ 8.68115079e-01 -4.96359001e-01 1.98778913e-03 1.03803388e+02] [ 4.96357743e-01 8.68117355e-01 1.11791736e-03 -3.11241504e+00] [-2.28052259e-03 1.61736066e-05 9.99997399e-01 -2.77150332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:-3.10, Z:-0.28 [[ 8.65987815e-01 -5.00061150e-01 1.98769149e-03 1.03828496e+02] [ 5.00059901e-01 8.65990096e-01 1.11809095e-03 -3.09987503e+00] [-2.28043499e-03 2.57116654e-05 9.99997399e-01 -2.75568582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:-3.09, Z:-0.28 [[ 8.63948664e-01 -5.03575969e-01 1.98737445e-03 1.03852963e+02] [ 5.03574728e-01 8.63950949e-01 1.11865420e-03 -3.08617141e+00] [-2.28032141e-03 3.43317420e-05 9.99997399e-01 -2.75300720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61999999999999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:103.87, Y:-3.07, Z:-0.28 [[ 8.59734749e-01 -5.10736931e-01 1.98705560e-03 1.03870299e+02] [ 5.10735707e-01 8.59737044e-01 1.11922028e-03 -3.06919885e+00] [-2.27997244e-03 5.26276756e-05 9.99997399e-01 -2.81976549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:103.90, Y:-3.06, Z:-0.28 [[ 8.59836591e-01 -5.10565519e-01 1.97159668e-03 1.03901087e+02] [ 5.10564232e-01 8.59838851e-01 1.14662617e-03 -3.05566849e+00] [-2.28068321e-03 2.07156045e-05 9.99997399e-01 -2.75550417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:-3.04, Z:-0.28 [[ 8.58985739e-01 -5.11995658e-01 1.98676486e-03 1.03925148e+02] [ 5.11994437e-01 8.58988034e-01 1.11971246e-03 -3.04108427e+00] [-2.27989516e-03 5.53955261e-05 9.99997399e-01 -2.75611248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-3.03, Z:-0.28 [[ 8.58841574e-01 -5.12237450e-01 1.98644931e-03 1.03950036e+02] [ 5.12236228e-01 8.58843869e-01 1.12027200e-03 -3.02696972e+00] [-2.27989508e-03 5.53951354e-05 9.99997399e-01 -2.75676203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:-3.01, Z:-0.28 [[ 8.57889755e-01 -5.13829957e-01 1.98613378e-03 1.03973701e+02] [ 5.13828738e-01 8.57892052e-01 1.12083111e-03 -3.01224185e+00] [-2.27980499e-03 5.89830890e-05 9.99997399e-01 -2.76384755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:103.99, Y:-2.99, Z:-0.28 [[ 8.54500293e-01 -5.19447115e-01 1.98581937e-03 1.03991084e+02] [ 5.19445910e-01 8.54502598e-01 1.12138789e-03 -2.99410591e+00] [-2.27938952e-03 7.32994705e-05 9.99997399e-01 -2.84142855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.8 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:104.02, Y:-2.98, Z:-0.28 [[ 8.55269144e-01 -5.18180280e-01 1.97225395e-03 1.04021874e+02] [ 5.18179016e-01 8.55271416e-01 1.14537776e-03 -2.98085021e+00] [-2.28032460e-03 4.23743534e-05 9.99997399e-01 -2.76737001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:-2.96, Z:-0.28 [[ 8.52840169e-01 -5.22168271e-01 1.98547459e-03 1.04040193e+02] [ 5.22167072e-01 8.52842477e-01 1.12198235e-03 -2.96391731e+00] [-2.27916065e-03 7.98778413e-05 9.99997400e-01 -2.83205529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:104.07, Y:-2.95, Z:-0.28 [[ 8.54411241e-01 -5.19593632e-01 1.97216840e-03 1.04069349e+02] [ 5.19592371e-01 8.54413516e-01 1.14549278e-03 -2.95121932e+00] [-2.28023809e-03 4.60017487e-05 9.99997399e-01 -2.77017516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.09, Y:-2.93, Z:-0.28 [[ 8.51737280e-01 -5.23965329e-01 1.98500567e-03 1.04085179e+02] [ 5.23964133e-01 8.51739589e-01 1.12279763e-03 -2.93350307e+00] [-2.27901495e-03 8.37431747e-05 9.99997400e-01 -2.83781585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:-2.92, Z:-0.28 [[ 8.52877454e-01 -5.22107438e-01 1.96782247e-03 1.04108423e+02] [ 5.22106166e-01 8.52879723e-01 1.15311775e-03 -2.91695503e+00] [-2.28036723e-03 4.39441176e-05 9.99997399e-01 -2.84371326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:-2.90, Z:-0.28 [[ 8.55416171e-01 -5.17937546e-01 1.96773199e-03 1.04138457e+02] [ 5.17936263e-01 8.55418434e-01 1.15327668e-03 -2.90213881e+00] [-2.28055951e-03 3.26282333e-05 9.99997399e-01 -2.81048510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:104.16, Y:-2.89, Z:-0.28 [[ 8.57150546e-01 -5.15062153e-01 1.97997775e-03 1.04162495e+02] [ 5.15060912e-01 8.57152831e-01 1.13175324e-03 -2.88746351e+00] [-2.28006679e-03 4.97262424e-05 9.99997399e-01 -2.77175890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.19, Y:-2.87, Z:-0.28 [[ 8.58824404e-01 -5.12266254e-01 1.98213717e-03 1.04186126e+02] [ 5.12265014e-01 8.58826690e-01 1.12795853e-03 -2.87236625e+00] [-2.28012740e-03 4.66612164e-05 9.99997399e-01 -2.76961676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:-2.86, Z:-0.28 [[ 8.62536493e-01 -5.05990978e-01 1.98204260e-03 1.04207994e+02] [ 5.05989721e-01 8.62538770e-01 1.12812468e-03 -2.85540236e+00] [-2.28040950e-03 2.98444755e-05 9.99997399e-01 -2.77424133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:-2.84, Z:-0.28 [[ 8.64453713e-01 -5.02708514e-01 1.98191224e-03 1.04231028e+02] [ 5.02707248e-01 8.64455984e-01 1.12835366e-03 -2.83982662e+00] [-2.28050889e-03 2.09121358e-05 9.99997399e-01 -2.78308070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:-2.82, Z:-0.28 [[ 8.66151714e-01 -4.99777233e-01 1.98161801e-03 1.04254651e+02] [ 4.99775958e-01 8.66153980e-01 1.12887016e-03 -2.82389722e+00] [-2.28056993e-03 1.25922126e-05 9.99997399e-01 -2.77267205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:-2.81, Z:-0.28 [[ 8.69647125e-01 -4.93669881e-01 1.98129537e-03 1.04276793e+02] [ 4.93668589e-01 8.69649382e-01 1.12943614e-03 -2.80777808e+00] [-2.28060090e-03 -4.10760344e-06 9.99997399e-01 -2.80426013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:104.30, Y:-2.79, Z:-0.28 [[ 8.70848332e-01 -4.91547818e-01 1.98115537e-03 1.04300135e+02] [ 4.91546520e-01 8.70850586e-01 1.12968165e-03 -2.79256658e+00] [-2.28058287e-03 -9.95135513e-06 9.99997399e-01 -2.78970102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:-2.78, Z:-0.28 [[ 8.72353145e-01 -4.88872239e-01 1.98083642e-03 1.04324719e+02] [ 4.88870933e-01 8.72355394e-01 1.13024064e-03 -2.77831481e+00] [-2.28053661e-03 -1.75956274e-05 9.99997399e-01 -2.78355917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:104.35, Y:-2.76, Z:-0.28 [[ 8.73284312e-01 -4.87206925e-01 1.98051910e-03 1.04348166e+02] [ 4.87205614e-01 8.73286557e-01 1.13079640e-03 -2.76318861e+00] [-2.28049255e-03 -2.25867352e-05 9.99997399e-01 -2.77986295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:104.37, Y:-2.75, Z:-0.28 [[ 8.75685013e-01 -4.82878698e-01 1.98019406e-03 1.04371119e+02] [ 4.82877374e-01 8.75687251e-01 1.13136532e-03 -2.74761552e+00] [-2.28034291e-03 -3.45287428e-05 9.99997399e-01 -2.77380011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:104.39, Y:-2.73, Z:-0.28 [[ 8.76554692e-01 -4.81298193e-01 1.98009345e-03 1.04394964e+02] [ 4.81296864e-01 8.76556928e-01 1.13154137e-03 -2.73263645e+00] [-2.28027345e-03 -3.88451269e-05 9.99997399e-01 -2.77365940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:104.42, Y:-2.72, Z:-0.28 [[ 8.77437689e-01 -4.79686547e-01 1.97977284e-03 1.04419022e+02] [ 4.79685213e-01 8.77439921e-01 1.13210205e-03 -2.71802784e+00] [-2.28018585e-03 -4.36812469e-05 9.99997399e-01 -2.77139710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.44, Y:-2.70, Z:-0.28 [[ 8.78204659e-01 -4.78280941e-01 1.97945434e-03 1.04442887e+02] [ 4.78279602e-01 8.78206889e-01 1.13265867e-03 -2.70365346e+00] [-2.28009949e-03 -4.79734868e-05 9.99997399e-01 -2.77050044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36999999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:104.47, Y:-2.69, Z:-0.28 [[ 8.79169767e-01 -4.76504569e-01 1.97913194e-03 1.04466123e+02] [ 4.76503225e-01 8.79171993e-01 1.13322173e-03 -2.68859421e+00] [-2.27998270e-03 -5.32315300e-05 9.99997399e-01 -2.78765337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39999999999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:104.49, Y:-2.67, Z:-0.28 [[ 8.79551297e-01 -4.75799958e-01 1.97880689e-03 1.04490660e+02] [ 4.75798611e-01 8.79553521e-01 1.13378903e-03 -2.67419783e+00] [-2.27992334e-03 -5.57120456e-05 9.99997399e-01 -2.79613192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:104.51, Y:-2.66, Z:-0.28 [[ 8.79624818e-01 -4.75664026e-01 1.97848107e-03 1.04514721e+02] [ 4.75662676e-01 8.79627041e-01 1.13435731e-03 -2.66010689e+00] [-2.27989841e-03 -5.67192415e-05 9.99997399e-01 -2.80189449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:104.54, Y:-2.65, Z:-0.28 [[ 8.79620814e-01 -4.75671432e-01 1.97815545e-03 1.04538886e+02] [ 4.75670081e-01 8.79623036e-01 1.13492486e-03 -2.64652708e+00] [-2.27988244e-03 -5.73541625e-05 9.99997399e-01 -2.80538818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:104.56, Y:-2.63, Z:-0.28 [[ 8.79442629e-01 -4.76000788e-01 1.97782922e-03 1.04563214e+02] [ 4.75999437e-01 8.79444851e-01 1.13549309e-03 -2.63333821e+00] [-2.27988733e-03 -5.71554317e-05 9.99997399e-01 -2.81106224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.59, Y:-2.62, Z:-0.28 [[ 8.79049363e-01 -4.76726658e-01 1.97750128e-03 1.04586909e+02] [ 4.76725308e-01 8.79051586e-01 1.13606393e-03 -2.62060172e+00] [-2.27991760e-03 -5.59313686e-05 9.99997399e-01 -2.80749283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:-2.61, Z:-0.28 [[ 8.78614754e-01 -4.77527176e-01 1.97727884e-03 1.04611418e+02] [ 4.77525827e-01 8.78616977e-01 1.13645095e-03 -2.60763196e+00] [-2.27995697e-03 -5.43008551e-05 9.99997399e-01 -2.80493221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:104.64, Y:-2.59, Z:-0.28 [[ 8.77948806e-01 -4.78750443e-01 1.97695254e-03 1.04635543e+02] [ 4.78749095e-01 8.77951030e-01 1.13701829e-03 -2.59388433e+00] [-2.28001553e-03 -5.17796106e-05 9.99997399e-01 -2.81613155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:-2.58, Z:-0.28 [[ 8.77347381e-01 -4.79851712e-01 1.97662882e-03 1.04660264e+02] [ 4.79850367e-01 8.77349606e-01 1.13758078e-03 -2.58078726e+00] [-2.28006460e-03 -4.95674514e-05 9.99997399e-01 -2.81349690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.68, Y:-2.57, Z:-0.28 [[ 8.76267322e-01 -4.81821206e-01 1.97630309e-03 1.04683895e+02] [ 4.81819864e-01 8.76269549e-01 1.13814639e-03 -2.56829624e+00] [-2.28015728e-03 -4.50984001e-05 9.99997399e-01 -2.82496708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.71, Y:-2.55, Z:-0.28 [[ 8.75673023e-01 -4.82900457e-01 1.97616169e-03 1.04708735e+02] [ 4.82899117e-01 8.75675252e-01 1.13839184e-03 -2.55484705e+00] [-2.28020583e-03 -4.25722887e-05 9.99997399e-01 -2.82230414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.7 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:104.73, Y:-2.54, Z:-0.28 [[ 8.74980565e-01 -4.84154012e-01 1.97583714e-03 1.04733151e+02] [ 4.84152674e-01 8.74982795e-01 1.13895487e-03 -2.54169866e+00] [-2.28025307e-03 -3.99565377e-05 9.99997399e-01 -2.81346449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.76, Y:-2.53, Z:-0.28 [[ 8.73786123e-01 -4.86306395e-01 1.97550453e-03 1.04757939e+02] [ 4.86305061e-01 8.73788355e-01 1.13953149e-03 -2.52947711e+00] [-2.28033430e-03 -3.50089528e-05 9.99997399e-01 -2.80063410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:-2.52, Z:-0.28 [[ 8.73229199e-01 -4.87305720e-01 1.97540164e-03 1.04782847e+02] [ 4.87304388e-01 8.73231432e-01 1.13970981e-03 -2.51637112e+00] [-2.28036991e-03 -3.26059923e-05 9.99997399e-01 -2.78920742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:-2.50, Z:-0.28 [[ 8.72681381e-01 -4.88286091e-01 1.97507688e-03 1.04806232e+02] [ 4.88284760e-01 8.72683615e-01 1.14027234e-03 -2.50351491e+00] [-2.28039635e-03 -3.06944961e-05 9.99997399e-01 -2.78514541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:-2.49, Z:-0.28 [[ 8.72368610e-01 -4.88844666e-01 1.97493636e-03 1.04831981e+02] [ 4.88843337e-01 8.72370845e-01 1.14051566e-03 -2.48935193e+00] [-2.28041190e-03 -2.95155807e-05 9.99997399e-01 -2.78077705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:-2.48, Z:-0.28 [[ 8.72220959e-01 -4.89108061e-01 1.97566305e-03 1.04855125e+02] [ 4.89106735e-01 8.72223196e-01 1.13925775e-03 -2.47621967e+00] [-2.28043929e-03 -2.73743842e-05 9.99997399e-01 -2.78245525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-2.46, Z:-0.28 [[ 8.72152075e-01 -4.89230885e-01 1.97448180e-03 1.04879316e+02] [ 4.89229555e-01 8.72154310e-01 1.14130134e-03 -2.46216839e+00] [-2.28041268e-03 -2.94134730e-05 9.99997399e-01 -2.78643474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.90, Y:-2.45, Z:-0.28 [[ 8.72674352e-01 -4.88298656e-01 1.97415695e-03 1.04902600e+02] [ 4.88297322e-01 8.72676585e-01 1.14186298e-03 -2.44802792e+00] [-2.28037070e-03 -3.24989838e-05 9.99997399e-01 -2.80129792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.93, Y:-2.43, Z:-0.28 [[ 8.73060952e-01 -4.87607093e-01 1.97393610e-03 1.04926450e+02] [ 4.87605756e-01 8.73063183e-01 1.14224462e-03 -2.43385818e+00] [-2.28033752e-03 -3.47465713e-05 9.99997399e-01 -2.80923489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:-2.42, Z:-0.28 [[ 8.73499949e-01 -4.86820237e-01 1.97361062e-03 1.04950895e+02] [ 4.86818897e-01 8.73502178e-01 1.14280673e-03 -2.42005650e+00] [-2.28029462e-03 -3.74506798e-05 9.99997399e-01 -2.81117641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:-2.41, Z:-0.28 [[ 8.73914315e-01 -4.86075999e-01 1.97328445e-03 1.04974118e+02] [ 4.86074656e-01 8.73916541e-01 1.14336966e-03 -2.40690856e+00] [-2.28025047e-03 -4.00435525e-05 9.99997399e-01 -2.82300524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:-2.39, Z:-0.28 [[ 8.74424733e-01 -4.85157185e-01 1.97314286e-03 1.04999157e+02] [ 4.85155839e-01 8.74426958e-01 1.14361395e-03 -2.39312071e+00] [-2.28020183e-03 -4.27225437e-05 9.99997399e-01 -2.83108522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-2.38, Z:-0.28 [[ 8.74420550e-01 -4.85164725e-01 1.97281629e-03 1.05023421e+02] [ 4.85163378e-01 8.74422774e-01 1.14417702e-03 -2.37973851e+00] [-2.28018982e-03 -4.33536832e-05 9.99997399e-01 -2.83504592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:105.05, Y:-2.37, Z:-0.28 [[ 8.74284486e-01 -4.85409875e-01 1.97248687e-03 1.05047429e+02] [ 4.85408527e-01 8.74286710e-01 1.14474464e-03 -2.36610360e+00] [-2.28018941e-03 -4.33705318e-05 9.99997399e-01 -2.84327600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:105.07, Y:-2.35, Z:-0.28 [[ 8.74066526e-01 -4.85802243e-01 1.97215986e-03 1.05071535e+02] [ 4.85800895e-01 8.74068749e-01 1.14530773e-03 -2.35256974e+00] [-2.28019637e-03 -4.29981205e-05 9.99997399e-01 -2.84376569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:-2.34, Z:-0.28 [[ 8.73520599e-01 -4.86783191e-01 1.97182800e-03 1.05096825e+02] [ 4.86781844e-01 8.73522824e-01 1.14587879e-03 -2.34035356e+00] [-2.28023130e-03 -4.10986589e-05 9.99997399e-01 -2.83050131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:105.12, Y:-2.33, Z:-0.28 [[ 8.72964258e-01 -4.87780192e-01 1.97167429e-03 1.05121036e+02] [ 4.87778847e-01 8.72966484e-01 1.14614323e-03 -2.32731211e+00] [-2.28027153e-03 -3.88010589e-05 9.99997399e-01 -2.83282127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:105.15, Y:-2.31, Z:-0.28 [[ 8.72188560e-01 -4.89165850e-01 1.97153280e-03 1.05146073e+02] [ 4.89164508e-01 8.72190787e-01 1.14638656e-03 -2.31385828e+00] [-2.28032590e-03 -3.54613699e-05 9.99997399e-01 -2.82475279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:105.17, Y:-2.30, Z:-0.28 [[ 8.71431851e-01 -4.90512633e-01 1.97120108e-03 1.05170803e+02] [ 4.90511293e-01 8.71434080e-01 1.14695665e-03 -2.30062365e+00] [-2.28036853e-03 -3.25981685e-05 9.99997399e-01 -2.82294910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:-2.29, Z:-0.28 [[ 8.70965095e-01 -4.91340940e-01 1.97086588e-03 1.05195581e+02] [ 4.91339601e-01 8.70967324e-01 1.14753236e-03 -2.28809850e+00] [-2.28038941e-03 -3.10961800e-05 9.99997399e-01 -2.81272539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.3 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:105.22, Y:-2.27, Z:-0.28 [[ 8.69403074e-01 -4.94099596e-01 1.97076204e-03 1.05216434e+02] [ 4.94098264e-01 8.69405307e-01 1.14771066e-03 -2.27360907e+00] [-2.28047435e-03 -2.40730731e-05 9.99997399e-01 -2.81980346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:105.24, Y:-2.26, Z:-0.28 [[ 8.69877861e-01 -4.93263282e-01 1.95977463e-03 1.05244809e+02] [ 4.93261905e-01 8.69880068e-01 1.16655257e-03 -2.26160997e+00] [-2.28018643e-03 -4.80760894e-05 9.99997399e-01 -2.83063359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:105.27, Y:-2.25, Z:-0.28 [[ 8.69630284e-01 -4.93699592e-01 1.97029886e-03 1.05269355e+02] [ 4.93698257e-01 8.69632515e-01 1.14849777e-03 -2.24810158e+00] [-2.28044884e-03 -2.60353296e-05 9.99997399e-01 -2.83638008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:-2.24, Z:-0.28 [[ 8.69381279e-01 -4.94137946e-01 1.96998492e-03 1.05294756e+02] [ 4.94136611e-01 8.69383511e-01 1.14903603e-03 -2.23545402e+00] [-2.28045471e-03 -2.55087396e-05 9.99997399e-01 -2.84463950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:-2.22, Z:-0.29 [[ 8.69185696e-01 -4.94481897e-01 1.96967000e-03 1.05319953e+02] [ 4.94480561e-01 8.69187927e-01 1.14957560e-03 -2.22209692e+00] [-2.28045771e-03 -2.52311398e-05 9.99997399e-01 -2.85145826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:105.34, Y:-2.21, Z:-0.29 [[ 8.69032314e-01 -4.94751411e-01 1.96935129e-03 1.05344306e+02] [ 4.94750074e-01 8.69034545e-01 1.15012132e-03 -2.20948093e+00] [-2.28045845e-03 -2.51558935e-05 9.99997399e-01 -2.85946266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:105.37, Y:-2.20, Z:-0.29 [[ 8.68809205e-01 -4.95143098e-01 1.96925259e-03 1.05369299e+02] [ 4.95141762e-01 8.68811436e-01 1.15029030e-03 -2.19660419e+00] [-2.28046747e-03 -2.43236030e-05 9.99997399e-01 -2.86417921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50999999999999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:105.39, Y:-2.18, Z:-0.29 [[ 8.68655601e-01 -4.95412525e-01 1.96893793e-03 1.05394621e+02] [ 4.95411189e-01 8.68657832e-01 1.15082865e-03 -2.18325827e+00] [-2.28046828e-03 -2.42398749e-05 9.99997399e-01 -2.87768111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:105.42, Y:-2.17, Z:-0.29 [[ 8.68520336e-01 -4.95649625e-01 1.96866240e-03 1.05419106e+02] [ 4.95648288e-01 8.68522567e-01 1.15129979e-03 -2.17035269e+00] [-2.28046903e-03 -2.41631300e-05 9.99997399e-01 -2.87328688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:105.44, Y:-2.16, Z:-0.29 [[ 8.68617375e-01 -4.95479547e-01 1.96833691e-03 1.05444225e+02] [ 4.95478208e-01 8.68619605e-01 1.15185600e-03 -2.15819693e+00] [-2.28045712e-03 -2.52540874e-05 9.99997399e-01 -2.88327487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.6 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:105.47, Y:-2.15, Z:-0.29 [[ 8.68864916e-01 -4.95045337e-01 1.96801178e-03 1.05468003e+02] [ 4.95043996e-01 8.68867144e-01 1.15241123e-03 -2.14515121e+00] [-2.28043658e-03 -2.70372669e-05 9.99997399e-01 -2.89626286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:105.49, Y:-2.13, Z:-0.29 [[ 8.68732498e-01 -4.95277674e-01 1.96787085e-03 1.05492635e+02] [ 4.95276333e-01 8.68734727e-01 1.15265184e-03 -2.13060889e+00] [-2.28044047e-03 -2.67062551e-05 9.99997399e-01 -2.89691393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:-2.12, Z:-0.29 [[ 8.69041266e-01 -4.94735695e-01 1.96756246e-03 1.05517222e+02] [ 4.94734352e-01 8.69043492e-01 1.15317801e-03 -2.11661826e+00] [-2.28041568e-03 -2.87385403e-05 9.99997399e-01 -2.87573638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:-2.10, Z:-0.29 [[ 8.68931983e-01 -4.94927610e-01 1.96723740e-03 1.05541219e+02] [ 4.94926266e-01 8.68934210e-01 1.15373228e-03 -2.10221381e+00] [-2.28041383e-03 -2.88774161e-05 9.99997399e-01 -2.87496519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:105.56, Y:-2.09, Z:-0.29 [[ 8.68447988e-01 -4.95776384e-01 1.96691166e-03 1.05564405e+02] [ 4.95775041e-01 8.68450215e-01 1.15428733e-03 -2.08752416e+00] [-2.28043326e-03 -2.72928045e-05 9.99997399e-01 -2.89498429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:-2.07, Z:-0.29 [[ 8.68223266e-01 -4.96169823e-01 1.96677234e-03 1.05588148e+02] [ 4.96168480e-01 8.68225493e-01 1.15452468e-03 -2.07228320e+00] [-2.28044219e-03 -2.65347457e-05 9.99997399e-01 -2.87779990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:105.61, Y:-2.06, Z:-0.29 [[ 8.68104598e-01 -4.96377417e-01 1.96644558e-03 1.05612227e+02] [ 4.96376074e-01 8.68106825e-01 1.15508097e-03 -2.05679374e+00] [-2.28044093e-03 -2.66345638e-05 9.99997399e-01 -2.88224837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:-2.04, Z:-0.29 [[ 8.68107516e-01 -4.96372315e-01 1.96611554e-03 1.05635942e+02] [ 4.96370971e-01 8.68109742e-01 1.15564247e-03 -2.04151256e+00] [-2.28043298e-03 -2.72992371e-05 9.99997399e-01 -2.88152348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:-2.03, Z:-0.29 [[ 8.69079466e-01 -4.94668594e-01 1.96578802e-03 1.05658887e+02] [ 4.94667243e-01 8.69081689e-01 1.15619932e-03 -2.02640878e+00] [-2.28036586e-03 -3.24181520e-05 9.99997399e-01 -2.87943277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:-2.01, Z:-0.29 [[ 8.69881500e-01 -4.93256841e-01 1.96568603e-03 1.05682902e+02] [ 4.93255487e-01 8.69883720e-01 1.15637268e-03 -2.01119533e+00] [-2.28030702e-03 -3.63217827e-05 9.99997399e-01 -2.87719655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:-2.00, Z:-0.29 [[ 8.70705148e-01 -4.91801466e-01 1.96536311e-03 1.05706340e+02] [ 4.91800107e-01 8.70707365e-01 1.15692126e-03 -1.99622536e+00] [-2.28023171e-03 -4.07715027e-05 9.99997399e-01 -2.87793171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:-1.98, Z:-0.29 [[ 8.71527112e-01 -4.90343381e-01 1.96503381e-03 1.05729729e+02] [ 4.90342017e-01 8.71529326e-01 1.15748030e-03 -1.98129028e+00] [-2.28014740e-03 -4.52368211e-05 9.99997399e-01 -2.88166518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:105.75, Y:-1.97, Z:-0.29 [[ 8.72267109e-01 -4.89025797e-01 1.96469872e-03 1.05752889e+02] [ 4.89024428e-01 8.72269320e-01 1.15804880e-03 -1.96594310e+00] [-2.28006216e-03 -4.93422134e-05 9.99997399e-01 -2.89679605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:-1.95, Z:-0.29 [[ 8.73016098e-01 -4.87687434e-01 1.96459503e-03 1.05775876e+02] [ 4.87686061e-01 8.73018307e-01 1.15822469e-03 -1.95080638e+00] [-2.27997905e-03 -5.30431899e-05 9.99997399e-01 -2.89409871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.80, Y:-1.93, Z:-0.29 [[ 8.74621639e-01 -4.84802156e-01 1.96444106e-03 1.05798759e+02] [ 4.84800775e-01 8.74623843e-01 1.15848577e-03 -1.93347392e+00] [-2.27978339e-03 -6.08741707e-05 9.99997399e-01 -2.90386726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:105.82, Y:-1.92, Z:-0.29 [[ 8.75330904e-01 -4.83520373e-01 1.96411095e-03 1.05820954e+02] [ 4.83518988e-01 8.75333105e-01 1.15904517e-03 -1.91841860e+00] [-2.27967329e-03 -6.48631196e-05 9.99997399e-01 -2.91386772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:105.84, Y:-1.90, Z:-0.29 [[ 8.76047949e-01 -4.82220006e-01 1.96396754e-03 1.05844290e+02] [ 4.82218618e-01 8.76050147e-01 1.15928813e-03 -1.90288326e+00] [-2.27956598e-03 -6.85302715e-05 9.99997399e-01 -2.91284867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:105.87, Y:-1.89, Z:-0.29 [[ 8.77334542e-01 -4.79875239e-01 1.96363875e-03 1.05866504e+02] [ 4.79873843e-01 8.77336737e-01 1.15984479e-03 -1.88598807e+00] [-2.27935320e-03 -7.52730227e-05 9.99997399e-01 -2.91485776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:-1.87, Z:-0.29 [[ 8.77959432e-01 -4.78731012e-01 1.96330710e-03 1.05890686e+02] [ 4.78729612e-01 8.77961623e-01 1.16040591e-03 -1.87060010e+00] [-2.27923058e-03 -7.88960662e-05 9.99997399e-01 -2.90255400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:105.91, Y:-1.86, Z:-0.29 [[ 8.78254152e-01 -4.78190121e-01 1.96301145e-03 1.05913107e+02] [ 4.78188719e-01 8.78256342e-01 1.16090583e-03 -1.85572315e+00] [-2.27916095e-03 -8.08804403e-05 9.99997399e-01 -2.91320096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:105.94, Y:-1.84, Z:-0.29 [[ 8.78358429e-01 -4.77998554e-01 1.96286510e-03 1.05936412e+02] [ 4.77997151e-01 8.78360618e-01 1.16115322e-03 -1.84060626e+00] [-2.27913296e-03 -8.16647948e-05 9.99997399e-01 -2.91352745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22999999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:105.96, Y:-1.83, Z:-0.29 [[ 8.78108823e-01 -4.78456938e-01 1.96276123e-03 1.05959672e+02] [ 4.78455536e-01 8.78111013e-01 1.16132878e-03 -1.82555044e+00] [-2.27916806e-03 -8.06790752e-05 9.99997399e-01 -2.91055595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:105.98, Y:-1.81, Z:-0.29 [[ 8.77469487e-01 -4.79628448e-01 1.96242548e-03 1.05983239e+02] [ 4.79627047e-01 8.77471678e-01 1.16189584e-03 -1.80988642e+00] [-2.27925108e-03 -7.82958074e-05 9.99997399e-01 -2.90238228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:106.01, Y:-1.80, Z:-0.29 [[ 8.76748254e-01 -4.80945578e-01 1.96226920e-03 1.06006917e+02] [ 4.80944180e-01 8.76750447e-01 1.16215973e-03 -1.79545304e+00] [-2.27935598e-03 -7.51795612e-05 9.99997399e-01 -2.90172705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:106.03, Y:-1.78, Z:-0.29 [[ 8.75753482e-01 -4.82754586e-01 1.96193058e-03 1.06030828e+02] [ 4.82753191e-01 8.75755677e-01 1.16273109e-03 -1.78038566e+00] [-2.27948561e-03 -7.11375474e-05 9.99997399e-01 -2.90413210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:-1.77, Z:-0.29 [[ 8.75180461e-01 -4.83792634e-01 1.96159047e-03 1.06054995e+02] [ 4.83791240e-01 8.75182657e-01 1.16330459e-03 -1.76635218e+00] [-2.27954815e-03 -6.91011628e-05 9.99997399e-01 -2.89101026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:106.08, Y:-1.75, Z:-0.29 [[ 8.72429551e-01 -4.88735953e-01 1.96148452e-03 1.06078633e+02] [ 4.88734571e-01 8.72431754e-01 1.16348321e-03 -1.75125481e+00] [-2.27989746e-03 -5.64118362e-05 9.99997399e-01 -2.91550985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:106.10, Y:-1.74, Z:-0.29 [[ 8.71106151e-01 -4.91090855e-01 1.96114888e-03 1.06103365e+02] [ 4.91089478e-01 8.71108357e-01 1.16404869e-03 -1.73705526e+00] [-2.28002684e-03 -5.09103981e-05 9.99997399e-01 -2.91037720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:106.13, Y:-1.72, Z:-0.29 [[ 8.69325385e-01 -4.94236310e-01 1.96081121e-03 1.06126798e+02] [ 4.94234940e-01 8.69327595e-01 1.16461721e-03 -1.72309196e+00] [-2.28018340e-03 -4.33298940e-05 9.99997399e-01 -2.92357928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:106.15, Y:-1.71, Z:-0.29 [[ 8.67435429e-01 -4.97545910e-01 1.96066507e-03 1.06150728e+02] [ 4.97544548e-01 8.67437644e-01 1.16486318e-03 -1.70875081e+00] [-2.28032760e-03 -3.49253715e-05 9.99997399e-01 -2.93192985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:-1.70, Z:-0.29 [[ 8.64591173e-01 -5.02472148e-01 1.96033062e-03 1.06175594e+02] [ 5.02470797e-01 8.64593396e-01 1.16542575e-03 -1.69524440e+00] [-2.28048289e-03 -2.26079274e-05 9.99997399e-01 -2.92231734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:106.20, Y:-1.68, Z:-0.29 [[ 8.62846522e-01 -5.05462201e-01 1.96022721e-03 1.06199885e+02] [ 5.05460858e-01 8.62848748e-01 1.16559966e-03 -1.68083815e+00] [-2.28054617e-03 -1.49154809e-05 9.99997399e-01 -2.93387879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:106.22, Y:-1.67, Z:-0.29 [[ 8.61360667e-01 -5.07990119e-01 1.95989651e-03 1.06224716e+02] [ 5.07988781e-01 8.61362896e-01 1.16615546e-03 -1.66667014e+00] [-2.28057758e-03 -8.87500285e-06 9.99997399e-01 -2.93994187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.25, Y:-1.65, Z:-0.29 [[ 8.60493376e-01 -5.09457859e-01 1.95956495e-03 1.06249347e+02] [ 5.09456524e-01 8.60495607e-01 1.16671233e-03 -1.65315481e+00] [-2.28058780e-03 -5.63508343e-06 9.99997399e-01 -2.92631518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:-1.64, Z:-0.29 [[ 8.59449463e-01 -5.11216962e-01 1.95922884e-03 1.06273111e+02] [ 5.11215629e-01 8.59451696e-01 1.16727648e-03 -1.63972444e+00] [-2.28059408e-03 -1.62674247e-06 9.99997399e-01 -2.92306372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.30, Y:-1.63, Z:-0.29 [[ 8.57885316e-01 -5.13837471e-01 1.95900057e-03 1.06297439e+02] [ 5.13836145e-01 8.57887553e-01 1.16765945e-03 -1.62627227e+00] [-2.28058938e-03 4.88740857e-06 9.99997399e-01 -2.93390558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:-1.61, Z:-0.29 [[ 8.57567366e-01 -5.14367938e-01 1.95866623e-03 1.06320815e+02] [ 5.14366611e-01 8.57569603e-01 1.16822001e-03 -1.61315144e+00] [-2.28058754e-03 5.64515791e-06 9.99997399e-01 -2.93240213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:-1.60, Z:-0.29 [[ 8.57227514e-01 -5.14934126e-01 1.95852149e-03 1.06345255e+02] [ 5.14932800e-01 8.57229751e-01 1.16846261e-03 -1.59921769e+00] [-2.28058417e-03 6.86865533e-06 9.99997399e-01 -2.93839662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:-1.59, Z:-0.29 [[ 8.56896769e-01 -5.15484328e-01 1.95818680e-03 1.06368320e+02] [ 5.15483003e-01 8.56899006e-01 1.16902324e-03 -1.58579195e+00] [-2.28058148e-03 7.67977372e-06 9.99997399e-01 -2.93998286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:-1.57, Z:-0.29 [[ 8.56662082e-01 -5.15874252e-01 1.95804190e-03 1.06392890e+02] [ 5.15872927e-01 8.56664319e-01 1.16926589e-03 -1.57156666e+00] [-2.28057880e-03 8.43505506e-06 9.99997399e-01 -2.94648914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.8 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.42, Y:-1.56, Z:-0.30 [[ 8.56270875e-01 -5.16523336e-01 1.95772045e-03 1.06417137e+02] [ 5.16522011e-01 8.56273113e-01 1.16980386e-03 -1.55791539e+00] [-2.28057437e-03 9.53673316e-06 9.99997399e-01 -2.95727921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:-1.54, Z:-0.30 [[ 8.56256102e-01 -5.16547826e-01 1.95738711e-03 1.06441658e+02] [ 5.16546501e-01 8.56258339e-01 1.17036135e-03 -1.54407572e+00] [-2.28057665e-03 8.95242023e-06 9.99997399e-01 -2.95328751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:106.46, Y:-1.53, Z:-0.30 [[ 8.55509111e-01 -5.17784058e-01 1.95704893e-03 1.06464799e+02] [ 5.17782734e-01 8.55511350e-01 1.17092657e-03 -1.53070500e+00] [-2.28056468e-03 1.15878008e-05 9.99997399e-01 -2.96303291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:106.49, Y:-1.52, Z:-0.30 [[ 8.55000782e-01 -5.18623017e-01 1.95690235e-03 1.06490907e+02] [ 5.18621695e-01 8.55003021e-01 1.17117150e-03 -1.51601401e+00] [-2.28055392e-03 1.35394686e-05 9.99997399e-01 -2.97145444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:106.51, Y:-1.50, Z:-0.30 [[ 8.52733009e-01 -5.22343347e-01 1.96035279e-03 1.06509503e+02] [ 5.22342048e-01 8.52735262e-01 1.16541031e-03 -1.49956353e+00] [-2.28040627e-03 3.01908538e-05 9.99997399e-01 -2.98883872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:106.54, Y:-1.49, Z:-0.30 [[ 8.54496359e-01 -5.19453747e-01 1.94331100e-03 1.06539310e+02] [ 5.19452375e-01 8.54498569e-01 1.19382438e-03 -1.48783051e+00] [-2.28069302e-03 -1.06610775e-05 9.99997399e-01 -2.95928979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:-1.47, Z:-0.29 [[ 8.54531986e-01 -5.19395090e-01 1.95604566e-03 1.06563808e+02] [ 5.19393766e-01 8.54534224e-01 1.17258101e-03 -1.47421581e+00] [-2.28054078e-03 1.39499405e-05 9.99997399e-01 -2.93457010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:-1.46, Z:-0.29 [[ 8.51700913e-01 -5.24024551e-01 1.95571099e-03 1.06583532e+02] [ 5.24023239e-01 8.51703158e-01 1.17313892e-03 -1.45742393e+00] [-2.28043883e-03 2.56745180e-05 9.99997399e-01 -2.93903678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.61, Y:-1.44, Z:-0.29 [[ 8.53297543e-01 -5.21420681e-01 1.94342322e-03 1.06613290e+02] [ 5.21419315e-01 8.53299756e-01 1.19360326e-03 -1.44468881e+00] [-2.28069198e-03 -5.16032143e-06 9.99997399e-01 -2.91737148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:-1.43, Z:-0.29 [[ 8.53063725e-01 -5.21803083e-01 1.95543576e-03 1.06637130e+02] [ 5.21801763e-01 8.53065966e-01 1.17358793e-03 -1.43032623e+00] [-2.28049749e-03 1.92045368e-05 9.99997399e-01 -2.91211619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.1 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.66, Y:-1.42, Z:-0.29 [[ 8.52418289e-01 -5.22856805e-01 1.95509972e-03 1.06660665e+02] [ 5.22855487e-01 8.52420531e-01 1.17414747e-03 -1.41527429e+00] [-2.28047814e-03 2.13698418e-05 9.99997399e-01 -2.91707807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:106.68, Y:-1.40, Z:-0.29 [[ 8.51827814e-01 -5.23818246e-01 1.95476240e-03 1.06683495e+02] [ 5.23816929e-01 8.51830056e-01 1.17470879e-03 -1.40094090e+00] [-2.28045926e-03 2.32880141e-05 9.99997399e-01 -2.91871855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:106.71, Y:-1.39, Z:-0.29 [[ 8.50977354e-01 -5.25198746e-01 1.95461612e-03 1.06707447e+02] [ 5.25197432e-01 8.50979598e-01 1.17495213e-03 -1.38625952e+00] [-2.28042183e-03 2.67017163e-05 9.99997399e-01 -2.94613115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:-1.37, Z:-0.29 [[ 8.51026356e-01 -5.25119341e-01 1.95428153e-03 1.06731564e+02] [ 5.25118026e-01 8.51028599e-01 1.17550839e-03 -1.37227525e+00] [-2.28043166e-03 2.58398339e-05 9.99997399e-01 -2.93575444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:-1.36, Z:-0.29 [[ 8.50590437e-01 -5.25825151e-01 1.95394474e-03 1.06755651e+02] [ 5.25823837e-01 8.50592681e-01 1.17606795e-03 -1.35762925e+00] [-2.28041720e-03 2.70785680e-05 9.99997399e-01 -2.94775317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:106.78, Y:-1.34, Z:-0.30 [[ 8.49859743e-01 -5.27005314e-01 1.95360991e-03 1.06779948e+02] [ 5.27004001e-01 8.49861988e-01 1.17662388e-03 -1.34274845e+00] [-2.28038584e-03 2.95949662e-05 9.99997399e-01 -2.97093378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:-1.33, Z:-0.30 [[ 8.49377556e-01 -5.27782106e-01 1.95327574e-03 1.06804230e+02] [ 5.27780794e-01 8.49379802e-01 1.17717835e-03 -1.32869370e+00] [-2.28036663e-03 3.10325481e-05 9.99997399e-01 -2.97021809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:-1.31, Z:-0.30 [[ 8.49007086e-01 -5.28377851e-01 1.95293960e-03 1.06828090e+02] [ 5.28376540e-01 8.49009332e-01 1.17773575e-03 -1.31418839e+00] [-2.28035343e-03 3.19814669e-05 9.99997399e-01 -2.97516734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:106.85, Y:-1.30, Z:-0.30 [[ 8.48370622e-01 -5.29399165e-01 1.95259985e-03 1.06850798e+02] [ 5.29397854e-01 8.48372868e-01 1.17829877e-03 -1.29988579e+00] [-2.28032312e-03 3.40681074e-05 9.99997399e-01 -2.99419492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:-1.28, Z:-0.30 [[ 8.46898483e-01 -5.31751020e-01 1.95245292e-03 1.06872196e+02] [ 5.31749715e-01 8.46900733e-01 1.17854217e-03 -1.28371633e+00] [-2.28022481e-03 4.01107111e-05 9.99997399e-01 -3.00169655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:-1.27, Z:-0.30 [[ 8.46916151e-01 -5.31722910e-01 1.94439429e-03 1.06897007e+02] [ 5.31721575e-01 8.46918382e-01 1.19188470e-03 -1.26937350e+00] [-2.28049566e-03 2.44499891e-05 9.99997399e-01 -3.00295425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:-1.26, Z:-0.30 [[ 8.48624676e-01 -5.28991849e-01 1.94506037e-03 1.06924760e+02] [ 5.28990509e-01 8.48626905e-01 1.19078220e-03 -1.25680124e+00] [-2.28054464e-03 1.83913141e-05 9.99997399e-01 -2.97919812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:-1.24, Z:-0.30 [[ 8.48603600e-01 -5.29025632e-01 1.95203161e-03 1.06949604e+02] [ 5.29024318e-01 8.48605845e-01 1.17924253e-03 -1.24184713e+00] [-2.28035496e-03 3.19627378e-05 9.99997399e-01 -2.98495379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:-1.23, Z:-0.30 [[ 8.49157050e-01 -5.28136802e-01 1.95486767e-03 1.06973298e+02] [ 5.28135498e-01 8.49159300e-01 1.17454979e-03 -1.22756824e+00] [-2.28031703e-03 3.50577747e-05 9.99997399e-01 -2.97687868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:-1.21, Z:-0.30 [[ 8.49008015e-01 -5.28376364e-01 1.95155364e-03 1.06997743e+02] [ 5.28375047e-01 8.49010257e-01 1.18003058e-03 -1.21270652e+00] [-2.28038932e-03 2.92968302e-05 9.99997399e-01 -2.97750268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:107.02, Y:-1.20, Z:-0.30 [[ 8.47557405e-01 -5.30700139e-01 1.95122057e-03 1.07018960e+02] [ 5.30698827e-01 8.47559651e-01 1.18058107e-03 -1.19665365e+00] [-2.28031036e-03 3.49002369e-05 9.99997399e-01 -2.99963935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:-1.18, Z:-0.30 [[ 8.48533345e-01 -5.29138332e-01 1.94612589e-03 1.07043809e+02] [ 5.29136997e-01 8.48535577e-01 1.18900129e-03 -1.18255801e+00] [-2.28050321e-03 2.08599620e-05 9.99997399e-01 -2.97790455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:107.07, Y:-1.17, Z:-0.30 [[ 8.49990171e-01 -5.26794953e-01 1.94619736e-03 1.07069964e+02] [ 5.26793611e-01 8.49992398e-01 1.18888319e-03 -1.16891227e+00] [-2.28055062e-03 1.47053127e-05 9.99997399e-01 -2.98048484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:-1.16, Z:-0.30 [[ 8.50746817e-01 -5.25572113e-01 1.95122394e-03 1.07093813e+02] [ 5.25570787e-01 8.50749055e-01 1.18057538e-03 -1.15516490e+00] [-2.28047942e-03 2.11355525e-05 9.99997399e-01 -2.95277031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:-1.14, Z:-0.30 [[ 8.49993260e-01 -5.26789949e-01 1.95107727e-03 1.07116090e+02] [ 5.26788626e-01 8.49995499e-01 1.18081772e-03 -1.13875872e+00] [-2.28044981e-03 2.41182114e-05 9.99997399e-01 -2.95994083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:107.14, Y:-1.12, Z:-0.30 [[ 8.51579020e-01 -5.24222645e-01 1.94707203e-03 1.07141258e+02] [ 5.24221300e-01 8.51581246e-01 1.18743299e-03 -1.12470708e+00] [-2.28056929e-03 9.50360632e-06 9.99997399e-01 -2.97309824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:107.16, Y:-1.11, Z:-0.30 [[ 8.50546380e-01 -5.25896424e-01 1.95091017e-03 1.07162547e+02] [ 5.25895098e-01 8.50548617e-01 1.18109322e-03 -1.10817545e+00] [-2.28047665e-03 2.13995368e-05 9.99997399e-01 -2.97912681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:107.19, Y:-1.09, Z:-0.30 [[ 8.53249077e-01 -5.21499984e-01 1.94388596e-03 1.07189511e+02] [ 5.21498620e-01 8.53251292e-01 1.19268542e-03 -1.09402293e+00] [-2.28060863e-03 -3.92389231e-06 9.99997399e-01 -2.97848537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:107.21, Y:-1.08, Z:-0.30 [[ 8.53833582e-01 -5.20542419e-01 1.95052067e-03 1.07213888e+02] [ 5.20541077e-01 8.53835810e-01 1.18173444e-03 -1.07922782e+00] [-2.28056730e-03 6.32158436e-06 9.99997399e-01 -2.97280100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:107.24, Y:-1.06, Z:-0.30 [[ 8.52335131e-01 -5.22992372e-01 1.95018146e-03 1.07235164e+02] [ 5.22991035e-01 8.52337362e-01 1.18229396e-03 -1.06252816e+00] [-2.28054325e-03 1.22167457e-05 9.99997399e-01 -2.99233280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:-1.05, Z:-0.30 [[ 8.54932564e-01 -5.18735519e-01 1.94250963e-03 1.07262661e+02] [ 5.18734143e-01 8.54934770e-01 1.19494027e-03 -1.05014317e+00] [-2.28057699e-03 -1.39472809e-05 9.99997399e-01 -2.98257878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:-1.04, Z:-0.30 [[ 8.55035473e-01 -5.18565846e-01 1.95003916e-03 1.07286452e+02] [ 5.18564498e-01 8.55037697e-01 1.18252371e-03 -1.03571331e+00] [-2.28057340e-03 1.21358847e-07 9.99997399e-01 -2.98867721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:107.31, Y:-1.02, Z:-0.30 [[ 8.54979692e-01 -5.18657811e-01 1.94970903e-03 1.07310559e+02] [ 5.18656462e-01 8.54981915e-01 1.18306778e-03 -1.02043697e+00] [-2.28057330e-03 -2.69740249e-07 9.99997399e-01 -3.01234483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:107.33, Y:-1.01, Z:-0.30 [[ 8.55247849e-01 -5.18215512e-01 1.94937777e-03 1.07333368e+02] [ 5.18214160e-01 8.55250070e-01 1.18361334e-03 -1.00670737e+00] [-2.28057227e-03 -2.08759996e-06 9.99997399e-01 -3.01685888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:-0.99, Z:-0.30 [[ 8.55836601e-01 -5.17242605e-01 1.94923404e-03 1.07356999e+02] [ 5.17241251e-01 8.55838821e-01 1.18385000e-03 -9.93094826e-01] [-2.28056782e-03 -4.95790669e-06 9.99997399e-01 -3.00080954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:-0.98, Z:-0.30 [[ 8.53822180e-01 -5.20561125e-01 1.94909160e-03 1.07376237e+02] [ 5.20559779e-01 8.53824405e-01 1.18408447e-03 -9.76370353e-01] [-2.28057032e-03 3.62111415e-06 9.99997399e-01 -3.03748364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:-0.96, Z:-0.30 [[ 8.54221333e-01 -5.19905909e-01 1.93911472e-03 1.07400413e+02] [ 5.19904523e-01 8.54223534e-01 1.20052396e-03 -9.62480897e-01] [-2.28059693e-03 -1.73586610e-05 9.99997399e-01 -3.02975032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:-0.95, Z:-0.30 [[ 8.54560354e-01 -5.19348488e-01 1.93651461e-03 1.07426136e+02] [ 5.19347091e-01 8.54562548e-01 1.20480582e-03 -9.47955344e-01] [-2.28058694e-03 -2.38560597e-05 9.99997399e-01 -3.02937344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:107.45, Y:-0.94, Z:-0.30 [[ 8.56861695e-01 -5.15542704e-01 1.93790561e-03 1.07454899e+02] [ 5.15541302e-01 8.56863886e-01 1.20251929e-03 -9.35359444e-01] [-2.28047138e-03 -3.13223324e-05 9.99997399e-01 -3.01265683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:-0.92, Z:-0.30 [[ 8.57601666e-01 -5.14310787e-01 1.94850050e-03 1.07479082e+02] [ 5.14309422e-01 8.57603880e-01 1.18509953e-03 -9.21441689e-01] [-2.28055106e-03 -1.42111622e-05 9.99997399e-01 -2.98602993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:-0.91, Z:-0.30 [[ 8.59553205e-01 -5.11042554e-01 1.94816227e-03 1.07502237e+02] [ 5.11041179e-01 8.59555413e-01 1.18565528e-03 -9.07132049e-01] [-2.28047373e-03 -2.35426575e-05 9.99997399e-01 -2.99375859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:107.53, Y:-0.89, Z:-0.30 [[ 8.60290032e-01 -5.09801203e-01 1.94801564e-03 1.07525788e+02] [ 5.09799824e-01 8.60292237e-01 1.18589614e-03 -8.91943543e-01] [-2.28043401e-03 -2.71165957e-05 9.99997399e-01 -3.03465890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:107.55, Y:-0.88, Z:-0.30 [[ 8.61292273e-01 -5.08106118e-01 1.94767571e-03 1.07548986e+02] [ 5.08104733e-01 8.61294475e-01 1.18645418e-03 -8.78434034e-01] [-2.28036695e-03 -3.22605702e-05 9.99997399e-01 -3.01773230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:107.57, Y:-0.86, Z:-0.30 [[ 8.62001024e-01 -5.06902793e-01 1.94752778e-03 1.07572033e+02] [ 5.06901405e-01 8.62003223e-01 1.18669694e-03 -8.64572215e-01] [-2.28031522e-03 -3.57294054e-05 9.99997399e-01 -3.02460319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:-0.85, Z:-0.30 [[ 8.63349151e-01 -5.04603261e-01 1.94738374e-03 1.07596476e+02] [ 5.04601867e-01 8.63351346e-01 1.18693327e-03 -8.50657189e-01] [-2.28020677e-03 -4.20843643e-05 9.99997399e-01 -3.01823839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.3 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:107.62, Y:-0.84, Z:-0.31 [[ 8.63819989e-01 -5.03796820e-01 1.94703926e-03 1.07619650e+02] [ 5.03795422e-01 8.63822182e-01 1.18749808e-03 -8.36403360e-01] [-2.28015346e-03 -4.48751154e-05 9.99997399e-01 -3.05928402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:-0.82, Z:-0.30 [[ 8.63973322e-01 -5.03533820e-01 1.94688958e-03 1.07643433e+02] [ 5.03532422e-01 8.63975514e-01 1.18774343e-03 -8.22753449e-01] [-2.28013391e-03 -4.58566169e-05 9.99997399e-01 -3.04447044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:-0.81, Z:-0.31 [[ 8.63983757e-01 -5.03515916e-01 1.94674210e-03 1.07669226e+02] [ 5.03514517e-01 8.63985949e-01 1.18798511e-03 -8.09469345e-01] [-2.28012723e-03 -4.61869328e-05 9.99997399e-01 -3.05414840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:-0.80, Z:-0.30 [[ 8.63704944e-01 -5.03994029e-01 1.94646279e-03 1.07693756e+02] [ 5.03992629e-01 8.63707136e-01 1.18844257e-03 -7.96101086e-01] [-2.28014176e-03 -4.54608248e-05 9.99997399e-01 -3.04934864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:107.72, Y:-0.78, Z:-0.31 [[ 8.63193775e-01 -5.04869012e-01 1.94612498e-03 1.07717591e+02] [ 5.04867614e-01 8.63195968e-01 1.18899549e-03 -7.82752984e-01] [-2.28017421e-03 -4.37980281e-05 9.99997399e-01 -3.07037228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44999999999999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:107.74, Y:-0.77, Z:-0.31 [[ 8.62605740e-01 -5.05873057e-01 1.94597872e-03 1.07742463e+02] [ 5.05871661e-01 8.62607934e-01 1.18923482e-03 -7.69275333e-01] [-2.28021854e-03 -4.14252987e-05 9.99997399e-01 -3.09680566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:107.77, Y:-0.76, Z:-0.31 [[ 8.61600038e-01 -5.07584070e-01 1.94564268e-03 1.07767912e+02] [ 5.07582677e-01 8.61602234e-01 1.18978435e-03 -7.57892080e-01] [-2.28028566e-03 -3.75437195e-05 9.99997399e-01 -3.07069912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:107.79, Y:-0.74, Z:-0.31 [[ 8.60689200e-01 -5.09127013e-01 1.94548496e-03 1.07792366e+02] [ 5.09125623e-01 8.60691399e-01 1.19004218e-03 -7.44710401e-01] [-2.28034479e-03 -3.37602032e-05 9.99997399e-01 -3.07676690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:107.82, Y:-0.73, Z:-0.31 [[ 8.59801294e-01 -5.10625060e-01 1.94514140e-03 1.07817053e+02] [ 5.10623673e-01 8.59803493e-01 1.19060347e-03 -7.31787074e-01] [-2.28039134e-03 -3.04471543e-05 9.99997399e-01 -3.07365150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:-0.72, Z:-0.31 [[ 8.56567030e-01 -5.16032111e-01 1.94503528e-03 1.07836920e+02] [ 5.16030737e-01 8.56569238e-01 1.19077680e-03 -7.16524182e-01] [-2.28053646e-03 -1.62821569e-05 9.99997399e-01 -3.08964386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:-0.71, Z:-0.30 [[ 8.57206983e-01 -5.14968399e-01 1.93286729e-03 1.07867802e+02] [ 5.14966978e-01 8.57209161e-01 1.21062938e-03 -7.05335735e-01] [-2.28030742e-03 -4.23971286e-05 9.99997399e-01 -3.03446431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:107.89, Y:-0.69, Z:-0.31 [[ 8.54516385e-01 -5.19420799e-01 1.94469739e-03 1.07893646e+02] [ 5.19419433e-01 8.54518598e-01 1.19131803e-03 -6.92991332e-01] [-2.28057545e-03 -7.88715962e-06 9.99997399e-01 -3.05605169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:-0.68, Z:-0.31 [[ 8.51525624e-01 -5.24309384e-01 1.94435776e-03 1.07912649e+02] [ 5.24308030e-01 8.51527844e-01 1.19187208e-03 -6.76706551e-01] [-2.28058449e-03 4.53276547e-06 9.99997399e-01 -3.09802120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:107.94, Y:-0.66, Z:-0.31 [[ 8.53705498e-01 -5.20752526e-01 1.93138446e-03 1.07942916e+02] [ 5.20751114e-01 8.53707682e-01 1.21302617e-03 -6.63203752e-01] [-2.28052419e-03 -2.97965034e-05 9.99997399e-01 -3.05812348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:-0.65, Z:-0.30 [[ 8.54173930e-01 -5.19983767e-01 1.94432134e-03 1.07966815e+02] [ 5.19982401e-01 8.54176142e-01 1.19192293e-03 -6.47953629e-01] [-2.28057347e-03 -7.09661310e-06 9.99997399e-01 -3.04055356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:-0.63, Z:-0.30 [[ 8.54868133e-01 -5.18841687e-01 1.94397976e-03 1.07990207e+02] [ 5.18840317e-01 8.54870343e-01 1.19247977e-03 -6.32408300e-01] [-2.28055886e-03 -1.07978775e-05 9.99997399e-01 -3.04371716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:-0.62, Z:-0.31 [[ 8.57301969e-01 -5.14810214e-01 1.94363584e-03 1.08012393e+02] [ 5.14808832e-01 8.57304172e-01 1.19304006e-03 -6.15579588e-01] [-2.28047632e-03 -2.21946935e-05 9.99997399e-01 -3.05570849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:108.03, Y:-0.60, Z:-0.31 [[ 8.58344883e-01 -5.13069473e-01 1.94352946e-03 1.08034566e+02] [ 5.13068086e-01 8.58347083e-01 1.19321333e-03 -5.99478510e-01] [-2.28042418e-03 -2.70256161e-05 9.99997399e-01 -3.09306778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:108.06, Y:-0.58, Z:-0.31 [[ 8.59380887e-01 -5.11332293e-01 1.94338289e-03 1.08058134e+02] [ 5.11330901e-01 8.59383084e-01 1.19345200e-03 -5.83259483e-01] [-2.28036093e-03 -3.19181156e-05 9.99997399e-01 -3.09567831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:-0.57, Z:-0.31 [[ 8.61061405e-01 -5.08497278e-01 1.94304244e-03 1.08080589e+02] [ 5.08495877e-01 8.61063596e-01 1.19400602e-03 -5.67562626e-01] [-2.28023193e-03 -4.00834316e-05 9.99997399e-01 -3.06698492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:108.10, Y:-0.55, Z:-0.31 [[ 8.61224515e-01 -5.08220976e-01 1.94289511e-03 1.08103508e+02] [ 5.08219574e-01 8.61226705e-01 1.19424572e-03 -5.51772970e-01] [-2.28021388e-03 -4.10963681e-05 9.99997399e-01 -3.09902245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:-0.54, Z:-0.31 [[ 8.61618247e-01 -5.07553173e-01 1.94255711e-03 1.08127307e+02] [ 5.07551769e-01 8.61620435e-01 1.19479525e-03 -5.36744564e-01] [-2.28016902e-03 -4.35090911e-05 9.99997399e-01 -3.06438782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:108.15, Y:-0.52, Z:-0.31 [[ 8.61615836e-01 -5.07557266e-01 1.94221833e-03 1.08150400e+02] [ 5.07555860e-01 8.61618024e-01 1.19534570e-03 -5.21021977e-01] [-2.28015672e-03 -4.41444880e-05 9.99997399e-01 -3.09840794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:108.17, Y:-0.51, Z:-0.31 [[ 8.61673060e-01 -5.07460114e-01 1.94187569e-03 1.08174308e+02] [ 5.07458707e-01 8.61675247e-01 1.19590208e-03 -5.05340067e-01] [-2.28013882e-03 -4.50548758e-05 9.99997399e-01 -3.10379715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:108.20, Y:-0.49, Z:-0.31 [[ 8.62057352e-01 -5.06807017e-01 1.94153165e-03 1.08196889e+02] [ 5.06805607e-01 8.62059537e-01 1.19646037e-03 -4.89793339e-01] [-2.28009038e-03 -4.74383313e-05 9.99997399e-01 -3.09369825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:108.22, Y:-0.47, Z:-0.31 [[ 8.62137051e-01 -5.06671428e-01 1.94138289e-03 1.08220059e+02] [ 5.06670017e-01 8.62139236e-01 1.19670170e-03 -4.74511754e-01] [-2.28007692e-03 -4.80803753e-05 9.99997399e-01 -3.09935568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:108.24, Y:-0.46, Z:-0.31 [[ 8.62426243e-01 -5.06179028e-01 1.94104328e-03 1.08243056e+02] [ 5.06177615e-01 8.62428425e-01 1.19725229e-03 -4.60038580e-01] [-2.28003490e-03 -5.00291366e-05 9.99997399e-01 -3.08727688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:-0.45, Z:-0.31 [[ 8.62618802e-01 -5.05850804e-01 1.94089659e-03 1.08266362e+02] [ 5.05849389e-01 8.62620984e-01 1.19749004e-03 -4.45189800e-01] [-2.28000943e-03 -5.11760713e-05 9.99997399e-01 -3.06883064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:-0.43, Z:-0.31 [[ 8.62661213e-01 -5.05778475e-01 1.94055970e-03 1.08289292e+02] [ 5.05777059e-01 8.62663394e-01 1.19803573e-03 -4.29640441e-01] [-2.27999050e-03 -5.20083728e-05 9.99997399e-01 -3.07885331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:108.31, Y:-0.41, Z:-0.31 [[ 8.62108087e-01 -5.06720714e-01 1.94022365e-03 1.08311337e+02] [ 5.06719299e-01 8.62110269e-01 1.19857972e-03 -4.14795657e-01] [-2.28003190e-03 -5.01565031e-05 9.99997399e-01 -3.13052027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:108.34, Y:-0.40, Z:-0.31 [[ 8.61812323e-01 -5.07223576e-01 1.94007720e-03 1.08335277e+02] [ 5.07222162e-01 8.61814505e-01 1.19881672e-03 -4.00099129e-01] [-2.28005478e-03 -4.91048665e-05 9.99997399e-01 -3.10845248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:-0.39, Z:-0.31 [[ 8.61146958e-01 -5.08352391e-01 1.93973590e-03 1.08359297e+02] [ 5.08350978e-01 8.61149142e-01 1.19936870e-03 -3.85608553e-01] [-2.28010385e-03 -4.67660689e-05 9.99997399e-01 -3.08190320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:108.38, Y:-0.37, Z:-0.31 [[ 8.60153738e-01 -5.10031162e-01 1.93939470e-03 1.08382830e+02] [ 5.10029753e-01 8.60155923e-01 1.19992018e-03 -3.70861073e-01] [-2.28017852e-03 -4.29668327e-05 9.99997399e-01 -3.11229429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.41, Y:-0.36, Z:-0.31 [[ 8.59253652e-01 -5.11546089e-01 1.93905392e-03 1.08407321e+02] [ 5.11544682e-01 8.59255839e-01 1.20047062e-03 -3.56485390e-01] [-2.28023945e-03 -3.95960403e-05 9.99997399e-01 -3.07190487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:-0.34, Z:-0.31 [[ 8.56970061e-01 -5.15362548e-01 1.93871168e-03 1.08430701e+02] [ 5.15361150e-01 8.56972253e-01 1.20102306e-03 -3.42779932e-01] [-2.28038443e-03 -3.01041264e-05 9.99997399e-01 -3.06409744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:108.45, Y:-0.33, Z:-0.31 [[ 8.55235720e-01 -5.18235570e-01 1.93857035e-03 1.08454282e+02] [ 5.18234178e-01 8.55237917e-01 1.20125114e-03 -3.28056630e-01] [-2.28046994e-03 -2.27194675e-05 9.99997399e-01 -3.10639258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:108.48, Y:-0.31, Z:-0.31 [[ 8.53782596e-01 -5.20626087e-01 1.93822806e-03 1.08477496e+02] [ 5.20624700e-01 8.53784796e-01 1.20180317e-03 -3.14178687e-01] [-2.28051973e-03 -1.69892264e-05 9.99997399e-01 -3.10017335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:108.50, Y:-0.30, Z:-0.31 [[ 8.50566342e-01 -5.25864185e-01 1.93807990e-03 1.08501804e+02] [ 5.25862811e-01 8.50568550e-01 1.20204205e-03 -2.99449159e-01] [-2.28058068e-03 -3.25236630e-06 9.99997399e-01 -3.09904688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:108.53, Y:-0.28, Z:-0.31 [[ 8.50414717e-01 -5.26109356e-01 1.93773336e-03 1.08526080e+02] [ 5.26107982e-01 8.50416924e-01 1.20260044e-03 -2.84303389e-01] [-2.28058059e-03 -3.25212473e-06 9.99997399e-01 -3.09969646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.55, Y:-0.27, Z:-0.31 [[ 8.48898178e-01 -5.28552865e-01 1.93738652e-03 1.08549050e+02] [ 5.28551495e-01 8.48900388e-01 1.20315893e-03 -2.70615191e-01] [-2.28058127e-03 2.64912115e-06 9.99997399e-01 -3.07294382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:-0.26, Z:-0.31 [[ 8.47472178e-01 -5.30836279e-01 1.93715095e-03 1.08572461e+02] [ 5.30834914e-01 8.47474392e-01 1.20353809e-03 -2.56744101e-01] [-2.28056751e-03 8.34231374e-06 9.99997399e-01 -3.07694151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:-0.24, Z:-0.31 [[ 8.46204209e-01 -5.32855220e-01 1.93700258e-03 1.08596261e+02] [ 5.32853860e-01 8.46206425e-01 1.20377684e-03 -2.42429672e-01] [-2.28054280e-03 1.34982743e-05 9.99997399e-01 -3.07439273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:108.62, Y:-0.23, Z:-0.31 [[ 8.44356483e-01 -5.35778293e-01 1.93665863e-03 1.08620454e+02] [ 5.35776940e-01 8.44358703e-01 1.20432993e-03 -2.28260207e-01] [-2.28048841e-03 2.07332528e-05 9.99997399e-01 -3.10882580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:-0.21, Z:-0.31 [[ 8.43612460e-01 -5.36949036e-01 1.93631741e-03 1.08644740e+02] [ 5.36947685e-01 8.43614682e-01 1.20487830e-03 -2.13427774e-01] [-2.28046404e-03 2.32508034e-05 9.99997399e-01 -3.08723288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:-0.20, Z:-0.31 [[ 8.41920958e-01 -5.39597398e-01 1.93597753e-03 1.08663224e+02] [ 5.39596052e-01 8.41923184e-01 1.20542416e-03 -1.98391215e-01] [-2.28038811e-03 2.97739685e-05 9.99997399e-01 -3.13579649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:108.69, Y:-0.18, Z:-0.31 [[ 8.41369269e-01 -5.40457257e-01 1.92548437e-03 1.08689186e+02] [ 5.40455875e-01 8.41371472e-01 1.22229054e-03 -1.83349745e-01] [-2.28064341e-03 1.22416415e-05 9.99997399e-01 -3.11097697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:-0.17, Z:-0.31 [[ 8.42405312e-01 -5.38840949e-01 1.92917401e-03 1.08716046e+02] [ 5.38839577e-01 8.42407521e-01 1.21636128e-03 -1.69954652e-01] [-2.28057596e-03 1.48460981e-05 9.99997399e-01 -3.10120653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:-0.16, Z:-0.31 [[ 8.41363949e-01 -5.40465499e-01 1.93630681e-03 1.08739793e+02] [ 5.40464157e-01 8.41366177e-01 1.20489866e-03 -1.55480305e-01] [-2.28034922e-03 3.27461332e-05 9.99997399e-01 -3.10538146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:-0.14, Z:-0.31 [[ 8.39074192e-01 -5.44013560e-01 1.93596974e-03 1.08759547e+02] [ 5.44012226e-01 8.39076424e-01 1.20544001e-03 -1.39227175e-01] [-2.28020228e-03 4.17375999e-05 9.99997399e-01 -3.13980677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:108.79, Y:-0.13, Z:-0.31 [[ 8.40678061e-01 -5.41531799e-01 1.92558751e-03 1.08787533e+02] [ 5.41530420e-01 8.40680267e-01 1.22210253e-03 -1.26357765e-01] [-2.28061080e-03 1.53694214e-05 9.99997399e-01 -3.10591208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.8 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:108.81, Y:-0.11, Z:-0.31 [[ 8.40351868e-01 -5.42037813e-01 1.93582265e-03 1.08810413e+02] [ 5.42036473e-01 8.40354097e-01 1.20566898e-03 -1.11874157e-01] [-2.28029467e-03 3.61002982e-05 9.99997399e-01 -3.12515003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:-0.10, Z:-0.31 [[ 8.40358665e-01 -5.42027276e-01 1.93559284e-03 1.08834644e+02] [ 5.42025936e-01 8.40360893e-01 1.20603781e-03 -9.68284669e-02] [-2.28030192e-03 3.56371938e-05 9.99997399e-01 -3.07532244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:108.86, Y:-0.08, Z:-0.31 [[ 8.40241574e-01 -5.42208771e-01 1.93529348e-03 1.08857760e+02] [ 5.42207430e-01 8.40243802e-01 1.20651800e-03 -8.24224172e-02] [-2.28030299e-03 3.55639188e-05 9.99997399e-01 -3.10493785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:108.88, Y:-0.07, Z:-0.31 [[ 8.40420717e-01 -5.41931060e-01 1.93514513e-03 1.08881419e+02] [ 5.41929717e-01 8.40422944e-01 1.20675588e-03 -6.78861106e-02] [-2.28031886e-03 3.45300135e-05 9.99997399e-01 -3.08818311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:-0.05, Z:-0.31 [[ 8.41149160e-01 -5.40799728e-01 1.93504029e-03 1.08905577e+02] [ 5.40798382e-01 8.41151386e-01 1.20692397e-03 -5.27009125e-02] [-2.28036598e-03 3.12635698e-05 9.99997399e-01 -3.05178419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:108.93, Y:-0.04, Z:-0.31 [[ 8.41406878e-01 -5.40398669e-01 1.93469694e-03 1.08929395e+02] [ 5.40397321e-01 8.41409102e-01 1.20747412e-03 -3.75852793e-02] [-2.28038902e-03 2.95280147e-05 9.99997399e-01 -3.08241101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:108.95, Y:-0.02, Z:-0.31 [[ 8.41894041e-01 -5.39639401e-01 1.93435482e-03 1.08953154e+02] [ 5.39638049e-01 8.41896262e-01 1.20802193e-03 -2.25746023e-02] [-2.28042233e-03 2.68249983e-05 9.99997399e-01 -3.09969103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:108.98, Y:-0.01, Z:-0.31 [[ 8.42804056e-01 -5.38217040e-01 1.93401406e-03 1.08976081e+02] [ 5.38215684e-01 8.42806275e-01 1.20856724e-03 -7.96397652e-03] [-2.28047067e-03 2.23313273e-05 9.99997399e-01 -3.11306700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03999999999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:109.00, Y:0.01, Z:-0.31 [[ 8.43409990e-01 -5.37267018e-01 1.93387519e-03 1.09000015e+02] [ 5.37265659e-01 8.43412207e-01 1.20878940e-03 7.35645158e-03] [-2.28049662e-03 1.94996698e-05 9.99997399e-01 -3.12972753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.02, Y:0.02, Z:-0.31 [[ 8.45221768e-01 -5.34412224e-01 1.93353694e-03 1.09023283e+02] [ 5.34410855e-01 8.45223979e-01 1.20933021e-03 2.24223621e-02] [-2.28055264e-03 1.11509153e-05 9.99997399e-01 -3.09835285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.1 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:109.05, Y:0.04, Z:-0.31 [[ 8.45574952e-01 -5.33853223e-01 1.93319413e-03 1.09047100e+02] [ 5.33851852e-01 8.45577162e-01 1.20987797e-03 3.81641708e-02] [-2.28056206e-03 8.99676635e-06 9.99997399e-01 -3.12462599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:0.05, Z:-0.31 [[ 8.46228209e-01 -5.32817120e-01 1.93285318e-03 1.09070975e+02] [ 5.32815745e-01 8.46230416e-01 1.21042241e-03 5.32597339e-02] [-2.28057294e-03 5.56102203e-06 9.99997399e-01 -3.09971827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:0.07, Z:-0.31 [[ 8.46888089e-01 -5.31767647e-01 1.93251510e-03 1.09094425e+02] [ 5.31766268e-01 8.46890294e-01 1.21096194e-03 6.82061478e-02] [-2.28057866e-03 2.09709582e-06 9.99997399e-01 -3.09313716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:0.08, Z:-0.31 [[ 8.47113364e-01 -5.31408709e-01 1.93217579e-03 1.09117096e+02] [ 5.31407328e-01 8.47115567e-01 1.21150309e-03 8.21402785e-02] [-2.28057948e-03 4.91914616e-07 9.99997399e-01 -3.08869093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:109.14, Y:0.10, Z:-0.31 [[ 8.46790376e-01 -5.31923233e-01 1.93194487e-03 1.09141127e+02] [ 5.31921853e-01 8.46792580e-01 1.21187122e-03 9.73778177e-02] [-2.28057904e-03 1.44280430e-06 9.99997399e-01 -3.11752422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:0.11, Z:-0.31 [[ 8.47301209e-01 -5.31109150e-01 1.93160817e-03 1.09166123e+02] [ 5.31107767e-01 8.47303411e-01 1.21240765e-03 1.11951900e-01] [-2.28057899e-03 -1.38236057e-06 9.99997399e-01 -3.07156280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:109.19, Y:0.13, Z:-0.31 [[ 8.47785861e-01 -5.30335181e-01 1.93130366e-03 1.09189129e+02] [ 5.30333794e-01 8.47788061e-01 1.21289253e-03 1.25544485e-01] [-2.28057576e-03 -4.03754646e-06 9.99997399e-01 -3.07794700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:109.21, Y:0.14, Z:-0.31 [[ 8.47937583e-01 -5.30092563e-01 1.93115250e-03 1.09213325e+02] [ 5.30091175e-01 8.47939782e-01 1.21313315e-03 1.40638676e-01] [-2.28057389e-03 -4.97429328e-06 9.99997399e-01 -3.07907964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:109.24, Y:0.16, Z:-0.31 [[ 8.48048395e-01 -5.29915268e-01 1.93081038e-03 1.09236849e+02] [ 5.29913879e-01 8.48050593e-01 1.21367742e-03 1.55439930e-01] [-2.28057109e-03 -6.09397195e-06 9.99997399e-01 -3.10212260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:109.26, Y:0.17, Z:-0.31 [[ 8.48506617e-01 -5.29181248e-01 1.93046718e-03 1.09260270e+02] [ 5.29179855e-01 8.48508813e-01 1.21422307e-03 1.70435059e-01] [-2.28056250e-03 -8.71196072e-06 9.99997399e-01 -3.09984955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:109.28, Y:0.19, Z:-0.31 [[ 8.49027376e-01 -5.28345331e-01 1.93012082e-03 1.09283102e+02] [ 5.28343935e-01 8.49029570e-01 1.21477340e-03 1.85080103e-01] [-2.28054950e-03 -1.16082473e-05 9.99997399e-01 -3.10893075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:109.31, Y:0.20, Z:-0.31 [[ 8.49752546e-01 -5.27178229e-01 1.92997152e-03 1.09306575e+02] [ 5.27176829e-01 8.49754738e-01 1.21501055e-03 1.99929173e-01] [-2.28052955e-03 -1.50220398e-05 9.99997399e-01 -3.11742565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:0.21, Z:-0.31 [[ 8.50375223e-01 -5.26173220e-01 1.92962727e-03 1.09330389e+02] [ 5.26171816e-01 8.50377412e-01 1.21555702e-03 2.14084951e-01] [-2.28050500e-03 -1.83640876e-05 9.99997399e-01 -3.08929173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:109.35, Y:0.23, Z:-0.31 [[ 8.50146931e-01 -5.26541995e-01 1.92928485e-03 1.09354789e+02] [ 5.26540591e-01 8.50149120e-01 1.21610027e-03 2.30050150e-01] [-2.28050767e-03 -1.80171261e-05 9.99997399e-01 -3.13556464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:109.38, Y:0.24, Z:-0.31 [[ 8.50377188e-01 -5.26170046e-01 1.92898319e-03 1.09378211e+02] [ 5.26168640e-01 8.50379375e-01 1.21657857e-03 2.44359180e-01] [-2.28049472e-03 -1.95801980e-05 9.99997399e-01 -3.13180217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:109.40, Y:0.26, Z:-0.31 [[ 8.50297804e-01 -5.26298322e-01 1.92883457e-03 1.09402271e+02] [ 5.26296916e-01 8.50299992e-01 1.21681414e-03 2.58944713e-01] [-2.28049526e-03 -1.95147074e-05 9.99997399e-01 -3.11558998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:109.43, Y:0.27, Z:-0.31 [[ 8.49862699e-01 -5.27000639e-01 1.92848673e-03 1.09426239e+02] [ 5.26999233e-01 8.49864887e-01 1.21736518e-03 2.73671568e-01] [-2.28050538e-03 -1.82822254e-05 9.99997399e-01 -3.10076397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:109.45, Y:0.29, Z:-0.31 [[ 8.48639165e-01 -5.28968667e-01 1.92813796e-03 1.09449912e+02] [ 5.28967265e-01 8.48641355e-01 1.21791734e-03 2.88908584e-01] [-2.28053772e-03 -1.36504939e-05 9.99997399e-01 -3.12399326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:109.47, Y:0.30, Z:-0.31 [[ 8.46436576e-01 -5.32486062e-01 1.92778854e-03 1.09474621e+02] [ 5.32484668e-01 8.46438771e-01 1.21847016e-03 3.04158044e-01] [-2.28057334e-03 -4.83986807e-06 9.99997399e-01 -3.12898559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:0.32, Z:-0.31 [[ 8.45838533e-01 -5.33435527e-01 1.92748334e-03 1.09499761e+02] [ 5.33434134e-01 8.45840729e-01 1.21895277e-03 3.19309864e-01] [-2.28057662e-03 -2.85181421e-06 9.99997399e-01 -3.08720936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:0.33, Z:-0.31 [[ 8.44897905e-01 -5.34924122e-01 1.92717676e-03 1.09523378e+02] [ 5.34922732e-01 8.44900103e-01 1.21943728e-03 3.33886722e-01] [-2.28057826e-03 5.90651274e-07 9.99997399e-01 -3.08208182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:109.55, Y:0.35, Z:-0.31 [[ 8.44039539e-01 -5.36277487e-01 1.92706822e-03 1.09547229e+02] [ 5.36276100e-01 8.44041739e-01 1.21960878e-03 3.48837097e-01] [-2.28057474e-03 4.04259309e-06 9.99997399e-01 -3.09411696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:109.57, Y:0.36, Z:-0.31 [[ 8.43252527e-01 -5.37514152e-01 1.92672419e-03 1.09571368e+02] [ 5.37512767e-01 8.43254728e-01 1.22015204e-03 3.64168882e-01] [-2.28056827e-03 6.74256168e-06 9.99997399e-01 -3.09222155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:0.38, Z:-0.31 [[ 8.43172107e-01 -5.37640295e-01 1.92638118e-03 1.09595216e+02] [ 5.37638909e-01 8.43174308e-01 1.22069333e-03 3.79737733e-01] [-2.28056904e-03 6.44290715e-06 9.99997399e-01 -3.07815499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:109.62, Y:0.40, Z:-0.31 [[ 8.42783215e-01 -5.38249703e-01 1.92603685e-03 1.09618063e+02] [ 5.38248318e-01 8.42785416e-01 1.22123639e-03 3.95550969e-01] [-2.28056589e-03 7.44855993e-06 9.99997399e-01 -3.10570470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:0.41, Z:-0.31 [[ 8.43050542e-01 -5.37830898e-01 1.92569408e-03 1.09641197e+02] [ 5.37829510e-01 8.43052742e-01 1.22177664e-03 4.11149155e-01] [-2.28057090e-03 5.67564609e-06 9.99997399e-01 -3.08493398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.66, Y:0.43, Z:-0.31 [[ 8.43358160e-01 -5.37348403e-01 1.92534970e-03 1.09663231e+02] [ 5.37347013e-01 8.43360358e-01 1.22231910e-03 4.26222702e-01] [-2.28057483e-03 3.72811786e-06 9.99997399e-01 -3.09445140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:0.44, Z:-0.31 [[ 8.43961900e-01 -5.36399669e-01 1.92511559e-03 1.09685917e+02] [ 5.36398275e-01 8.43964096e-01 1.22268771e-03 4.41733051e-01] [-2.28057772e-03 7.26838357e-07 9.99997399e-01 -3.08432904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:0.46, Z:-0.31 [[ 8.45415857e-01 -5.34105161e-01 1.92496756e-03 1.09708684e+02] [ 5.34103761e-01 8.45418049e-01 1.22292071e-03 4.58170557e-01] [-2.28057058e-03 -5.74414165e-06 9.99997399e-01 -3.07598232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:0.47, Z:-0.31 [[ 8.45974182e-01 -5.33220385e-01 1.92462453e-03 1.09731735e+02] [ 5.33218982e-01 8.45976371e-01 1.22346033e-03 4.73728135e-01] [-2.28056086e-03 -8.76951583e-06 9.99997399e-01 -3.07773243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.0 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:109.76, Y:0.49, Z:-0.31 [[ 8.46138751e-01 -5.32959202e-01 1.92428425e-03 1.09755261e+02] [ 5.32957796e-01 8.46140939e-01 1.22399529e-03 4.89935690e-01] [-2.28055524e-03 -1.01075549e-05 9.99997399e-01 -3.10862517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:109.78, Y:0.51, Z:-0.31 [[ 8.46889670e-01 -5.31765160e-01 1.92394017e-03 1.09778719e+02] [ 5.31763750e-01 8.46891855e-01 1.22453591e-03 5.06179432e-01] [-2.28053479e-03 -1.39651717e-05 9.99997399e-01 -3.10226992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:109.80, Y:0.52, Z:-0.31 [[ 8.46797672e-01 -5.31911649e-01 1.92359860e-03 1.09802028e+02] [ 5.31910239e-01 8.46799857e-01 1.22507224e-03 5.22072405e-01] [-2.28053321e-03 -1.42065287e-05 9.99997399e-01 -3.10513029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:0.54, Z:-0.31 [[ 8.46247245e-01 -5.32786920e-01 1.92324818e-03 1.09826140e+02] [ 5.32785510e-01 8.46249430e-01 1.22562211e-03 5.38732172e-01] [-2.28054311e-03 -1.25005700e-05 9.99997399e-01 -3.11247690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:109.85, Y:0.55, Z:-0.31 [[ 8.46046951e-01 -5.33104916e-01 1.92509679e-03 1.09848463e+02] [ 5.33103514e-01 8.46049141e-01 1.22272262e-03 5.53065919e-01] [-2.28056592e-03 -8.20488363e-06 9.99997399e-01 -3.11478190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:109.87, Y:0.57, Z:-0.31 [[ 8.45478284e-01 -5.34006344e-01 1.92276137e-03 1.09871918e+02] [ 5.34004935e-01 8.45480470e-01 1.22638415e-03 5.68270454e-01] [-2.28055410e-03 -1.01171059e-05 9.99997399e-01 -3.11615831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:0.58, Z:-0.31 [[ 8.45327798e-01 -5.34244530e-01 1.92241437e-03 1.09895283e+02] [ 5.34243121e-01 8.45329984e-01 1.22692785e-03 5.82671704e-01] [-2.28055400e-03 -1.01195629e-05 9.99997399e-01 -3.07757897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:109.92, Y:0.60, Z:-0.31 [[ 8.44612821e-01 -5.35374157e-01 1.92217852e-03 1.09919117e+02] [ 5.35372750e-01 8.44615008e-01 1.22729723e-03 5.97827063e-01] [-2.28056405e-03 -7.50897564e-06 9.99997399e-01 -3.10336455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:0.61, Z:-0.31 [[ 8.44195846e-01 -5.36031416e-01 1.92183963e-03 1.09942978e+02] [ 5.36030010e-01 8.44198034e-01 1.22782768e-03 6.12313131e-01] [-2.28056745e-03 -6.36331232e-06 9.99997399e-01 -3.07620850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:109.97, Y:0.63, Z:-0.31 [[ 8.42727413e-01 -5.38337083e-01 1.92149269e-03 1.09966253e+02] [ 5.38335682e-01 8.42729603e-01 1.22837038e-03 6.27473805e-01] [-2.28057610e-03 -7.73318521e-07 9.99997399e-01 -3.11199926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:0.64, Z:-0.31 [[ 8.42552147e-01 -5.38611353e-01 1.92114172e-03 1.09989202e+02] [ 5.38609951e-01 8.42554337e-01 1.22891904e-03 6.41788423e-01] [-2.28057604e-03 -6.82329343e-07 9.99997399e-01 -3.08470238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:0.66, Z:-0.31 [[ 8.42399539e-01 -5.38850003e-01 1.92098967e-03 1.10013264e+02] [ 5.38848601e-01 8.42401730e-01 1.22915668e-03 6.57268908e-01] [-2.28057610e-03 -3.18424376e-07 9.99997399e-01 -3.08535360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:110.04, Y:0.67, Z:-0.31 [[ 8.41213824e-01 -5.40699189e-01 1.92064133e-03 1.10036033e+02] [ 5.40697791e-01 8.41216017e-01 1.22970074e-03 6.73100523e-01] [-2.28057244e-03 4.04525795e-06 9.99997399e-01 -3.13413459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:0.69, Z:-0.31 [[ 8.41202957e-01 -5.40716098e-01 1.92028884e-03 1.10059574e+02] [ 5.40714698e-01 8.41205148e-01 1.23025094e-03 6.87569158e-01] [-2.28057335e-03 3.43767720e-06 9.99997399e-01 -3.09075124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:0.70, Z:-0.31 [[ 8.40717386e-01 -5.41470766e-01 1.92017968e-03 1.10082809e+02] [ 5.41469368e-01 8.40719579e-01 1.23042129e-03 7.02779577e-01] [-2.28056981e-03 5.28191068e-06 9.99997399e-01 -3.09359027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:110.11, Y:0.72, Z:-0.31 [[ 8.39651180e-01 -5.43122648e-01 1.91983333e-03 1.10106378e+02] [ 5.43121253e-01 8.39653375e-01 1.23096147e-03 7.18118707e-01] [-2.28055759e-03 9.12403134e-06 9.99997399e-01 -3.14439190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.13, Y:0.73, Z:-0.31 [[ 8.39849757e-01 -5.42815531e-01 1.91972590e-03 1.10130773e+02] [ 5.42814135e-01 8.39851951e-01 1.23112899e-03 7.32742282e-01] [-2.28056148e-03 8.09097223e-06 9.99997399e-01 -3.09817795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:0.75, Z:-0.31 [[ 8.39601651e-01 -5.43199212e-01 1.91938028e-03 1.10153994e+02] [ 5.43197816e-01 8.39603845e-01 1.23166760e-03 7.47823094e-01] [-2.28055993e-03 8.49302662e-06 9.99997399e-01 -3.09552876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:110.18, Y:0.76, Z:-0.31 [[ 8.39141090e-01 -5.43910423e-01 1.91903096e-03 1.10177539e+02] [ 5.43909027e-01 8.39143284e-01 1.23221161e-03 7.63910944e-01] [-2.28055468e-03 9.77887142e-06 9.99997399e-01 -3.12850131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:110.20, Y:0.78, Z:-0.31 [[ 8.39089737e-01 -5.43989643e-01 1.91868355e-03 1.10200924e+02] [ 5.43988246e-01 8.39091931e-01 1.23275233e-03 7.78880584e-01] [-2.28055639e-03 9.35147287e-06 9.99997399e-01 -3.12270616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.6 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:110.22, Y:0.79, Z:-0.31 [[ 8.38908613e-01 -5.44268921e-01 1.91833684e-03 1.10224284e+02] [ 5.44267524e-01 8.38910806e-01 1.23329163e-03 7.94160354e-01] [-2.28055581e-03 9.46946852e-06 9.99997399e-01 -3.12838642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:110.25, Y:0.81, Z:-0.31 [[ 8.39216006e-01 -5.43794823e-01 1.91995664e-03 1.10246596e+02] [ 5.43793430e-01 8.39218202e-01 1.23077318e-03 8.08662507e-01] [-2.28055064e-03 1.11752571e-05 9.99997399e-01 -3.12525904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:110.27, Y:0.82, Z:-0.31 [[ 8.39759350e-01 -5.42955390e-01 1.91784535e-03 1.10269384e+02] [ 5.42953988e-01 8.39761540e-01 1.23405433e-03 8.23584965e-01] [-2.28056922e-03 4.99312060e-06 9.99997399e-01 -3.14660639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:110.29, Y:0.84, Z:-0.31 [[ 8.40130691e-01 -5.42380627e-01 1.91769899e-03 1.10292766e+02] [ 5.42379223e-01 8.40132879e-01 1.23428173e-03 8.38410483e-01] [-2.28057248e-03 3.16212224e-06 9.99997399e-01 -3.14304523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:110.32, Y:0.85, Z:-0.32 [[ 8.40443979e-01 -5.41895047e-01 1.91734816e-03 1.10316368e+02] [ 5.41893640e-01 8.40446166e-01 1.23482647e-03 8.53844844e-01] [-2.28057426e-03 1.19629854e-06 9.99997399e-01 -3.15337045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:110.34, Y:0.87, Z:-0.31 [[ 8.40678648e-01 -5.41530919e-01 1.91699557e-03 1.10339832e+02] [ 5.41529510e-01 8.40680833e-01 1.23537361e-03 8.69281744e-01] [-2.28057444e-03 -4.42548391e-07 9.99997399e-01 -3.14574751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:110.36, Y:0.88, Z:-0.31 [[ 8.41350380e-01 -5.40486692e-01 1.91664040e-03 1.10363246e+02] [ 5.40485279e-01 8.41352563e-01 1.23592441e-03 8.84762159e-01] [-2.28057100e-03 -3.92954877e-06 9.99997399e-01 -3.13031025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:110.39, Y:0.90, Z:-0.31 [[ 8.41350960e-01 -5.40485790e-01 1.91653034e-03 1.10388796e+02] [ 5.40484376e-01 8.41353143e-01 1.23609504e-03 9.00951553e-01] [-2.28057063e-03 -4.13504153e-06 9.99997399e-01 -3.12444314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.41, Y:0.92, Z:-0.31 [[ 8.41155682e-01 -5.40789632e-01 1.92177803e-03 1.10410187e+02] [ 5.40788237e-01 8.41157877e-01 1.22795766e-03 9.15082561e-01] [-2.28058550e-03 6.37139277e-06 9.99997399e-01 -3.11602606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:110.43, Y:0.93, Z:-0.31 [[ 8.40821782e-01 -5.41308655e-01 1.91598876e-03 1.10433568e+02] [ 5.41307242e-01 8.40823965e-01 1.23692520e-03 9.29823510e-01] [-2.28056758e-03 -2.89506081e-06 9.99997399e-01 -3.12445796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:0.95, Z:-0.31 [[ 8.38803041e-01 -5.44431621e-01 1.91563469e-03 1.10455082e+02] [ 5.44430214e-01 8.38805228e-01 1.23747331e-03 9.45456017e-01] [-2.28056399e-03 4.93302964e-06 9.99997399e-01 -3.14214956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:0.96, Z:-0.31 [[ 8.40154053e-01 -5.42344465e-01 1.90996062e-03 1.10482163e+02] [ 5.42343033e-01 8.40156224e-01 1.24625127e-03 9.59168811e-01] [-2.28056278e-03 -1.11892245e-05 9.99997399e-01 -3.11728462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:0.97, Z:-0.31 [[ 8.39902755e-01 -5.42733538e-01 1.91523672e-03 1.10505870e+02] [ 5.42732126e-01 8.39904939e-01 1.23808952e-03 9.74106172e-01] [-2.28056949e-03 -4.14304367e-07 9.99997399e-01 -3.12631374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:0.99, Z:-0.32 [[ 8.38715386e-01 -5.44566649e-01 1.91488671e-03 1.10528304e+02] [ 5.44565240e-01 8.38717572e-01 1.23863063e-03 9.90270099e-01] [-2.28056606e-03 3.92217657e-06 9.99997399e-01 -3.16118328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.55, Y:1.00, Z:-0.31 [[ 8.39597587e-01 -5.43205515e-01 1.91349981e-03 1.10552342e+02] [ 5.43204097e-01 8.39599767e-01 1.24077376e-03 1.00433800e+00] [-2.28056914e-03 -2.32971769e-06 9.99997399e-01 -3.13777273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:1.02, Z:-0.31 [[ 8.39568057e-01 -5.43251151e-01 1.91441097e-03 1.10574304e+02] [ 5.43249737e-01 8.39570239e-01 1.23936631e-03 1.01945264e+00] [-2.28056965e-03 -5.29106343e-07 9.99997399e-01 -3.14176530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:1.04, Z:-0.31 [[ 8.39250872e-01 -5.43741032e-01 1.91425851e-03 1.10597686e+02] [ 5.43739619e-01 8.39253055e-01 1.23960174e-03 1.03586399e+00] [-2.28056964e-03 5.21352128e-07 9.99997399e-01 -3.14423843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:110.62, Y:1.05, Z:-0.32 [[ 8.38447556e-01 -5.44978929e-01 1.91390769e-03 1.10619442e+02] [ 5.44977518e-01 8.38449740e-01 1.24014317e-03 1.05162040e+00] [-2.28056730e-03 3.24165477e-06 9.99997399e-01 -3.18357833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:1.07, Z:-0.32 [[ 8.36578695e-01 -5.47843431e-01 1.91356000e-03 1.10642054e+02] [ 5.47842026e-01 8.36580884e-01 1.24067942e-03 1.06944827e+00] [-2.28054579e-03 1.04026152e-05 9.99997399e-01 -3.16301797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:1.08, Z:-0.31 [[ 8.36269887e-01 -5.48314698e-01 1.91538240e-03 1.10664169e+02] [ 5.48313301e-01 8.36272080e-01 1.23786993e-03 1.08423237e+00] [-2.28052310e-03 1.50363015e-05 9.99997399e-01 -3.14219104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:110.69, Y:1.10, Z:-0.32 [[ 8.34842828e-01 -5.50485053e-01 1.91306881e-03 1.10686595e+02] [ 5.50483653e-01 8.34845019e-01 1.24143521e-03 1.09940666e+00] [-2.28050749e-03 1.67098288e-05 9.99997399e-01 -3.16603582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.71, Y:1.11, Z:-0.32 [[ 8.33180972e-01 -5.52997115e-01 1.91292432e-03 1.10710420e+02] [ 5.52995721e-01 8.33183168e-01 1.24165781e-03 1.11464450e+00] [-2.28044953e-03 2.33133007e-05 9.99997399e-01 -3.15040336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:1.13, Z:-0.32 [[ 8.27903803e-01 -5.60866860e-01 1.91257122e-03 1.10730494e+02] [ 5.60865486e-01 8.27906011e-01 1.24220147e-03 1.13092739e+00] [-2.28013884e-03 4.42718684e-05 9.99997399e-01 -3.16648347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:1.14, Z:-0.31 [[ 8.28540001e-01 -5.59926643e-01 1.90308178e-03 1.10757671e+02] [ 5.59925233e-01 8.28542186e-01 1.25679791e-03 1.14497981e+00] [-2.28049817e-03 2.42761644e-05 9.99997399e-01 -3.13935826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:1.16, Z:-0.31 [[ 8.27459718e-01 -5.61521824e-01 1.91227688e-03 1.10779897e+02] [ 5.61520451e-01 8.27461926e-01 1.24264782e-03 1.16050694e+00] [-2.28011018e-03 4.55415551e-05 9.99997400e-01 -3.14325929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:1.18, Z:-0.31 [[ 8.26743751e-01 -5.62575429e-01 1.91212214e-03 1.10802881e+02] [ 5.62574059e-01 8.26745961e-01 1.24288587e-03 1.17654161e+00] [-2.28005631e-03 4.81621884e-05 9.99997400e-01 -3.14816276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:1.19, Z:-0.32 [[ 8.26751552e-01 -5.62563967e-01 1.91177013e-03 1.10825519e+02] [ 5.62562595e-01 8.26753761e-01 1.24342709e-03 1.19313958e+00] [-2.28007042e-03 4.74850870e-05 9.99997400e-01 -3.16133549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:1.21, Z:-0.32 [[ 8.27182409e-01 -5.61930253e-01 1.91141710e-03 1.10847903e+02] [ 5.61928878e-01 8.27184616e-01 1.24396955e-03 1.20842067e+00] [-2.28011894e-03 4.50907365e-05 9.99997400e-01 -3.16718849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:1.22, Z:-0.32 [[ 8.27845295e-01 -5.60953220e-01 1.91126435e-03 1.10871480e+02] [ 5.60951842e-01 8.27847500e-01 1.24420418e-03 1.22429101e+00] [-2.28017576e-03 4.21186857e-05 9.99997400e-01 -3.17009677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:1.24, Z:-0.32 [[ 8.30021194e-01 -5.57728577e-01 1.91091433e-03 1.10894010e+02] [ 5.57727189e-01 8.30023393e-01 1.24474153e-03 1.24085061e+00] [-2.28033152e-03 3.26070321e-05 9.99997400e-01 -3.17912894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:1.26, Z:-0.32 [[ 8.31290924e-01 -5.55834282e-01 1.91056395e-03 1.10916845e+02] [ 5.55832888e-01 8.31293119e-01 1.24527910e-03 1.25733256e+00] [-2.28040748e-03 2.67650630e-05 9.99997400e-01 -3.18403791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:1.27, Z:-0.32 [[ 8.32733311e-01 -5.53671007e-01 1.91021444e-03 1.10939892e+02] [ 5.53669605e-01 8.32735502e-01 1.24581501e-03 1.27409549e+00] [-2.28047503e-03 2.01960206e-05 9.99997400e-01 -3.18495309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:1.29, Z:-0.32 [[ 8.34468110e-01 -5.51052925e-01 1.90985801e-03 1.10961967e+02] [ 5.51051516e-01 8.34470295e-01 1.24636119e-03 1.29023049e+00] [-2.28053075e-03 1.23814852e-05 9.99997400e-01 -3.18656205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:1.31, Z:-0.32 [[ 8.36015691e-01 -5.48702212e-01 1.90970380e-03 1.10984531e+02] [ 5.48700796e-01 8.36017872e-01 1.24659743e-03 1.30679997e+00] [-2.28055727e-03 5.68098219e-06 9.99997400e-01 -3.18437725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:111.01, Y:1.32, Z:-0.32 [[ 8.39263149e-01 -5.43722099e-01 1.90935875e-03 1.11007009e+02] [ 5.43720669e-01 8.39265321e-01 1.24712570e-03 1.32438388e+00] [-2.28054838e-03 -8.50882254e-06 9.99997400e-01 -3.21130107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:1.34, Z:-0.32 [[ 8.41391065e-01 -5.40423382e-01 1.90900445e-03 1.11029526e+02] [ 5.40421942e-01 8.41393230e-01 1.24766780e-03 1.33978739e+00] [-2.28049227e-03 -1.81086452e-05 9.99997400e-01 -3.16784731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67999999999999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:111.05, Y:1.36, Z:-0.32 [[ 8.42453182e-01 -5.38766176e-01 1.90885056e-03 1.11052180e+02] [ 5.38764732e-01 8.42455344e-01 1.24790320e-03 1.35665871e+00] [-2.28044939e-03 -2.28786618e-05 9.99997400e-01 -3.21500944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.07, Y:1.37, Z:-0.32 [[ 8.44265388e-01 -5.35921928e-01 1.90849577e-03 1.11074836e+02] [ 5.35920474e-01 8.44267544e-01 1.24844556e-03 1.37227746e+00] [-2.28035039e-03 -3.12174151e-05 9.99997400e-01 -3.18112764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.10, Y:1.39, Z:-0.32 [[ 8.46632973e-01 -5.32173813e-01 1.90834172e-03 1.11097616e+02] [ 5.32172350e-01 8.46635122e-01 1.24868099e-03 1.38923579e+00] [-2.28018445e-03 -4.16078054e-05 9.99997400e-01 -3.19479563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.12, Y:1.40, Z:-0.32 [[ 8.47557895e-01 -5.30699514e-01 1.90798371e-03 1.11120765e+02] [ 5.30698046e-01 8.47560041e-01 1.24922780e-03 1.40475069e+00] [-2.28009533e-03 -4.62296582e-05 9.99997400e-01 -3.17996206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:1.42, Z:-0.32 [[ 8.48167684e-01 -5.29724400e-01 1.90762006e-03 1.11144189e+02] [ 5.29722928e-01 8.48169828e-01 1.24978285e-03 1.42035063e+00] [-2.28002625e-03 -4.95153420e-05 9.99997400e-01 -3.16514183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:111.17, Y:1.44, Z:-0.32 [[ 8.48252405e-01 -5.29588726e-01 1.90725813e-03 1.11166597e+02] [ 5.29587253e-01 8.48254548e-01 1.25033494e-03 1.43581987e+00] [-2.28000367e-03 -5.05400225e-05 9.99997400e-01 -3.20825263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:1.45, Z:-0.32 [[ 8.48897477e-01 -5.28554100e-01 1.90710244e-03 1.11189700e+02] [ 5.28552623e-01 8.48899618e-01 1.25057236e-03 1.45100820e+00] [-2.27993368e-03 -5.36037212e-05 9.99997400e-01 -3.16456436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:1.47, Z:-0.32 [[ 8.49320739e-01 -5.27873704e-01 1.90674729e-03 1.11212579e+02] [ 5.27872224e-01 8.49322877e-01 1.25111362e-03 1.46759594e+00] [-2.27987408e-03 -5.60778118e-05 9.99997400e-01 -3.17370020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:111.24, Y:1.48, Z:-0.32 [[ 8.49085437e-01 -5.28252105e-01 1.90638983e-03 1.11235470e+02] [ 5.28250625e-01 8.49087576e-01 1.25165807e-03 1.48388238e+00] [-2.27988293e-03 -5.57130190e-05 9.99997400e-01 -3.22361827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:1.50, Z:-0.32 [[ 8.49030141e-01 -5.28340976e-01 1.90603106e-03 1.11257883e+02] [ 5.28339495e-01 8.49032279e-01 1.25220417e-03 1.49892374e+00] [-2.27987267e-03 -5.61276024e-05 9.99997400e-01 -3.21569756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:111.28, Y:1.51, Z:-0.33 [[ 8.48188896e-01 -5.29690443e-01 1.90587549e-03 1.11281090e+02] [ 5.29688965e-01 8.48191035e-01 1.25244090e-03 1.51389041e+00] [-2.27995248e-03 -5.27852475e-05 9.99997400e-01 -3.26052833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:1.53, Z:-0.32 [[ 8.47696052e-01 -5.30478815e-01 1.90552559e-03 1.11304889e+02] [ 5.30477337e-01 8.47698192e-01 1.25297303e-03 1.52848922e+00] [-2.27998625e-03 -5.13021475e-05 9.99997400e-01 -3.22365619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.33, Y:1.54, Z:-0.33 [[ 8.46556833e-01 -5.32294936e-01 1.90516164e-03 1.11328707e+02] [ 5.32293463e-01 8.46558975e-01 1.25352618e-03 1.54377101e+00] [-2.28007732e-03 -4.70760634e-05 9.99997400e-01 -3.25216316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:111.35, Y:1.56, Z:-0.33 [[ 8.45313870e-01 -5.34266631e-01 1.90479835e-03 1.11352016e+02] [ 5.34265160e-01 8.45316015e-01 1.25407797e-03 1.55857844e+00] [-2.28016857e-03 -4.24221042e-05 9.99997400e-01 -3.26708762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:1.57, Z:-0.32 [[ 8.44543349e-01 -5.35483805e-01 1.90443956e-03 1.11375541e+02] [ 5.35482336e-01 8.44545495e-01 1.25462260e-03 1.57277953e+00] [-2.28021593e-03 -3.97894309e-05 9.99997400e-01 -3.22615356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:1.59, Z:-0.32 [[ 8.42116505e-01 -5.39292282e-01 1.90432879e-03 1.11400131e+02] [ 5.39290823e-01 8.42118658e-01 1.25479071e-03 1.58642707e+00] [-2.28036975e-03 -2.96929235e-05 9.99997400e-01 -3.20604309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:1.60, Z:-0.32 [[ 8.40794289e-01 -5.41351401e-01 1.90396655e-03 1.11424418e+02] [ 5.41349946e-01 8.40796444e-01 1.25534012e-03 1.60134464e+00] [-2.28042843e-03 -2.47706137e-05 9.99997400e-01 -3.19530227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.45, Y:1.62, Z:-0.32 [[ 8.39296276e-01 -5.43670983e-01 1.90360351e-03 1.11447407e+02] [ 5.43669533e-01 8.39298434e-01 1.25589038e-03 1.61545564e+00] [-2.28048261e-03 -1.91328894e-05 9.99997400e-01 -3.21170576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:1.63, Z:-0.32 [[ 8.38134594e-01 -5.45460153e-01 1.90344629e-03 1.11471455e+02] [ 5.45458707e-01 8.38136756e-01 1.25612862e-03 1.62992154e+00] [-2.28051641e-03 -1.45534992e-05 9.99997400e-01 -3.17858549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:1.65, Z:-0.32 [[ 8.37981179e-01 -5.45695815e-01 1.90309339e-03 1.11495284e+02] [ 5.45694368e-01 8.37983339e-01 1.25666305e-03 1.64574836e+00] [-2.28051633e-03 -1.45526387e-05 9.99997400e-01 -3.17923508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:111.52, Y:1.66, Z:-0.32 [[ 8.35130744e-01 -5.50048199e-01 1.90273987e-03 1.11518939e+02] [ 5.50046762e-01 8.35132911e-01 1.25719810e-03 1.66011156e+00] [-2.28056024e-03 -3.32888189e-06 9.99997400e-01 -3.20427888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:111.54, Y:1.68, Z:-0.32 [[ 8.33862927e-01 -5.51968296e-01 1.90238271e-03 1.11542551e+02] [ 5.51966863e-01 8.33865097e-01 1.25773832e-03 1.67501880e+00] [-2.28056222e-03 1.27085723e-06 9.99997400e-01 -3.20556256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:1.69, Z:-0.32 [[ 8.32784064e-01 -5.53594694e-01 1.90202561e-03 1.11566259e+02] [ 5.53593264e-01 8.32786236e-01 1.25827811e-03 1.68984358e+00] [-2.28055684e-03 5.07460931e-06 9.99997400e-01 -3.17320801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:1.70, Z:-0.32 [[ 8.31536890e-01 -5.55466276e-01 1.90166642e-03 1.11588686e+02] [ 5.55464850e-01 8.31539064e-01 1.25882074e-03 1.70409442e+00] [-2.28054238e-03 9.55296726e-06 9.99997400e-01 -3.17305858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.61, Y:1.72, Z:-0.32 [[ 8.29121854e-01 -5.59064697e-01 1.90151067e-03 1.11612204e+02] [ 5.59063279e-01 8.29124035e-01 1.25905597e-03 1.71959423e+00] [-2.28048194e-03 1.91539696e-05 9.99997400e-01 -3.18615651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:1.73, Z:-0.32 [[ 8.28294559e-01 -5.60289666e-01 1.90115298e-03 1.11635541e+02] [ 5.60288250e-01 8.28296740e-01 1.25959584e-03 1.73491556e+00] [-2.28045735e-03 2.18772957e-05 9.99997400e-01 -3.17300321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:1.75, Z:-0.32 [[ 8.27519197e-01 -5.61434204e-01 1.90079698e-03 1.11659296e+02] [ 5.61432790e-01 8.27521380e-01 1.26013283e-03 1.75085649e+00] [-2.28043181e-03 2.43856436e-05 9.99997400e-01 -3.17384757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:1.77, Z:-0.32 [[ 8.26918927e-01 -5.62317950e-01 1.90043850e-03 1.11682266e+02] [ 5.62316537e-01 8.26921110e-01 1.26067323e-03 1.76624389e+00] [-2.28041190e-03 2.61734416e-05 9.99997400e-01 -3.17667909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.70, Y:1.78, Z:-0.32 [[ 8.26564555e-01 -5.62838721e-01 1.90007782e-03 1.11704456e+02] [ 5.62837309e-01 8.26566739e-01 1.26121662e-03 1.78135091e+00] [-2.28040267e-03 2.69577340e-05 9.99997400e-01 -3.17985496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:1.80, Z:-0.32 [[ 8.26459136e-01 -5.62993506e-01 1.89983270e-03 1.11726965e+02] [ 5.62992093e-01 8.26461319e-01 1.26158573e-03 1.79648949e+00] [-2.28040282e-03 2.69417347e-05 9.99997400e-01 -3.18651554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:1.81, Z:-0.32 [[ 8.27101131e-01 -5.62049918e-01 1.89967842e-03 1.11750148e+02] [ 5.62048502e-01 8.27103313e-01 1.26181801e-03 1.81215880e+00] [-2.28043502e-03 2.40603077e-05 9.99997400e-01 -3.18500490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:1.83, Z:-0.32 [[ 8.27854440e-01 -5.60939764e-01 1.89931474e-03 1.11772217e+02] [ 5.60938344e-01 8.27856618e-01 1.26236519e-03 1.82708215e+00] [-2.28047111e-03 2.03438453e-05 9.99997400e-01 -3.18479428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:111.79, Y:1.84, Z:-0.32 [[ 8.29928055e-01 -5.57867203e-01 1.89906789e-03 1.11794116e+02] [ 5.57865774e-01 8.29930228e-01 1.26273643e-03 1.84355461e+00] [-2.28053309e-03 1.14445874e-05 9.99997400e-01 -3.22978122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.82, Y:1.86, Z:-0.32 [[ 8.31734983e-01 -5.55169625e-01 1.89882634e-03 1.11816985e+02] [ 5.55168188e-01 8.31737151e-01 1.26309957e-03 1.85963141e+00] [-2.28055892e-03 3.60388089e-06 9.99997400e-01 -3.21563604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:1.88, Z:-0.32 [[ 8.33659412e-01 -5.52275638e-01 1.89847204e-03 1.11840351e+02] [ 5.52274193e-01 8.33661573e-01 1.26363185e-03 1.87577031e+00] [-2.28055628e-03 -4.96147367e-06 9.99997400e-01 -3.20755345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:1.89, Z:-0.32 [[ 8.35524988e-01 -5.49449172e-01 1.89811042e-03 1.11862677e+02] [ 5.49447718e-01 8.35527143e-01 1.26417481e-03 1.89164619e+00] [-2.28052258e-03 -1.33372051e-05 9.99997400e-01 -3.21395249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:1.91, Z:-0.32 [[ 8.39443127e-01 -5.43444233e-01 1.89786473e-03 1.11885248e+02] [ 5.43442763e-01 8.39445272e-01 1.26454355e-03 1.90821260e+00] [-2.28036248e-03 -3.01315357e-05 9.99997400e-01 -3.22136802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:1.92, Z:-0.32 [[ 8.41228284e-01 -5.40676773e-01 1.89750326e-03 1.11907863e+02] [ 5.40675294e-01 8.41230424e-01 1.26508573e-03 1.92410666e+00] [-2.28023994e-03 -3.82927646e-05 9.99997400e-01 -3.22216100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:1.94, Z:-0.32 [[ 8.42832834e-01 -5.38172105e-01 1.89713519e-03 1.11931240e+02] [ 5.38170619e-01 8.42834968e-01 1.26563745e-03 1.94041702e+00] [-2.28010265e-03 -4.57383820e-05 9.99997400e-01 -3.22473792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:111.95, Y:1.96, Z:-0.33 [[ 8.43853743e-01 -5.36569904e-01 1.89676848e-03 1.11953200e+02] [ 5.36568413e-01 8.43855874e-01 1.26618678e-03 1.95645420e+00] [-2.27999694e-03 -5.07303980e-05 9.99997400e-01 -3.26896061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:111.98, Y:1.97, Z:-0.33 [[ 8.45115342e-01 -5.34580640e-01 1.89660983e-03 1.11976107e+02] [ 5.34579143e-01 8.45117469e-01 1.26642438e-03 1.97199668e+00] [-2.27986405e-03 -5.63866211e-05 9.99997400e-01 -3.25886720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.00, Y:1.99, Z:-0.32 [[ 8.46203855e-01 -5.32855928e-01 1.89623775e-03 1.11998485e+02] [ 5.32854425e-01 8.46205978e-01 1.26698126e-03 1.98721633e+00] [-2.27972619e-03 -6.17057501e-05 9.99997400e-01 -3.24178610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:2.00, Z:-0.32 [[ 8.47581972e-01 -5.30661103e-01 1.89598500e-03 1.12021825e+02] [ 5.30659594e-01 8.47584090e-01 1.26735937e-03 2.00309056e+00] [-2.27954504e-03 -6.80683241e-05 9.99997400e-01 -3.21488180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:2.02, Z:-0.32 [[ 8.47716674e-01 -5.30445894e-01 1.89561636e-03 1.12043813e+02] [ 5.30444383e-01 8.47718791e-01 1.26791051e-03 2.01848454e+00] [-2.27950754e-03 -6.93098301e-05 9.99997400e-01 -3.21824616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:2.03, Z:-0.32 [[ 8.47689545e-01 -5.30489249e-01 1.89545675e-03 1.12067007e+02] [ 5.30487738e-01 8.47691661e-01 1.26814908e-03 2.03407980e+00] [-2.27950233e-03 -6.94801501e-05 9.99997400e-01 -3.21874670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:2.05, Z:-0.33 [[ 8.44252261e-01 -5.35942654e-01 1.89509434e-03 1.12082568e+02] [ 5.35941155e-01 8.44254386e-01 1.26869043e-03 2.05220067e+00] [-2.27988702e-03 -5.54357201e-05 9.99997400e-01 -3.26833034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:112.11, Y:2.07, Z:-0.33 [[ 8.45902119e-01 -5.33334880e-01 1.87374530e-03 1.12114996e+02] [ 5.33333304e-01 8.45904188e-01 1.30053966e-03 2.06560282e+00] [-2.27863216e-03 -1.00798486e-04 9.99997399e-01 -3.26271554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:2.08, Z:-0.32 [[ 8.45299742e-01 -5.34289018e-01 1.89494143e-03 1.12139273e+02] [ 5.34287515e-01 8.45301864e-01 1.26888558e-03 2.08063652e+00] [-2.27974915e-03 -6.01451073e-05 9.99997400e-01 -3.23954395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:112.16, Y:2.10, Z:-0.33 [[ 8.43966199e-01 -5.36393013e-01 1.89457276e-03 1.12162007e+02] [ 5.36391514e-01 8.43968324e-01 1.26943579e-03 2.09590805e+00] [-2.27987589e-03 -5.51281467e-05 9.99997400e-01 -3.28499986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:2.11, Z:-0.33 [[ 8.42428213e-01 -5.38805269e-01 1.89432236e-03 1.12186143e+02] [ 5.38803775e-01 8.42430341e-01 1.26980934e-03 2.11002750e+00] [-2.28001460e-03 -4.90551705e-05 9.99997400e-01 -3.25677549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:2.12, Z:-0.33 [[ 8.41538037e-01 -5.40194544e-01 1.89395547e-03 1.12208499e+02] [ 5.40193052e-01 8.41540167e-01 1.27035634e-03 2.12447127e+00] [-2.28007916e-03 -4.59515948e-05 9.99997400e-01 -3.26570036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:2.14, Z:-0.33 [[ 8.40363918e-01 -5.42019280e-01 1.89370644e-03 1.12232381e+02] [ 5.42017792e-01 8.40366050e-01 1.27072745e-03 2.14013081e+00] [-2.28016538e-03 -4.14509189e-05 9.99997400e-01 -3.27228234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:2.16, Z:-0.33 [[ 8.39335658e-01 -5.43610217e-01 1.89334079e-03 1.12255277e+02] [ 5.43608732e-01 8.39337793e-01 1.27127202e-03 2.15521498e+00] [-2.28022894e-03 -3.77873530e-05 9.99997400e-01 -3.28006918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.28, Y:2.17, Z:-0.33 [[ 8.38048030e-01 -5.45593178e-01 1.89309281e-03 1.12278697e+02] [ 5.45591697e-01 8.38050168e-01 1.27164119e-03 2.17077014e+00] [-2.28030551e-03 -3.28406772e-05 9.99997400e-01 -3.30032898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.3 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.30, Y:2.19, Z:-0.33 [[ 8.36850319e-01 -5.47428499e-01 1.89272529e-03 1.12301675e+02] [ 5.47427022e-01 8.36852459e-01 1.27218797e-03 2.18544517e+00] [-2.28036377e-03 -2.85019417e-05 9.99997400e-01 -3.30629420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:2.20, Z:-0.33 [[ 8.34381777e-01 -5.51183697e-01 1.89247591e-03 1.12325816e+02] [ 5.51182228e-01 8.34383923e-01 1.27255885e-03 2.19994781e+00] [-2.28046516e-03 -1.87008274e-05 9.99997400e-01 -3.28706124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:2.22, Z:-0.33 [[ 8.29120844e-01 -5.59066227e-01 1.89211438e-03 1.12339515e+02] [ 5.59064777e-01 8.29123003e-01 1.27309615e-03 2.21742043e+00] [-2.28054062e-03 2.26394913e-06 9.99997400e-01 -3.34889821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:2.23, Z:-0.33 [[ 8.27854470e-01 -5.60939832e-01 1.86593957e-03 1.12364158e+02] [ 5.60938299e-01 8.27856572e-01 1.31194771e-03 2.23287676e+00] [-2.28065406e-03 -3.94248050e-05 9.99997399e-01 -3.34837067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:2.25, Z:-0.34 [[ 8.24911183e-01 -5.65259276e-01 1.86830184e-03 1.12387823e+02] [ 5.65257762e-01 8.24913299e-01 1.30843889e-03 2.24821552e+00] [-2.28079425e-03 -2.32737599e-05 9.99997399e-01 -3.35514470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:2.26, Z:-0.34 [[ 8.23495832e-01 -5.67319246e-01 1.86769567e-03 1.12411335e+02] [ 5.67317735e-01 8.23497950e-01 1.30933913e-03 2.26389406e+00] [-2.28085685e-03 -1.86584387e-05 9.99997399e-01 -3.35473389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:2.28, Z:-0.33 [[ 8.25824249e-01 -5.63924482e-01 1.86764368e-03 1.12444757e+02] [ 5.63922963e-01 8.25826360e-01 1.30941626e-03 2.27751639e+00] [-2.28076127e-03 -2.81405459e-05 9.99997399e-01 -3.28994495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:112.47, Y:2.29, Z:-0.33 [[ 8.24309547e-01 -5.66136196e-01 1.89169305e-03 1.12466799e+02] [ 5.66134763e-01 8.24311717e-01 1.27369821e-03 2.29270898e+00] [-2.28043141e-03 2.10315980e-05 9.99997400e-01 -3.31724550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:2.31, Z:-0.33 [[ 8.20152094e-01 -5.72142434e-01 1.89153852e-03 1.12482480e+02] [ 5.72141017e-01 8.20154274e-01 1.27392766e-03 2.31062775e+00] [-2.28022147e-03 3.74123397e-05 9.99997400e-01 -3.32649081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:2.32, Z:-0.33 [[ 8.21969659e-01 -5.69528212e-01 1.86949919e-03 1.12514325e+02] [ 5.69526714e-01 8.21971785e-01 1.30660362e-03 2.32492314e+00] [-2.28082321e-03 -9.25879987e-06 9.99997399e-01 -3.26321711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:2.34, Z:-0.33 [[ 8.21509483e-01 -5.70191715e-01 1.89128185e-03 1.12536402e+02] [ 5.70190292e-01 8.21511660e-01 1.27427370e-03 2.34093505e+00] [-2.28029040e-03 3.15626205e-05 9.99997400e-01 -3.26410977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:2.36, Z:-0.33 [[ 8.21596738e-01 -5.70065982e-01 1.89113000e-03 1.12558804e+02] [ 5.70064558e-01 8.21598914e-01 1.27449903e-03 2.35704672e+00] [-2.28029889e-03 3.09419366e-05 9.99997400e-01 -3.25781371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:2.38, Z:-0.33 [[ 8.18673664e-01 -5.74255920e-01 1.88933836e-03 1.12574064e+02] [ 5.74254502e-01 8.18675843e-01 1.27715727e-03 2.37536737e+00] [-2.28017080e-03 3.93860301e-05 9.99997400e-01 -3.32286869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:112.61, Y:2.39, Z:-0.33 [[ 8.21938773e-01 -5.69572779e-01 1.87160904e-03 1.12605282e+02] [ 5.69571287e-01 8.21940904e-01 1.30348728e-03 2.39029765e+00] [-2.28078290e-03 -5.37196016e-06 9.99997399e-01 -3.30663643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:2.41, Z:-0.33 [[ 8.23321217e-01 -5.67572545e-01 1.89217186e-03 1.12627063e+02] [ 5.67571118e-01 8.23323390e-01 1.27292106e-03 2.40814819e+00] [-2.28034440e-03 2.59191789e-05 9.99997400e-01 -3.29798936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:2.43, Z:-0.34 [[ 8.21028329e-01 -5.70884317e-01 1.89181585e-03 1.12642495e+02] [ 5.70882898e-01 8.21030508e-01 1.27344994e-03 2.42681386e+00] [-2.28023113e-03 3.44668391e-05 9.99997400e-01 -3.36369487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.66, Y:2.44, Z:-0.34 [[ 8.21398812e-01 -5.70351195e-01 1.87236184e-03 1.12664354e+02] [ 5.70349708e-01 8.21400946e-01 1.30231679e-03 2.44332643e+00] [-2.28073772e-03 -1.82043573e-06 9.99997399e-01 -3.39781305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:2.46, Z:-0.33 [[ 8.25503210e-01 -5.64394321e-01 1.87089725e-03 1.12696167e+02] [ 5.64392814e-01 8.25505330e-01 1.30448868e-03 2.45763470e+00] [-2.28068165e-03 -2.09386238e-05 9.99997399e-01 -3.32331042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:2.47, Z:-0.33 [[ 8.26863895e-01 -5.62398900e-01 1.89127704e-03 1.12718609e+02] [ 5.62397457e-01 8.26866057e-01 1.27424021e-03 2.47398463e+00] [-2.28046408e-03 1.00261760e-05 9.99997400e-01 -3.31699536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:2.49, Z:-0.33 [[ 8.27477177e-01 -5.61496167e-01 1.89091369e-03 1.12741509e+02] [ 5.61494720e-01 8.27479338e-01 1.27477917e-03 2.49002352e+00] [-2.28047562e-03 6.88738703e-06 9.99997400e-01 -3.30896062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:2.51, Z:-0.33 [[ 8.28260375e-01 -5.60340234e-01 1.89055225e-03 1.12764364e+02] [ 5.60338783e-01 8.28262532e-01 1.27531497e-03 2.50604894e+00] [-2.28048388e-03 3.05688805e-06 9.99997400e-01 -3.30054608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:2.52, Z:-0.33 [[ 8.29218912e-01 -5.58920767e-01 1.89019008e-03 1.12787248e+02] [ 5.58919311e-01 8.29221066e-01 1.27585154e-03 2.52230212e+00] [-2.28048535e-03 -1.49648882e-06 9.99997400e-01 -3.29332956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:2.54, Z:-0.33 [[ 8.30132073e-01 -5.57563601e-01 1.89007789e-03 1.12810032e+02] [ 5.57562141e-01 8.30134224e-01 1.27601771e-03 2.53842264e+00] [-2.28047937e-03 -5.42735256e-06 9.99997400e-01 -3.28899206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:2.56, Z:-0.33 [[ 8.30520228e-01 -5.56985260e-01 1.88971928e-03 1.12829481e+02] [ 5.56983797e-01 8.30522378e-01 1.27654858e-03 2.55661847e+00] [-2.28047289e-03 -7.65639659e-06 9.99997400e-01 -3.32037218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:2.57, Z:-0.33 [[ 8.33377270e-01 -5.52701359e-01 1.88004190e-03 1.12856159e+02] [ 5.52699852e-01 8.33379390e-01 1.29085844e-03 2.57198731e+00] [-2.28024739e-03 -3.66732046e-05 9.99997400e-01 -3.28065711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:2.59, Z:-0.33 [[ 8.31425534e-01 -5.55632984e-01 1.88926925e-03 1.12872081e+02] [ 5.55631516e-01 8.31427680e-01 1.27720920e-03 2.59090163e+00] [-2.28045030e-03 -1.21668029e-05 9.99997400e-01 -3.33379132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:2.61, Z:-0.33 [[ 8.37089551e-01 -5.47062694e-01 1.86884629e-03 1.12902798e+02] [ 5.47061137e-01 8.37091634e-01 1.30737848e-03 2.60657534e+00] [-2.27961358e-03 -7.20196874e-05 9.99997399e-01 -3.29061163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:2.62, Z:-0.33 [[ 8.38137886e-01 -5.45455145e-01 1.88909476e-03 1.12924507e+02] [ 5.45453651e-01 8.38140014e-01 1.27743465e-03 2.62246748e+00] [-2.28010921e-03 -4.02527415e-05 9.99997400e-01 -3.29878671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:2.64, Z:-0.33 [[ 8.37983719e-01 -5.45691963e-01 1.88893506e-03 1.12948155e+02] [ 5.45690468e-01 8.37985847e-01 1.27767075e-03 2.63855707e+00] [-2.28011551e-03 -3.98934245e-05 9.99997400e-01 -3.29943778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:2.66, Z:-0.34 [[ 8.35735230e-01 -5.49129365e-01 1.88857387e-03 1.12963531e+02] [ 5.49127878e-01 8.35737363e-01 1.27820442e-03 2.65736778e+00] [-2.28025133e-03 -3.11718993e-05 9.99997400e-01 -3.35328400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:2.67, Z:-0.33 [[ 8.40159791e-01 -5.42335727e-01 1.86666296e-03 1.12995337e+02] [ 5.42334151e-01 8.40161860e-01 1.31054461e-03 2.67218101e+00] [-2.27905419e-03 -8.87118151e-05 9.99997399e-01 -3.30819131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:2.69, Z:-0.33 [[ 8.41039805e-01 -5.40969944e-01 1.88860567e-03 1.13018587e+02] [ 5.40968437e-01 8.41041923e-01 1.27812115e-03 2.68865458e+00] [-2.27982167e-03 -5.32747019e-05 9.99997400e-01 -3.31312207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:2.71, Z:-0.33 [[ 8.42121103e-01 -5.39285159e-01 1.88824059e-03 1.13040820e+02] [ 5.39283646e-01 8.42123218e-01 1.27866027e-03 2.70535843e+00] [-2.27969375e-03 -5.84895314e-05 9.99997400e-01 -3.32741564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:2.72, Z:-0.33 [[ 8.42460682e-01 -5.38754523e-01 1.88786876e-03 1.13062814e+02] [ 5.38753007e-01 8.42462795e-01 1.27920902e-03 2.72098057e+00] [-2.27963884e-03 -6.05883331e-05 9.99997400e-01 -3.33351106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:2.74, Z:-0.33 [[ 8.42633430e-01 -5.38484297e-01 1.88770774e-03 1.13085679e+02] [ 5.38482781e-01 8.42635543e-01 1.27944659e-03 2.73677385e+00] [-2.27961154e-03 -6.16063529e-05 9.99997400e-01 -3.34014085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:2.75, Z:-0.33 [[ 8.42650681e-01 -5.38457303e-01 1.88734228e-03 1.13109177e+02] [ 5.38455785e-01 8.42652793e-01 1.27998546e-03 2.75305695e+00] [-2.27959177e-03 -6.23302485e-05 9.99997400e-01 -3.34804539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:2.77, Z:-0.34 [[ 8.39757583e-01 -5.42958232e-01 1.88697203e-03 1.13126404e+02] [ 5.42956724e-01 8.39759701e-01 1.28053106e-03 2.77050016e+00] [-2.27987795e-03 -5.07915131e-05 9.99997400e-01 -3.41935490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:2.78, Z:-0.34 [[ 8.41923095e-01 -5.39594297e-01 1.86988532e-03 1.13156336e+02] [ 5.39592724e-01 8.41925167e-01 1.30567223e-03 2.78411563e+00] [-2.27883679e-03 -9.02990905e-05 9.99997399e-01 -3.36909388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:2.80, Z:-0.34 [[ 8.41259167e-01 -5.40628759e-01 1.88644762e-03 1.13180080e+02] [ 5.40627243e-01 8.41261280e-01 1.28128744e-03 2.79956919e+00] [-2.27969618e-03 -5.80298253e-05 9.99997400e-01 -3.37425684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:2.81, Z:-0.34 [[ 8.40656210e-01 -5.41565859e-01 1.88607723e-03 1.13202773e+02] [ 5.41564345e-01 8.40658324e-01 1.28183244e-03 2.81420258e+00] [-2.27974320e-03 -5.61482228e-05 9.99997400e-01 -3.38088052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:2.83, Z:-0.34 [[ 8.39784742e-01 -5.42916227e-01 1.88591674e-03 1.13226776e+02] [ 5.42914716e-01 8.39786858e-01 1.28206851e-03 2.82935496e+00] [-2.27982389e-03 -5.27696163e-05 9.99997400e-01 -3.37821561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:2.84, Z:-0.34 [[ 8.38059988e-01 -5.45574836e-01 1.88554774e-03 1.13251208e+02] [ 5.45573330e-01 8.38062108e-01 1.28261097e-03 2.84368361e+00] [-2.27996638e-03 -4.62003726e-05 9.99997400e-01 -3.37303862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:2.86, Z:-0.34 [[ 8.37254605e-01 -5.46809995e-01 1.88538516e-03 1.13275001e+02] [ 5.46808492e-01 8.37256727e-01 1.28284991e-03 2.85837017e+00] [-2.28002656e-03 -4.31273815e-05 9.99997400e-01 -3.36169603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:2.87, Z:-0.34 [[ 8.36307967e-01 -5.48256720e-01 1.88501685e-03 1.13298722e+02] [ 5.48255219e-01 8.36310090e-01 1.28339088e-03 2.87314482e+00] [-2.28008629e-03 -3.98396853e-05 9.99997400e-01 -3.35248580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:2.89, Z:-0.33 [[ 8.35046631e-01 -5.50175947e-01 1.88465099e-03 1.13324028e+02] [ 5.50174450e-01 8.35048757e-01 1.28392792e-03 2.88773929e+00] [-2.28016172e-03 -3.52528580e-05 9.99997400e-01 -3.33326643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:113.35, Y:2.90, Z:-0.33 [[ 8.34425077e-01 -5.51118173e-01 1.88433151e-03 1.13347301e+02] [ 5.51116678e-01 8.34427204e-01 1.28439662e-03 2.90345719e+00] [-2.28019179e-03 -3.32462290e-05 9.99997400e-01 -3.34963189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:2.92, Z:-0.33 [[ 8.34136636e-01 -5.51554643e-01 1.88396477e-03 1.13370557e+02] [ 5.51553147e-01 8.34138763e-01 1.28493434e-03 2.91903755e+00] [-2.28019954e-03 -3.27041051e-05 9.99997400e-01 -3.33102224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:113.39, Y:2.93, Z:-0.34 [[ 8.33971022e-01 -5.51805026e-01 1.88359453e-03 1.13392896e+02] [ 5.51803530e-01 8.33973148e-01 1.28547685e-03 2.93444717e+00] [-2.28019985e-03 -3.26763285e-05 9.99997400e-01 -3.36062498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:2.95, Z:-0.33 [[ 8.34192677e-01 -5.51469881e-01 1.88343346e-03 1.13416021e+02] [ 5.51468384e-01 8.34194803e-01 1.28571280e-03 2.94958688e+00] [-2.28018229e-03 -3.38782002e-05 9.99997400e-01 -3.34477791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:113.44, Y:2.97, Z:-0.34 [[ 8.34667113e-01 -5.50751546e-01 1.88307164e-03 1.13439124e+02] [ 5.50750045e-01 8.34669236e-01 1.28624251e-03 2.96512078e+00] [-2.28014201e-03 -3.64825346e-05 9.99997400e-01 -3.38209139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:2.98, Z:-0.34 [[ 8.35009592e-01 -5.50232165e-01 1.88295984e-03 1.13462650e+02] [ 5.50230663e-01 8.35011714e-01 1.28640615e-03 2.98056406e+00] [-2.28011557e-03 -3.80992313e-05 9.99997400e-01 -3.36600465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:3.00, Z:-0.34 [[ 8.35288112e-01 -5.49809263e-01 1.88259587e-03 1.13486128e+02] [ 5.49807759e-01 8.35290232e-01 1.28693858e-03 2.99598147e+00] [-2.28008470e-03 -3.98986841e-05 9.99997400e-01 -3.37097250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:3.01, Z:-0.34 [[ 8.35321317e-01 -5.49758815e-01 1.88222588e-03 1.13509651e+02] [ 5.49757309e-01 8.35323437e-01 1.28747949e-03 3.01139589e+00] [-2.28007059e-03 -4.06916239e-05 9.99997400e-01 -3.37373356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:3.03, Z:-0.34 [[ 8.35176024e-01 -5.49979515e-01 1.88211082e-03 1.13533314e+02] [ 5.49978009e-01 8.35178144e-01 1.28764767e-03 3.02698669e+00] [-2.28007766e-03 -4.02929009e-05 9.99997400e-01 -3.36824885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:3.04, Z:-0.34 [[ 8.34870637e-01 -5.50442984e-01 1.88173868e-03 1.13556962e+02] [ 5.50441478e-01 8.34872756e-01 1.28819128e-03 3.04206157e+00] [-2.28008821e-03 -3.96860535e-05 9.99997400e-01 -3.36174976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:3.06, Z:-0.34 [[ 8.34682903e-01 -5.50727621e-01 1.88136389e-03 1.13579381e+02] [ 5.50726114e-01 8.34685022e-01 1.28873841e-03 3.05693933e+00] [-2.28009010e-03 -3.95716961e-05 9.99997400e-01 -3.36447128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:3.07, Z:-0.34 [[ 8.34425456e-01 -5.51117610e-01 1.88110873e-03 1.13603161e+02] [ 5.51116104e-01 8.34427575e-01 1.28911075e-03 3.07271054e+00] [-2.28010063e-03 -3.89575080e-05 9.99997400e-01 -3.36302733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:3.09, Z:-0.34 [[ 8.34029550e-01 -5.51716569e-01 1.88073964e-03 1.13626266e+02] [ 5.51715063e-01 8.34031670e-01 1.28964901e-03 3.08806298e+00] [-2.28011715e-03 -3.79729916e-05 9.99997400e-01 -3.35885619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:3.10, Z:-0.34 [[ 8.33384406e-01 -5.52690597e-01 1.88036785e-03 1.13650383e+02] [ 5.52689093e-01 8.33386526e-01 1.29019086e-03 3.10325486e+00] [-2.28014959e-03 -3.59661413e-05 9.99997400e-01 -3.35822631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:3.12, Z:-0.34 [[ 8.32929160e-01 -5.53376437e-01 1.87999845e-03 1.13672676e+02] [ 5.53374932e-01 8.32931281e-01 1.29072891e-03 3.11822835e+00] [-2.28016848e-03 -3.47417276e-05 9.99997400e-01 -3.36101290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:3.13, Z:-0.34 [[ 8.32347831e-01 -5.54250443e-01 1.87983841e-03 1.13695573e+02] [ 5.54248941e-01 8.32349953e-01 1.29096196e-03 3.13367909e+00] [-2.28019965e-03 -3.26309443e-05 9.99997400e-01 -3.36251732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:3.15, Z:-0.34 [[ 8.28417551e-01 -5.60107873e-01 1.87947048e-03 1.13711241e+02] [ 5.60106384e-01 8.28419682e-01 1.29149739e-03 3.15142145e+00] [-2.28036819e-03 -1.71956937e-05 9.99997400e-01 -3.42311752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:3.17, Z:-0.34 [[ 8.31081474e-01 -5.56147580e-01 1.85813813e-03 1.13743569e+02] [ 5.56146012e-01 8.31083548e-01 1.32250078e-03 3.16502766e+00] [-2.27977364e-03 -6.57097872e-05 9.99997399e-01 -3.35807576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:3.18, Z:-0.33 [[ 8.29397161e-01 -5.58656261e-01 1.87916870e-03 1.13766984e+02] [ 5.58654768e-01 8.29399289e-01 1.29191045e-03 3.17981985e+00] [-2.28031504e-03 -2.17003044e-05 9.99997400e-01 -3.34920225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:3.20, Z:-0.34 [[ 8.24623019e-01 -5.65679544e-01 1.87879940e-03 1.13781793e+02] [ 5.65678067e-01 8.24625160e-01 1.29244728e-03 3.19792328e+00] [-2.28041625e-03 -2.98616526e-06 9.99997400e-01 -3.40949006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:3.21, Z:-0.33 [[ 8.27396717e-01 -5.61614840e-01 1.85612505e-03 1.13814243e+02] [ 5.61613278e-01 8.27398797e-01 1.32535283e-03 3.21061609e+00] [-2.28009345e-03 -5.41681023e-05 9.99997399e-01 -3.33802893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:3.23, Z:-0.33 [[ 8.26347521e-01 -5.63157390e-01 1.87839728e-03 1.13837167e+02] [ 5.63155906e-01 8.26349656e-01 1.29299691e-03 3.22584036e+00] [-2.28037371e-03 -1.06342663e-05 9.99997400e-01 -3.33887950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:3.24, Z:-0.34 [[ 8.21501329e-01 -5.70203507e-01 1.87823585e-03 1.13855056e+02] [ 5.70202040e-01 8.21503476e-01 1.29323137e-03 3.24329977e+00] [-2.28038234e-03 8.58261888e-06 9.99997400e-01 -3.39114781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:3.26, Z:-0.33 [[ 8.23030155e-01 -5.67994627e-01 1.86214828e-03 1.13885035e+02] [ 5.67993102e-01 8.23032261e-01 1.31656165e-03 3.25688668e+00] [-2.28040806e-03 -2.58825639e-05 9.99997400e-01 -3.34402090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:3.27, Z:-0.34 [[ 8.19362476e-01 -5.73272716e-01 1.87777926e-03 1.13902748e+02] [ 5.73271256e-01 8.19364628e-01 1.29387671e-03 3.27448433e+00] [-2.28033012e-03 1.63228535e-05 9.99997400e-01 -3.40383703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:3.29, Z:-0.34 [[ 8.19715379e-01 -5.72768042e-01 1.86226796e-03 1.13932085e+02] [ 5.72766529e-01 8.19717494e-01 1.31635943e-03 3.28780758e+00] [-2.28050224e-03 -1.23953195e-05 9.99997400e-01 -3.36582541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:3.30, Z:-0.34 [[ 8.18744723e-01 -5.74154643e-01 1.87729525e-03 1.13955484e+02] [ 5.74153184e-01 8.18746875e-01 1.29456786e-03 3.30337339e+00] [-2.28031177e-03 1.79344437e-05 9.99997400e-01 -3.36887996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:3.32, Z:-0.34 [[ 8.17814534e-01 -5.75478814e-01 1.87692938e-03 1.13977648e+02] [ 5.75477357e-01 8.17816687e-01 1.29509811e-03 3.31809927e+00] [-2.28028569e-03 2.09803044e-05 9.99997400e-01 -3.36967756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:3.34, Z:-0.34 [[ 8.13362086e-01 -5.81754755e-01 1.87677079e-03 1.13993694e+02] [ 5.81753314e-01 8.13364250e-01 1.29532789e-03 3.33656749e+00] [-2.28006142e-03 3.82470326e-05 9.99997400e-01 -3.42728905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:3.35, Z:-0.34 [[ 8.15857710e-01 -5.78249727e-01 1.85723543e-03 1.14025082e+02] [ 5.78248212e-01 8.15859824e-01 1.32359792e-03 3.34979995e+00] [-2.28061391e-03 -5.92449964e-06 9.99997399e-01 -3.36763060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:114.05, Y:3.37, Z:-0.34 [[ 8.14754322e-01 -5.79803306e-01 1.87641347e-03 1.14047962e+02] [ 5.79801858e-01 8.14756483e-01 1.29582730e-03 3.36550861e+00] [-2.28014499e-03 3.21671188e-05 9.99997400e-01 -3.37740923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:3.38, Z:-0.34 [[ 8.10141024e-01 -5.86232037e-01 1.87604333e-03 1.14065597e+02] [ 5.86230606e-01 8.10143195e-01 1.29636295e-03 3.38195764e+00] [-2.27983323e-03 4.95572118e-05 9.99997400e-01 -3.41962282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:3.40, Z:-0.34 [[ 8.09254695e-01 -5.87455003e-01 1.85981667e-03 1.14089595e+02] [ 5.87453521e-01 8.09256831e-01 1.31981795e-03 3.39737480e+00] [-2.28040300e-03 2.44869743e-05 9.99997400e-01 -3.42042580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:3.41, Z:-0.34 [[ 8.10907167e-01 -5.85171859e-01 1.86088589e-03 1.14118564e+02] [ 5.85170374e-01 8.10909301e-01 1.31827312e-03 3.41093677e+00] [-2.28042601e-03 1.99381733e-05 9.99997400e-01 -3.36825674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:3.43, Z:-0.34 [[ 8.09112197e-01 -5.87651202e-01 1.87529961e-03 1.14141579e+02] [ 5.87649772e-01 8.09114369e-01 1.29743975e-03 3.42597484e+00] [-2.27977389e-03 5.22450674e-05 9.99997400e-01 -3.36408528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:114.16, Y:3.44, Z:-0.34 [[ 8.07967525e-01 -5.89224034e-01 1.87513937e-03 1.14164526e+02] [ 5.89222608e-01 8.07969699e-01 1.29767130e-03 3.44231831e+00] [-2.27967491e-03 5.63982383e-05 9.99997400e-01 -3.37776855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:3.46, Z:-0.34 [[ 8.07328709e-01 -5.90099009e-01 1.87477072e-03 1.14186800e+02] [ 5.90097584e-01 8.07330884e-01 1.29820368e-03 3.45804682e+00] [-2.27962901e-03 5.82205692e-05 9.99997400e-01 -3.36649055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:3.47, Z:-0.34 [[ 8.06544528e-01 -5.91170373e-01 1.87461117e-03 1.14209971e+02] [ 5.91168951e-01 8.06546704e-01 1.29843403e-03 3.47457091e+00] [-2.27955719e-03 6.09670614e-05 9.99997400e-01 -3.36955892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:3.49, Z:-0.34 [[ 8.05862924e-01 -5.92099177e-01 1.87424773e-03 1.14232105e+02] [ 5.92097755e-01 8.05865101e-01 1.29895843e-03 3.49024436e+00] [-2.27950305e-03 6.29554308e-05 9.99997400e-01 -3.37120360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:3.51, Z:-0.34 [[ 8.01826691e-01 -5.97553717e-01 1.87409041e-03 1.14248217e+02] [ 5.97552310e-01 8.01828878e-01 1.29918537e-03 3.50831731e+00] [-2.27903286e-03 7.81455493e-05 9.99997400e-01 -3.41800445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:3.52, Z:-0.34 [[ 8.03902248e-01 -5.94758543e-01 1.85772058e-03 1.14278702e+02] [ 5.94757074e-01 8.03904393e-01 1.32277664e-03 3.52279399e+00] [-2.28016245e-03 4.15093452e-05 9.99997400e-01 -3.36377953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:3.54, Z:-0.34 [[ 8.03250779e-01 -5.95638040e-01 1.87389796e-03 1.14300790e+02] [ 5.95636627e-01 8.03252962e-01 1.29944769e-03 3.53856509e+00] [-2.27921456e-03 7.23798852e-05 9.99997400e-01 -3.36167443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:3.56, Z:-0.34 [[ 8.02127113e-01 -5.97150387e-01 1.87374128e-03 1.14323399e+02] [ 5.97148977e-01 8.02129298e-01 1.29967357e-03 3.55614771e+00] [-2.27908335e-03 7.63992783e-05 9.99997400e-01 -3.36525827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:3.57, Z:-0.34 [[ 8.01678393e-01 -5.97752662e-01 1.87337691e-03 1.14345361e+02] [ 5.97751253e-01 8.01680578e-01 1.30019857e-03 3.57304713e+00] [-2.27904704e-03 7.74722971e-05 9.99997400e-01 -3.36944888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:3.59, Z:-0.34 [[ 8.01306500e-01 -5.98251106e-01 1.87301191e-03 1.14367686e+02] [ 5.98249697e-01 8.01308685e-01 1.30072417e-03 3.59031674e+00] [-2.27902038e-03 7.82500789e-05 9.99997400e-01 -3.37359142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:3.61, Z:-0.34 [[ 8.01140425e-01 -5.98473486e-01 1.87264452e-03 1.14388945e+02] [ 5.98472076e-01 8.01142609e-01 1.30125288e-03 3.60715572e+00] [-2.27902066e-03 7.82391666e-05 9.99997400e-01 -3.38149229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:3.62, Z:-0.34 [[ 8.00992935e-01 -5.98670870e-01 1.87248532e-03 1.14411251e+02] [ 5.98669461e-01 8.00995120e-01 1.30148193e-03 3.62450057e+00] [-2.27901092e-03 7.85219490e-05 9.99997400e-01 -3.38441221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:3.64, Z:-0.34 [[ 8.00820237e-01 -5.98901865e-01 1.87211064e-03 1.14434704e+02] [ 5.98900455e-01 8.00822421e-01 1.30202066e-03 3.64088518e+00] [-2.27901078e-03 7.85234211e-05 9.99997400e-01 -3.38506174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:3.66, Z:-0.34 [[ 8.01086694e-01 -5.98545408e-01 1.87173496e-03 1.14456325e+02] [ 5.98543996e-01 8.01088877e-01 1.30256050e-03 3.65939866e+00] [-2.27906766e-03 7.68518400e-05 9.99997400e-01 -3.38696647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:3.68, Z:-0.34 [[ 8.01345334e-01 -5.98199092e-01 1.87136128e-03 1.14477503e+02] [ 5.98197678e-01 8.01347515e-01 1.30309713e-03 3.67621878e+00] [-2.27912224e-03 7.52131633e-05 9.99997400e-01 -3.38806473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:3.69, Z:-0.34 [[ 8.01832520e-01 -5.97545905e-01 1.87119962e-03 1.14500037e+02] [ 5.97544489e-01 8.01834700e-01 1.30332924e-03 3.69375005e+00] [-2.27919183e-03 7.30732500e-05 9.99997400e-01 -3.38215467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:3.71, Z:-0.34 [[ 8.02390447e-01 -5.96796507e-01 1.87083462e-03 1.14521893e+02] [ 5.96795087e-01 8.02392624e-01 1.30385295e-03 3.71142038e+00] [-2.27927879e-03 7.03057615e-05 9.99997400e-01 -3.37900650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:3.73, Z:-0.34 [[ 8.01033343e-01 -5.98616810e-01 1.87047239e-03 1.14534694e+02] [ 5.98615394e-01 8.01035523e-01 1.30437239e-03 3.73224477e+00] [-2.27913407e-03 7.48477884e-05 9.99997400e-01 -3.41828700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:114.56, Y:3.75, Z:-0.34 [[ 8.04873916e-01 -5.93442966e-01 1.85066960e-03 1.14563085e+02] [ 5.93441470e-01 8.04876043e-01 1.33273550e-03 3.74881308e+00] [-2.28046213e-03 2.55800450e-05 9.99997399e-01 -3.40183222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:3.77, Z:-0.34 [[ 8.03712586e-01 -5.95014774e-01 1.87030613e-03 1.14578567e+02] [ 5.95013347e-01 8.03714759e-01 1.30458373e-03 3.76825443e+00] [-2.27943924e-03 6.43467463e-05 9.99997400e-01 -3.42002000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:3.78, Z:-0.34 [[ 8.08159141e-01 -5.88961264e-01 1.85264880e-03 1.14607010e+02] [ 5.88959763e-01 8.08161264e-01 1.32987450e-03 3.78461417e+00] [-2.28048357e-03 1.63853672e-05 9.99997400e-01 -3.37252274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:3.81, Z:-0.34 [[ 8.08671549e-01 -5.88257451e-01 1.87024660e-03 1.14620087e+02] [ 5.88256006e-01 8.08673710e-01 1.30464760e-03 3.80646885e+00] [-2.27988793e-03 4.51523987e-05 9.99997400e-01 -3.42834902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:114.65, Y:3.82, Z:-0.34 [[ 8.13160359e-01 -5.82036773e-01 1.85092991e-03 1.14648979e+02] [ 5.82035248e-01 8.13162465e-01 1.33230837e-03 3.82264601e+00] [-2.28055920e-03 -6.07390283e-06 9.99997399e-01 -3.40139930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:114.67, Y:3.84, Z:-0.34 [[ 8.14486010e-01 -5.80180181e-01 1.87012987e-03 1.14670822e+02] [ 5.80178714e-01 8.14488157e-01 1.30478944e-03 3.84037555e+00] [-2.28021161e-03 2.22768020e-05 9.99997400e-01 -3.40599436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:3.86, Z:-0.34 [[ 8.15890990e-01 -5.78202729e-01 1.86975434e-03 1.14692604e+02] [ 5.78201256e-01 8.15893133e-01 1.30532736e-03 3.85746651e+00] [-2.28026357e-03 1.60894744e-05 9.99997400e-01 -3.36546951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:3.87, Z:-0.34 [[ 8.17144387e-01 -5.76430010e-01 1.86938047e-03 1.14714008e+02] [ 5.76428530e-01 8.17146525e-01 1.30586256e-03 3.87475229e+00] [-2.28029612e-03 1.04859737e-05 9.99997400e-01 -3.36593555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.73, Y:3.89, Z:-0.34 [[ 8.19352745e-01 -5.73286651e-01 1.86921839e-03 1.14734866e+02] [ 5.73285163e-01 8.19354878e-01 1.30609452e-03 3.89336755e+00] [-2.28031976e-03 1.44304408e-06 9.99997400e-01 -3.36622386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:114.76, Y:3.91, Z:-0.34 [[ 8.20156190e-01 -5.72136636e-01 1.86885035e-03 1.14757230e+02] [ 5.72135144e-01 8.20158320e-01 1.30662093e-03 3.91057478e+00] [-2.28031887e-03 -2.39828342e-06 9.99997400e-01 -3.38747033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:3.93, Z:-0.34 [[ 8.20976074e-01 -5.70959538e-01 1.86848305e-03 1.14780188e+02] [ 5.70958042e-01 8.20978201e-01 1.30714596e-03 3.92727281e+00] [-2.28031131e-03 -6.31013707e-06 9.99997400e-01 -3.36342427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:3.94, Z:-0.34 [[ 8.21468855e-01 -5.70250323e-01 1.86811262e-03 1.14802337e+02] [ 5.70248823e-01 8.21470979e-01 1.30767515e-03 3.94391974e+00] [-2.28030248e-03 -8.92538192e-06 9.99997400e-01 -3.37153386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:3.96, Z:-0.34 [[ 8.22419138e-01 -5.68878962e-01 1.86774336e-03 1.14824704e+02] [ 5.68877458e-01 8.22421259e-01 1.30820235e-03 3.96167598e+00] [-2.28028064e-03 -1.33735550e-05 9.99997400e-01 -3.38811871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.85, Y:3.98, Z:-0.34 [[ 8.22539127e-01 -5.68705458e-01 1.86737422e-03 1.14847354e+02] [ 5.68703952e-01 8.22541246e-01 1.30872906e-03 3.97904426e+00] [-2.28027368e-03 -1.44977563e-05 9.99997400e-01 -3.43263376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:4.00, Z:-0.34 [[ 8.22906877e-01 -5.68173200e-01 1.86700394e-03 1.14870765e+02] [ 5.68171692e-01 8.22908995e-01 1.30925708e-03 3.99538391e+00] [-2.28025912e-03 -1.66178721e-05 9.99997400e-01 -3.40234863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:4.01, Z:-0.34 [[ 8.23277648e-01 -5.67635826e-01 1.86663291e-03 1.14894050e+02] [ 5.67634315e-01 8.23279764e-01 1.30978585e-03 4.01147341e+00] [-2.28024247e-03 -1.87525199e-05 9.99997400e-01 -3.40782709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:4.03, Z:-0.34 [[ 8.24031509e-01 -5.66540898e-01 1.86626364e-03 1.14917312e+02] [ 5.66539383e-01 8.24033622e-01 1.31031179e-03 4.02776538e+00] [-2.28020921e-03 -2.24263535e-05 9.99997400e-01 -3.40610734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.94, Y:4.04, Z:-0.34 [[ 8.24198905e-01 -5.66297346e-01 1.86588722e-03 1.14939927e+02] [ 5.66295829e-01 8.24201016e-01 1.31084760e-03 4.04361536e+00] [-2.28019566e-03 -2.37550017e-05 9.99997400e-01 -3.41393671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:4.06, Z:-0.34 [[ 8.24368747e-01 -5.66050076e-01 1.86550776e-03 1.14962096e+02] [ 5.66048557e-01 8.24370858e-01 1.31138740e-03 4.05886892e+00] [-2.28018117e-03 -2.50988096e-05 9.99997400e-01 -3.42088628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:4.07, Z:-0.34 [[ 8.24519197e-01 -5.65830906e-01 1.86534329e-03 1.14984335e+02] [ 5.65829386e-01 8.24521307e-01 1.31162131e-03 4.07390670e+00] [-2.28017116e-03 -2.59909013e-05 9.99997400e-01 -3.42284980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:4.09, Z:-0.34 [[ 8.24469899e-01 -5.65902737e-01 1.86518107e-03 1.15006952e+02] [ 5.65901217e-01 8.24472008e-01 1.31185194e-03 4.08915593e+00] [-2.28017019e-03 -2.60742022e-05 9.99997400e-01 -3.42436237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:4.10, Z:-0.34 [[ 8.24302600e-01 -5.66146400e-01 1.86501978e-03 1.15031078e+02] [ 5.66144880e-01 8.24304709e-01 1.31208120e-03 4.10430180e+00] [-2.28017464e-03 -2.56805476e-05 9.99997400e-01 -3.41391300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.05, Y:4.12, Z:-0.34 [[ 8.23889576e-01 -5.66747290e-01 1.86464685e-03 1.15054239e+02] [ 5.66745770e-01 8.23891685e-01 1.31261097e-03 4.11986294e+00] [-2.28018575e-03 -2.46657798e-05 9.99997400e-01 -3.42954115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:4.14, Z:-0.34 [[ 8.23338617e-01 -5.67547396e-01 1.86427164e-03 1.15077254e+02] [ 5.67545878e-01 8.23340727e-01 1.31314366e-03 4.13509276e+00] [-2.28020203e-03 -2.31021946e-05 9.99997400e-01 -3.40830931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:4.15, Z:-0.34 [[ 8.21363737e-01 -5.70401732e-01 1.86409552e-03 1.15101205e+02] [ 5.70400221e-01 8.21365852e-01 1.31339363e-03 4.14962122e+00] [-2.28026641e-03 -1.54933994e-05 9.99997400e-01 -3.39474698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:115.12, Y:4.16, Z:-0.34 [[ 8.20028101e-01 -5.72320225e-01 1.86371647e-03 1.15124081e+02] [ 5.72318717e-01 8.20030219e-01 1.31393129e-03 4.16454172e+00] [-2.28029327e-03 -1.08207602e-05 9.99997400e-01 -3.41658939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:4.18, Z:-0.34 [[ 8.18626804e-01 -5.74322804e-01 1.86355228e-03 1.15148029e+02] [ 5.74321301e-01 8.18628925e-01 1.31416411e-03 4.17974528e+00] [-2.28031222e-03 -5.53219948e-06 9.99997400e-01 -3.38664393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:4.20, Z:-0.34 [[ 8.17075092e-01 -5.76528249e-01 1.86317485e-03 1.15171913e+02] [ 5.76526750e-01 8.17077217e-01 1.31469900e-03 4.19512297e+00] [-2.28031884e-03 -3.76683547e-08 9.99997400e-01 -3.38261540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:4.21, Z:-0.34 [[ 8.15236477e-01 -5.79125216e-01 1.86279853e-03 1.15195029e+02] [ 5.79123723e-01 8.15238606e-01 1.31523199e-03 4.21043934e+00] [-2.28030929e-03 6.56572262e-06 9.99997400e-01 -3.38118936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:4.22, Z:-0.34 [[ 8.12172309e-01 -5.83414666e-01 1.86242257e-03 1.15219216e+02] [ 5.83413183e-01 8.12174444e-01 1.31576415e-03 4.22469317e+00] [-2.28024812e-03 1.79346745e-05 9.99997400e-01 -3.38298607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:4.24, Z:-0.34 [[ 8.10652051e-01 -5.85525221e-01 1.86204851e-03 1.15242527e+02] [ 5.85523742e-01 8.10654190e-01 1.31629331e-03 4.24002629e+00] [-2.28020035e-03 2.32177365e-05 9.99997400e-01 -3.38172893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.26, Y:4.26, Z:-0.34 [[ 8.09424669e-01 -5.87220776e-01 1.86167141e-03 1.15264963e+02] [ 5.87219300e-01 8.09426809e-01 1.31682644e-03 4.25542673e+00] [-2.28015459e-03 2.73375742e-05 9.99997400e-01 -3.39201436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19999999999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:115.29, Y:4.27, Z:-0.34 [[ 8.07746053e-01 -5.89527649e-01 1.86150826e-03 1.15288062e+02] [ 5.89526179e-01 8.07748197e-01 1.31705703e-03 4.27097537e+00] [-2.28007147e-03 3.35602334e-05 9.99997400e-01 -3.42408721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:4.29, Z:-0.34 [[ 8.07560744e-01 -5.89781469e-01 1.86113644e-03 1.15311367e+02] [ 5.89779998e-01 8.07562888e-01 1.31758224e-03 4.28639665e+00] [-2.28007031e-03 3.36333537e-05 9.99997400e-01 -3.39530114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:4.30, Z:-0.34 [[ 8.07261539e-01 -5.90190939e-01 1.86076255e-03 1.15334825e+02] [ 5.90189468e-01 8.07263683e-01 1.31811005e-03 4.30264325e+00] [-2.28006264e-03 3.41429088e-05 9.99997400e-01 -3.39971493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:4.32, Z:-0.34 [[ 8.07109129e-01 -5.90399351e-01 1.86038943e-03 1.15357688e+02] [ 5.90397879e-01 8.07111272e-01 1.31863647e-03 4.31851818e+00] [-2.28006339e-03 3.40864405e-05 9.99997400e-01 -3.40259727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:4.33, Z:-0.34 [[ 8.07262726e-01 -5.90189318e-01 1.86001907e-03 1.15381261e+02] [ 5.90187845e-01 8.07264868e-01 1.31915868e-03 4.33448510e+00] [-2.28008141e-03 3.28530169e-05 9.99997400e-01 -3.39538844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:4.35, Z:-0.34 [[ 8.07646310e-01 -5.89664294e-01 1.85963783e-03 1.15403506e+02] [ 5.89662818e-01 8.07648450e-01 1.31969590e-03 4.35001686e+00] [-2.28011116e-03 3.07117588e-05 9.99997400e-01 -3.39506960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:115.43, Y:4.37, Z:-0.34 [[ 8.08115082e-01 -5.89021695e-01 1.85947276e-03 1.15425462e+02] [ 5.89020217e-01 8.08117220e-01 1.31992844e-03 4.36625381e+00] [-2.28013845e-03 2.86129723e-05 9.99997400e-01 -3.43086630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.45, Y:4.38, Z:-0.34 [[ 8.09167962e-01 -5.87574466e-01 1.85931148e-03 1.15449147e+02] [ 5.87572983e-01 8.09170097e-01 1.32015559e-03 4.38289825e+00] [-2.28018897e-03 2.42535858e-05 9.99997400e-01 -3.39297526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:115.47, Y:4.40, Z:-0.34 [[ 8.11329937e-01 -5.84585560e-01 1.85898594e-03 1.15471375e+02] [ 5.84584069e-01 8.11332067e-01 1.32061384e-03 4.39991123e+00] [-2.28026669e-03 1.52800178e-05 9.99997400e-01 -3.42797645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:4.42, Z:-0.34 [[ 8.13168258e-01 -5.82025713e-01 1.85861362e-03 1.15494500e+02] [ 5.82024213e-01 8.13170382e-01 1.32113763e-03 4.41587275e+00] [-2.28030562e-03 7.45094153e-06 9.99997400e-01 -3.38707049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:4.43, Z:-0.34 [[ 8.14874062e-01 -5.79635066e-01 1.85823752e-03 1.15517042e+02] [ 5.79633559e-01 8.14876181e-01 1.32166643e-03 4.43257068e+00] [-2.28031770e-03 1.05131546e-07 9.99997400e-01 -3.38931689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:4.45, Z:-0.34 [[ 8.16765520e-01 -5.76966753e-01 1.85786297e-03 1.15540102e+02] [ 5.76965238e-01 8.16767633e-01 1.32219271e-03 4.44946085e+00] [-2.28030358e-03 -7.99906507e-06 9.99997400e-01 -3.39117105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:115.56, Y:4.47, Z:-0.34 [[ 8.20447402e-01 -5.71718996e-01 1.85748736e-03 1.15562165e+02] [ 5.71717466e-01 8.20449505e-01 1.32272018e-03 4.46704774e+00] [-2.28019884e-03 -2.32643707e-05 9.99997400e-01 -3.43114763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:4.48, Z:-0.34 [[ 8.22595267e-01 -5.68624286e-01 1.85711090e-03 1.15585207e+02] [ 5.68622747e-01 8.22597362e-01 1.32324853e-03 4.48324083e+00] [-2.28008578e-03 -3.25024731e-05 9.99997400e-01 -3.39722232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:4.50, Z:-0.34 [[ 8.24128615e-01 -5.66399663e-01 1.85673572e-03 1.15607765e+02] [ 5.66398118e-01 8.24130706e-01 1.32377475e-03 4.49949550e+00] [-2.27997850e-03 -3.93090316e-05 9.99997400e-01 -3.40303429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64999999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.63, Y:4.52, Z:-0.34 [[ 8.25225410e-01 -5.64800475e-01 1.85636183e-03 1.15630247e+02] [ 5.64798924e-01 8.25227497e-01 1.32429887e-03 4.51549196e+00] [-2.27988545e-03 -4.43739150e-05 9.99997400e-01 -3.42963482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:115.66, Y:4.53, Z:-0.35 [[ 8.26302663e-01 -5.63223280e-01 1.85599106e-03 1.15655308e+02] [ 5.63221724e-01 8.26304746e-01 1.32481830e-03 4.53100176e+00] [-2.27978273e-03 -4.93664045e-05 9.99997400e-01 -3.47183712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:115.68, Y:4.55, Z:-0.35 [[ 8.26452115e-01 -5.63003959e-01 1.85568760e-03 1.15679354e+02] [ 5.63002401e-01 8.26454197e-01 1.32524322e-03 4.54624256e+00] [-2.27975798e-03 -5.04934863e-05 9.99997400e-01 -3.46957167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:115.70, Y:4.56, Z:-0.35 [[ 8.26332085e-01 -5.63180117e-01 1.85531507e-03 1.15703510e+02] [ 5.63178559e-01 8.26334166e-01 1.32576455e-03 4.56152036e+00] [-2.27975446e-03 -5.06481149e-05 9.99997400e-01 -3.46494150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:115.73, Y:4.58, Z:-0.35 [[ 8.25929037e-01 -5.63771039e-01 1.85493681e-03 1.15727377e+02] [ 5.63769481e-01 8.25931119e-01 1.32629358e-03 4.57623549e+00] [-2.27977594e-03 -4.96676142e-05 9.99997400e-01 -3.47574753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:4.59, Z:-0.35 [[ 8.25150094e-01 -5.64910509e-01 1.85456086e-03 1.15753360e+02] [ 5.64908953e-01 8.25152176e-01 1.32681905e-03 4.58849387e+00] [-2.27982896e-03 -4.71668303e-05 9.99997400e-01 -3.45058507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:4.60, Z:-0.35 [[ 8.24509581e-01 -5.65844954e-01 1.85444440e-03 1.15777415e+02] [ 5.65843400e-01 8.24511665e-01 1.32698181e-03 4.60234206e+00] [-2.27987700e-03 -4.47840889e-05 9.99997400e-01 -3.45192391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:115.80, Y:4.62, Z:-0.35 [[ 8.23471084e-01 -5.67355212e-01 1.85407270e-03 1.15801148e+02] [ 5.67353660e-01 8.23473170e-01 1.32750095e-03 4.61679125e+00] [-2.27994371e-03 -4.12437184e-05 9.99997400e-01 -3.49208423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:4.63, Z:-0.35 [[ 8.20062359e-01 -5.72271170e-01 1.85369926e-03 1.15819031e+02] [ 5.72269630e-01 8.20064453e-01 1.32802221e-03 4.63280576e+00] [-2.28014169e-03 -2.82452407e-05 9.99997400e-01 -3.49994863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:4.65, Z:-0.35 [[ 8.21310299e-01 -5.70478767e-01 1.83552547e-03 1.15849919e+02] [ 5.70477165e-01 8.21312347e-01 1.35336033e-03 4.64626203e+00] [-2.27960306e-03 -6.44034069e-05 9.99997400e-01 -3.45407389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:4.66, Z:-0.35 [[ 8.21151497e-01 -5.70707267e-01 1.85334079e-03 1.15873112e+02] [ 5.70705721e-01 8.21153588e-01 1.32850697e-03 4.66300363e+00] [-2.28006602e-03 -3.31932945e-05 9.99997400e-01 -3.45485984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:4.68, Z:-0.34 [[ 8.20861589e-01 -5.71124170e-01 1.85297091e-03 1.15895933e+02] [ 5.71122625e-01 8.20863680e-01 1.32902267e-03 4.67908302e+00] [-2.28007349e-03 -3.26700511e-05 9.99997400e-01 -3.44804640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:4.70, Z:-0.34 [[ 8.20920104e-01 -5.71040060e-01 1.85279710e-03 1.15918926e+02] [ 5.71038514e-01 8.20922194e-01 1.32926494e-03 4.69581700e+00] [-2.28006579e-03 -3.32018088e-05 9.99997400e-01 -3.43653954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:115.94, Y:4.71, Z:-0.35 [[ 8.22056978e-01 -5.69402225e-01 1.85242475e-03 1.15941105e+02] [ 5.69400673e-01 8.22059064e-01 1.32978362e-03 4.71308055e+00] [-2.27998431e-03 -3.83860015e-05 9.99997400e-01 -3.46128453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:4.73, Z:-0.35 [[ 8.20515994e-01 -5.71620568e-01 1.85204852e-03 1.15957281e+02] [ 5.71619021e-01 8.20518084e-01 1.33030742e-03 4.73105335e+00] [-2.28007038e-03 -3.28723532e-05 9.99997400e-01 -3.47681724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:4.75, Z:-0.35 [[ 8.21293599e-01 -5.70502808e-01 1.83586350e-03 1.15979200e+02] [ 5.70501208e-01 8.21295648e-01 1.35282564e-03 4.74758497e+00] [-2.27957753e-03 -6.37046925e-05 9.99997400e-01 -3.49147107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:4.76, Z:-0.35 [[ 8.22179833e-01 -5.69224873e-01 1.83484121e-03 1.16002181e+02] [ 5.69223266e-01 8.22181877e-01 1.35424778e-03 4.76487128e+00] [-2.27944472e-03 -6.90009103e-05 9.99997400e-01 -3.50367764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:4.78, Z:-0.35 [[ 8.25550706e-01 -5.64324962e-01 1.83532623e-03 1.16030732e+02] [ 5.64323345e-01 8.25552742e-01 1.35357315e-03 4.78122260e+00] [-2.27901372e-03 -8.17258363e-05 9.99997400e-01 -3.49708042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:4.80, Z:-0.35 [[ 8.25697442e-01 -5.64110188e-01 1.85188762e-03 1.16053730e+02] [ 5.64108622e-01 8.25699517e-01 1.33052217e-03 4.79787460e+00] [-2.27966383e-03 -5.39429798e-05 9.99997400e-01 -3.49010301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:4.81, Z:-0.35 [[ 8.25616435e-01 -5.64228743e-01 1.85151108e-03 1.16076312e+02] [ 5.64227176e-01 8.25618509e-01 1.33104595e-03 4.81386532e+00] [-2.27965620e-03 -5.42605397e-05 9.99997400e-01 -3.48198877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:4.83, Z:-0.35 [[ 8.25521699e-01 -5.64367343e-01 1.85113028e-03 1.16099143e+02] [ 5.64365774e-01 8.25523773e-01 1.33157533e-03 4.82988852e+00] [-2.27964968e-03 -5.45297579e-05 9.99997400e-01 -3.48192983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:4.85, Z:-0.35 [[ 8.25286450e-01 -5.64711298e-01 1.85075078e-03 1.16121964e+02] [ 5.64709730e-01 8.25288523e-01 1.33210258e-03 4.84571065e+00] [-2.27965676e-03 -5.42292365e-05 9.99997400e-01 -3.47705340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:4.86, Z:-0.35 [[ 8.24883044e-01 -5.65300398e-01 1.85036811e-03 1.16144782e+02] [ 5.65298830e-01 8.24885117e-01 1.33263393e-03 4.86138788e+00] [-2.27967960e-03 -5.32562042e-05 9.99997400e-01 -3.47461556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:4.88, Z:-0.35 [[ 8.23698516e-01 -5.67024984e-01 1.84998708e-03 1.16169049e+02] [ 5.67023419e-01 8.23700592e-01 1.33316266e-03 4.87709826e+00] [-2.27977199e-03 -4.91381065e-05 9.99997400e-01 -3.45995266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:4.89, Z:-0.35 [[ 8.23063998e-01 -5.67945625e-01 1.84965408e-03 1.16191853e+02] [ 5.67944061e-01 8.23066075e-01 1.33362452e-03 4.89303899e+00] [-2.27981374e-03 -4.71582811e-05 9.99997400e-01 -3.45026351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.22, Y:4.91, Z:-0.34 [[ 8.21483024e-01 -5.70229971e-01 1.84953618e-03 1.16215988e+02] [ 5.70228413e-01 8.21485105e-01 1.33378801e-03 4.90967845e+00] [-2.27993232e-03 -4.10261276e-05 9.99997400e-01 -3.42857651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:116.24, Y:4.93, Z:-0.34 [[ 8.20561904e-01 -5.71554671e-01 1.84920683e-03 1.16238935e+02] [ 5.71553114e-01 8.20563987e-01 1.33424447e-03 4.92570056e+00] [-2.27998619e-03 -3.79102544e-05 9.99997400e-01 -3.44207482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:116.26, Y:4.94, Z:-0.34 [[ 8.19776067e-01 -5.72681222e-01 1.84883278e-03 1.16261786e+02] [ 5.72679668e-01 8.19778151e-01 1.33476258e-03 4.94145495e+00] [-2.28002619e-03 -3.54174786e-05 9.99997400e-01 -3.44183046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:116.29, Y:4.96, Z:-0.34 [[ 8.19021070e-01 -5.73760464e-01 1.84845186e-03 1.16285278e+02] [ 5.73758911e-01 8.19023155e-01 1.33528990e-03 4.95777496e+00] [-2.28006142e-03 -3.30648332e-05 9.99997400e-01 -3.43521031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:4.97, Z:-0.34 [[ 8.18290233e-01 -5.74802296e-01 1.84807201e-03 1.16307716e+02] [ 5.74800745e-01 8.18292319e-01 1.33581541e-03 4.97211800e+00] [-2.28009290e-03 -3.08115310e-05 9.99997400e-01 -3.40217361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:116.33, Y:4.99, Z:-0.34 [[ 8.17552946e-01 -5.75850472e-01 1.84777672e-03 1.16330318e+02] [ 5.75848923e-01 8.17555034e-01 1.33622375e-03 4.98828896e+00] [-2.28012423e-03 -2.83934341e-05 9.99997400e-01 -3.44677150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:116.35, Y:5.01, Z:-0.35 [[ 8.15201492e-01 -5.79174511e-01 1.84739726e-03 1.16348978e+02] [ 5.79172968e-01 8.15203585e-01 1.33674817e-03 5.00591611e+00] [-2.28021533e-03 -1.97565491e-05 9.99997400e-01 -3.48949822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:5.02, Z:-0.34 [[ 8.16923296e-01 -5.76743413e-01 1.83418518e-03 1.16376094e+02] [ 5.76741823e-01 8.16925353e-01 1.35498377e-03 5.02095722e+00] [-2.27987034e-03 -4.90665054e-05 9.99997400e-01 -3.43083690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:5.04, Z:-0.35 [[ 8.16329761e-01 -5.77583163e-01 1.84687596e-03 1.16399959e+02] [ 5.77581615e-01 8.16331850e-01 1.33745928e-03 5.03684591e+00] [-2.28015763e-03 -2.50862116e-05 9.99997400e-01 -3.45420173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:5.05, Z:-0.35 [[ 8.13195661e-01 -5.81987464e-01 1.84654726e-03 1.16416310e+02] [ 5.81985926e-01 8.13197757e-01 1.33791294e-03 5.05411184e+00] [-2.28025665e-03 -1.33204813e-05 9.99997400e-01 -3.51707038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.7 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:116.45, Y:5.07, Z:-0.35 [[ 8.14795471e-01 -5.79745632e-01 1.82823737e-03 1.16445907e+02] [ 5.79744032e-01 8.14797520e-01 1.36314533e-03 5.06887911e+00] [-2.27992083e-03 -5.07749381e-05 9.99997400e-01 -3.50077669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:116.47, Y:5.08, Z:-0.35 [[ 8.13930754e-01 -5.80958965e-01 1.84596456e-03 1.16468772e+02] [ 5.80957423e-01 8.13932848e-01 1.33870092e-03 5.08450953e+00] [-2.28022149e-03 -1.71830386e-05 9.99997400e-01 -3.49025649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:5.10, Z:-0.35 [[ 8.12810175e-01 -5.82525719e-01 1.84558529e-03 1.16492693e+02] [ 5.82524180e-01 8.12812270e-01 1.33922359e-03 5.10060960e+00] [-2.28024655e-03 -1.34365088e-05 9.99997400e-01 -3.46061515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:116.52, Y:5.12, Z:-0.35 [[ 8.09389900e-01 -5.87268751e-01 1.84525213e-03 1.16515901e+02] [ 5.87267223e-01 8.09392003e-01 1.33968248e-03 5.11515455e+00] [-2.28028597e-03 -6.69372975e-07 9.99997400e-01 -3.47920601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:116.54, Y:5.13, Z:-0.35 [[ 8.07396502e-01 -5.90006343e-01 1.84499336e-03 1.16538860e+02] [ 5.90004821e-01 8.07398610e-01 1.34003876e-03 5.13061563e+00] [-2.28027644e-03 6.61237243e-06 9.99997400e-01 -3.47063939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:5.15, Z:-0.34 [[ 8.05496198e-01 -5.92598070e-01 1.84461950e-03 1.16563013e+02] [ 5.92596554e-01 8.05498310e-01 1.34055319e-03 5.14652785e+00] [-2.28024712e-03 1.33046598e-05 9.99997400e-01 -3.43531788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:5.16, Z:-0.34 [[ 8.03480578e-01 -5.95328111e-01 1.84428312e-03 1.16585725e+02] [ 5.95326601e-01 8.03482694e-01 1.34101581e-03 5.16184821e+00] [-2.28019398e-03 2.04706460e-05 9.99997400e-01 -3.43177315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:5.18, Z:-0.34 [[ 8.00841656e-01 -5.98873310e-01 1.84413949e-03 1.16608623e+02] [ 5.98871808e-01 8.00843779e-01 1.34121330e-03 5.17757051e+00] [-2.28008449e-03 3.03036722e-05 9.99997400e-01 -3.42607986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:5.19, Z:-0.34 [[ 8.00259230e-01 -5.99651370e-01 1.84375654e-03 1.16631106e+02] [ 5.99649870e-01 8.00261353e-01 1.34173954e-03 5.19461257e+00] [-2.28006305e-03 3.18689221e-05 9.99997400e-01 -3.42640707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:5.21, Z:-0.35 [[ 7.96439063e-01 -6.04715984e-01 1.84337382e-03 1.16645234e+02] [ 6.04714496e-01 7.96441195e-01 1.34226514e-03 5.21411866e+00] [-2.27982803e-03 4.56824807e-05 9.99997400e-01 -3.48713683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:5.23, Z:-0.34 [[ 8.00411237e-01 -5.99448528e-01 1.82051709e-03 1.16676052e+02] [ 5.99446954e-01 8.00413307e-01 1.37362034e-03 5.22996451e+00] [-2.28058080e-03 -8.15773476e-06 9.99997399e-01 -3.43645962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:116.70, Y:5.25, Z:-0.35 [[ 8.00710735e-01 -5.99048346e-01 1.84333394e-03 1.16696577e+02] [ 5.99046843e-01 8.00712856e-01 1.34228645e-03 5.24694658e+00] [-2.28007566e-03 2.94602037e-05 9.99997400e-01 -3.46715301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:5.27, Z:-0.35 [[ 7.98668770e-01 -6.01768060e-01 1.84317229e-03 1.16709645e+02] [ 6.01766564e-01 7.98670896e-01 1.34250838e-03 5.26754971e+00] [-2.27996673e-03 3.69399440e-05 9.99997400e-01 -3.50732983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:5.29, Z:-0.35 [[ 8.00145088e-01 -5.99803731e-01 1.82285755e-03 1.16733339e+02] [ 5.99802166e-01 8.00147164e-01 1.37037463e-03 5.28511770e+00] [-2.28051012e-03 -3.14462454e-06 9.99997400e-01 -3.50554677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:5.30, Z:-0.35 [[ 8.03748893e-01 -5.94965865e-01 1.82649485e-03 1.16761511e+02] [ 5.94964298e-01 8.03750969e-01 1.36538579e-03 5.30134656e+00] [-2.28040494e-03 -1.07280916e-05 9.99997400e-01 -3.46734577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.78, Y:5.32, Z:-0.35 [[ 8.05123713e-01 -5.93104046e-01 1.84293866e-03 1.16782883e+02] [ 5.93102526e-01 8.05125822e-01 1.34281761e-03 5.31974237e+00] [-2.28022806e-03 1.19172740e-05 9.99997400e-01 -3.48082310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:116.81, Y:5.34, Z:-0.35 [[ 8.05470678e-01 -5.92632763e-01 1.84256230e-03 1.16805312e+02] [ 5.92631240e-01 8.05472786e-01 1.34333385e-03 5.33762827e+00] [-2.28023743e-03 9.94395596e-06 9.99997400e-01 -3.52663254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:5.36, Z:-0.35 [[ 8.06077809e-01 -5.91806701e-01 1.84223428e-03 1.16828351e+02] [ 5.91805176e-01 8.06079914e-01 1.34378354e-03 5.35575430e+00] [-2.28024815e-03 7.04969399e-06 9.99997400e-01 -3.49166204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:5.37, Z:-0.36 [[ 8.04626111e-01 -5.93778939e-01 1.84190818e-03 1.16842874e+02] [ 5.93777418e-01 8.04628219e-01 1.34423037e-03 5.37484879e+00] [-2.28022698e-03 1.20806322e-05 9.99997400e-01 -3.55597439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:116.86, Y:5.39, Z:-0.35 [[ 8.05302707e-01 -5.92861035e-01 1.82845119e-03 1.16864970e+02] [ 5.92859469e-01 8.05304783e-01 1.36270595e-03 5.39142490e+00] [-2.28035574e-03 -1.33761876e-05 9.99997400e-01 -3.54318058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:5.41, Z:-0.35 [[ 8.08422599e-01 -5.88599668e-01 1.82526381e-03 1.16894143e+02] [ 5.88598081e-01 8.08424659e-01 1.36707974e-03 5.40696950e+00] [-2.28025095e-03 -3.08313865e-05 9.99997400e-01 -3.47741480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:5.42, Z:-0.35 [[ 8.08695773e-01 -5.88224233e-01 1.84326929e-03 1.16916600e+02] [ 5.88222702e-01 8.08697874e-01 1.34235533e-03 5.42344563e+00] [-2.28025389e-03 -1.30423663e-06 9.99997400e-01 -3.46742636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:5.44, Z:-0.35 [[ 8.09053000e-01 -5.87732802e-01 1.84288305e-03 1.16938335e+02] [ 5.87731268e-01 8.09055099e-01 1.34288538e-03 5.43983528e+00] [-2.28025171e-03 -3.34545957e-06 9.99997400e-01 -3.45992963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:5.46, Z:-0.35 [[ 8.10166648e-01 -5.86196730e-01 1.84271999e-03 1.16960599e+02] [ 5.86195191e-01 8.10168744e-01 1.34310910e-03 5.45658038e+00] [-2.28024030e-03 -7.94859961e-06 9.99997400e-01 -3.45426880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:5.47, Z:-0.35 [[ 8.10950391e-01 -5.85112014e-01 1.84233909e-03 1.16982725e+02] [ 5.85110472e-01 8.10952483e-01 1.34363137e-03 5.47351339e+00] [-2.28022432e-03 -1.16464898e-05 9.99997400e-01 -3.45583107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:5.49, Z:-0.35 [[ 8.12000930e-01 -5.83653234e-01 1.84194917e-03 1.17004188e+02] [ 5.83651687e-01 8.12003018e-01 1.34416569e-03 5.49019725e+00] [-2.28019494e-03 -1.64070562e-05 9.99997400e-01 -3.46404932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:5.51, Z:-0.35 [[ 8.10321093e-01 -5.85983220e-01 1.84178042e-03 1.17019543e+02] [ 5.85981678e-01 8.10323186e-01 1.34439687e-03 5.50881153e+00] [-2.28023138e-03 -1.01435573e-05 9.99997400e-01 -3.52517462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:5.52, Z:-0.35 [[ 8.16213828e-01 -5.77747062e-01 1.82199456e-03 1.17048573e+02] [ 5.77745438e-01 8.16215858e-01 1.37146982e-03 5.52460515e+00] [-2.27950352e-03 -6.67635879e-05 9.99997400e-01 -3.49482785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:5.54, Z:-0.35 [[ 8.17600916e-01 -5.75782382e-01 1.84154385e-03 1.17070825e+02] [ 5.75780813e-01 8.17602989e-01 1.34469736e-03 5.54118528e+00] [-2.27990480e-03 -3.91001824e-05 9.99997400e-01 -3.50393736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:5.56, Z:-0.35 [[ 8.18786802e-01 -5.74094751e-01 1.84115852e-03 1.17093230e+02] [ 5.74093177e-01 8.18788870e-01 1.34522475e-03 5.55784118e+00] [-2.27980657e-03 -4.44557280e-05 9.99997400e-01 -3.50754743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.6 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:117.12, Y:5.58, Z:-0.35 [[ 8.19611347e-01 -5.72916967e-01 1.84077091e-03 1.17116262e+02] [ 5.72915389e-01 8.19613413e-01 1.34575493e-03 5.57532431e+00] [-2.27972636e-03 -4.83900247e-05 9.99997400e-01 -3.54057798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:5.59, Z:-0.35 [[ 8.21168687e-01 -5.70682574e-01 1.84043207e-03 1.17138418e+02] [ 5.70680989e-01 8.21170748e-01 1.34621816e-03 5.59207549e+00] [-2.27957222e-03 -5.51726098e-05 9.99997400e-01 -3.52159412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:5.61, Z:-0.35 [[ 8.21535324e-01 -5.70154651e-01 1.84004321e-03 1.17159776e+02] [ 5.70153063e-01 8.21537383e-01 1.34674946e-03 5.60790678e+00] [-2.27951975e-03 -5.72959814e-05 9.99997400e-01 -3.52485581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:117.18, Y:5.62, Z:-0.36 [[ 8.21241171e-01 -5.70578263e-01 1.83987492e-03 1.17183050e+02] [ 5.70576676e-01 8.21243230e-01 1.34697933e-03 5.62493695e+00] [-2.27954195e-03 -5.64051645e-05 9.99997400e-01 -3.55163176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:117.21, Y:5.64, Z:-0.35 [[ 8.21130631e-01 -5.70737333e-01 1.83953577e-03 1.17206778e+02] [ 5.70735745e-01 8.21132690e-01 1.34744234e-03 5.64141958e+00] [-2.27953860e-03 -5.65373629e-05 9.99997400e-01 -3.53857808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:5.66, Z:-0.36 [[ 8.16015119e-01 -5.78027632e-01 1.83919650e-03 1.17221631e+02] [ 5.78026061e-01 8.16017191e-01 1.34790527e-03 5.65808103e+00] [-2.27994245e-03 -3.68075692e-05 9.99997400e-01 -3.57476576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:5.67, Z:-0.35 [[ 8.18971930e-01 -5.73830722e-01 1.81119115e-03 1.17255398e+02] [ 5.73829056e-01 8.18973927e-01 1.38605509e-03 5.67205065e+00] [-2.27867932e-03 -9.58261060e-05 9.99997399e-01 -3.49884304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:5.69, Z:-0.35 [[ 8.18063652e-01 -5.75124751e-01 1.83893739e-03 1.17277953e+02] [ 5.75123172e-01 8.18065718e-01 1.34820964e-03 5.68774405e+00] [-2.27976037e-03 -4.53057999e-05 9.99997400e-01 -3.49350885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:117.30, Y:5.70, Z:-0.35 [[ 8.17240432e-01 -5.76293932e-01 1.83875542e-03 1.17300787e+02] [ 5.76292356e-01 8.17242499e-01 1.34845778e-03 5.70380483e+00] [-2.27981711e-03 -4.23535298e-05 9.99997400e-01 -3.50676686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:117.32, Y:5.72, Z:-0.35 [[ 8.17075733e-01 -5.76527421e-01 1.83837006e-03 1.17323809e+02] [ 5.76525845e-01 8.17077800e-01 1.34898293e-03 5.72078579e+00] [-2.27981702e-03 -4.23533652e-05 9.99997400e-01 -3.50741632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:5.74, Z:-0.35 [[ 8.16657886e-01 -5.77119155e-01 1.83798446e-03 1.17347613e+02] [ 5.77117579e-01 8.16659953e-01 1.34950811e-03 5.73731314e+00] [-2.27983529e-03 -4.13532933e-05 9.99997400e-01 -3.48538645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:5.75, Z:-0.35 [[ 8.15481732e-01 -5.78779896e-01 1.83764883e-03 1.17371016e+02] [ 5.78778323e-01 8.15483802e-01 1.34996500e-03 5.75312836e+00] [-2.27990545e-03 -3.72804881e-05 9.99997400e-01 -3.48752085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:117.39, Y:5.77, Z:-0.35 [[ 8.14424594e-01 -5.80266495e-01 1.83726599e-03 1.17392840e+02] [ 5.80264925e-01 8.14426665e-01 1.35048583e-03 5.76892950e+00] [-2.27996009e-03 -3.37678649e-05 9.99997400e-01 -3.50883139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:5.79, Z:-0.35 [[ 8.13617064e-01 -5.81398227e-01 1.83710350e-03 1.17416127e+02] [ 5.81396659e-01 8.13619137e-01 1.35070683e-03 5.78533918e+00] [-2.28000112e-03 -3.08722933e-05 9.99997400e-01 -3.48598167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:5.80, Z:-0.35 [[ 8.11239609e-01 -5.84710974e-01 1.83671927e-03 1.17439455e+02] [ 5.84709413e-01 8.11241688e-01 1.35122912e-03 5.79975783e+00] [-2.28010173e-03 -2.22235348e-05 9.99997400e-01 -3.48337269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:117.46, Y:5.82, Z:-0.35 [[ 8.09427712e-01 -5.87216660e-01 1.83656148e-03 1.17462616e+02] [ 5.87215105e-01 8.09429795e-01 1.35144355e-03 5.81510240e+00] [-2.28015775e-03 -1.54392188e-05 9.99997400e-01 -3.48766092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:5.83, Z:-0.35 [[ 8.07887478e-01 -5.89333905e-01 1.83617798e-03 1.17485480e+02] [ 5.89332354e-01 8.07889564e-01 1.35196439e-03 5.83025135e+00] [-2.28018749e-03 -1.01160093e-05 9.99997400e-01 -3.46741134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:5.85, Z:-0.35 [[ 8.06217273e-01 -5.91616715e-01 1.83601192e-03 1.17507887e+02] [ 5.91615170e-01 8.06219364e-01 1.35218988e-03 5.84528481e+00] [-2.28020649e-03 -3.94633319e-06 9.99997400e-01 -3.46741076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:5.86, Z:-0.35 [[ 8.02537640e-01 -5.96598664e-01 1.83584794e-03 1.17531788e+02] [ 5.96597131e-01 8.02539740e-01 1.35241247e-03 5.86081192e+00] [-2.28018840e-03 9.89969772e-06 9.99997400e-01 -3.45974958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:5.88, Z:-0.35 [[ 8.00624901e-01 -5.99163083e-01 1.83546971e-03 1.17554941e+02] [ 5.99161556e-01 8.00627004e-01 1.35292560e-03 5.87732847e+00] [-2.28014969e-03 1.65569666e-05 9.99997400e-01 -3.45788275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:5.89, Z:-0.35 [[ 7.98646134e-01 -6.01798127e-01 1.83507848e-03 1.17576816e+02] [ 6.01796606e-01 7.98648241e-01 1.35345606e-03 5.89324115e+00] [-2.28008952e-03 2.34115517e-05 9.99997400e-01 -3.46260859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:5.91, Z:-0.35 [[ 7.96724145e-01 -6.04340359e-01 1.83490926e-03 1.17599612e+02] [ 6.04338844e-01 7.96726258e-01 1.35368543e-03 5.90973170e+00] [-2.28000712e-03 3.03930776e-05 9.99997400e-01 -3.46371705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:5.93, Z:-0.35 [[ 7.93244170e-01 -6.08900913e-01 1.83453059e-03 1.17621996e+02] [ 6.08899408e-01 7.93246290e-01 1.35419841e-03 5.92642370e+00] [-2.27980723e-03 4.28345932e-05 9.99997400e-01 -3.46615854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:5.94, Z:-0.35 [[ 7.91477933e-01 -6.11194992e-01 1.83414880e-03 1.17644005e+02] [ 6.11193492e-01 7.91480057e-01 1.35471531e-03 5.94310280e+00] [-2.27968741e-03 4.87925407e-05 9.99997400e-01 -3.46842497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:5.96, Z:-0.35 [[ 7.89825428e-01 -6.13328974e-01 1.83376697e-03 1.17666405e+02] [ 6.13327479e-01 7.89827555e-01 1.35523197e-03 5.96004672e+00] [-2.27956272e-03 5.43030021e-05 9.99997400e-01 -3.46553271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:5.98, Z:-0.35 [[ 7.88568095e-01 -6.14944711e-01 1.83338040e-03 1.17687812e+02] [ 6.14943219e-01 7.88570225e-01 1.35575472e-03 5.97664965e+00] [-2.27946339e-03 5.83199290e-05 9.99997400e-01 -3.46701102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:5.99, Z:-0.35 [[ 7.87667141e-01 -6.16098300e-01 1.83321304e-03 1.17710114e+02] [ 6.16096810e-01 7.87669272e-01 1.35598098e-03 5.99422957e+00] [-2.27938316e-03 6.13750462e-05 9.99997400e-01 -3.46515686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:6.01, Z:-0.35 [[ 7.87108283e-01 -6.16812120e-01 1.83283085e-03 1.17731088e+02] [ 6.16810631e-01 7.87110415e-01 1.35649738e-03 6.01317531e+00] [-2.27934428e-03 6.27992329e-05 9.99997400e-01 -3.46698771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:6.03, Z:-0.35 [[ 7.87239276e-01 -6.16644926e-01 1.83245158e-03 1.17752822e+02] [ 6.16643436e-01 7.87241406e-01 1.35700954e-03 6.03128954e+00] [-2.27937480e-03 6.16780343e-05 9.99997400e-01 -3.46915488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:6.05, Z:-0.35 [[ 7.87684987e-01 -6.16075487e-01 1.83206868e-03 1.17774192e+02] [ 6.16073994e-01 7.87687115e-01 1.35752628e-03 6.04927178e+00] [-2.27943556e-03 5.93867944e-05 9.99997400e-01 -3.46999584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:6.07, Z:-0.35 [[ 7.88291997e-01 -6.15298604e-01 1.83168126e-03 1.17795405e+02] [ 6.15297108e-01 7.88294123e-01 1.35804881e-03 6.06764170e+00] [-2.27950912e-03 5.64891738e-05 9.99997400e-01 -3.47260486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:6.09, Z:-0.35 [[ 7.90625314e-01 -6.12297525e-01 1.83129509e-03 1.17814580e+02] [ 6.12296019e-01 7.90627434e-01 1.35856936e-03 6.08693155e+00] [-2.27972079e-03 4.71753619e-05 9.99997400e-01 -3.46964079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:6.10, Z:-0.35 [[ 7.91925597e-01 -6.10614850e-01 1.83112775e-03 1.17835052e+02] [ 6.10613340e-01 7.91927713e-01 1.35879488e-03 6.10499008e+00] [-2.27982114e-03 4.20465833e-05 9.99997400e-01 -3.46707091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:6.12, Z:-0.35 [[ 7.93186876e-01 -6.08975556e-01 1.83096165e-03 1.17856244e+02] [ 6.08974040e-01 7.93188988e-01 1.35901866e-03 6.12356094e+00] [-2.27990776e-03 3.70523487e-05 9.99997400e-01 -3.46421700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.88, Y:6.14, Z:-0.35 [[ 7.94768950e-01 -6.06909356e-01 1.83057453e-03 1.17876441e+02] [ 6.06907834e-01 7.94771057e-01 1.35953990e-03 6.14108113e+00] [-2.28000514e-03 3.04699231e-05 9.99997400e-01 -3.46650131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:6.16, Z:-0.35 [[ 7.98141046e-01 -6.02467859e-01 1.83040686e-03 1.17896736e+02] [ 6.02466325e-01 7.98143144e-01 1.35976560e-03 6.16148181e+00] [-2.28014176e-03 1.74737509e-05 9.99997400e-01 -3.46936053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:117.92, Y:6.18, Z:-0.35 [[ 7.99471595e-01 -6.00701107e-01 1.83002153e-03 1.17917916e+02] [ 6.00699567e-01 7.99473689e-01 1.36028400e-03 6.17967799e+00] [-2.28017816e-03 1.17847201e-05 9.99997400e-01 -3.49620062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:6.20, Z:-0.35 [[ 8.01256714e-01 -5.98317918e-01 1.82963812e-03 1.17938895e+02] [ 5.98316371e-01 8.01258803e-01 1.36079950e-03 6.19743957e+00] [-2.28020437e-03 4.35271009e-06 9.99997400e-01 -3.49007068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:117.96, Y:6.22, Z:-0.35 [[ 8.02024878e-01 -5.97287827e-01 1.82947186e-03 1.17960840e+02] [ 5.97286276e-01 8.02026965e-01 1.36102298e-03 6.21577540e+00] [-2.28020822e-03 1.14414711e-06 9.99997400e-01 -3.52168315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:6.23, Z:-0.35 [[ 8.04120554e-01 -5.94463446e-01 1.82908938e-03 1.17981085e+02] [ 5.94461887e-01 8.04122634e-01 1.36153681e-03 6.23338326e+00] [-2.28019603e-03 -7.51581297e-06 9.99997400e-01 -3.51141840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:6.25, Z:-0.35 [[ 8.04365832e-01 -5.94131520e-01 1.82892361e-03 1.18003347e+02] [ 5.94129960e-01 8.04367911e-01 1.36175945e-03 6.25116791e+00] [-2.28019167e-03 -8.73446709e-06 9.99997400e-01 -3.51281635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:6.27, Z:-0.35 [[ 8.04426413e-01 -5.94049495e-01 1.82853551e-03 1.18025904e+02] [ 5.94047934e-01 8.04428491e-01 1.36228037e-03 6.26875374e+00] [-2.28018803e-03 -9.61657100e-06 9.99997400e-01 -3.51819955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.05, Y:6.29, Z:-0.35 [[ 8.04029207e-01 -5.94586992e-01 1.82817322e-03 1.18048619e+02] [ 5.94585431e-01 8.04031286e-01 1.36276639e-03 6.28576249e+00] [-2.28019164e-03 -8.69882131e-06 9.99997400e-01 -3.53581424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:6.30, Z:-0.35 [[ 8.03933137e-01 -5.94716883e-01 1.82777819e-03 1.18070334e+02] [ 5.94715320e-01 8.03935215e-01 1.36329601e-03 6.30115661e+00] [-2.28019041e-03 -8.99114306e-06 9.99997400e-01 -3.52634966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:6.32, Z:-0.35 [[ 8.03634835e-01 -5.95119913e-01 1.82760705e-03 1.18092715e+02] [ 5.95118351e-01 8.03636914e-01 1.36352540e-03 6.31761579e+00] [-2.28019361e-03 -8.13402090e-06 9.99997400e-01 -3.52574828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.12, Y:6.33, Z:-0.35 [[ 8.02957638e-01 -5.96033299e-01 1.82721888e-03 1.18115133e+02] [ 5.96031738e-01 8.02959717e-01 1.36404537e-03 6.33415517e+00] [-2.28019962e-03 -6.19020273e-06 9.99997400e-01 -3.54388967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.14, Y:6.35, Z:-0.35 [[ 8.02621055e-01 -5.96486467e-01 1.82682951e-03 1.18137467e+02] [ 5.96484906e-01 8.02623134e-01 1.36456665e-03 6.35028722e+00] [-2.28020117e-03 -5.55369202e-06 9.99997400e-01 -3.54088026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:6.37, Z:-0.36 [[ 7.99520930e-01 -6.00635452e-01 1.82656530e-03 1.18152596e+02] [ 6.00633901e-01 7.99523017e-01 1.36492023e-03 6.36768175e+00] [-2.28020047e-03 5.81474620e-06 9.99997400e-01 -3.56043966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.18, Y:6.38, Z:-0.35 [[ 8.02417072e-01 -5.96760911e-01 1.80497714e-03 1.18183507e+02] [ 5.96759285e-01 8.02419101e-01 1.39376860e-03 6.38160969e+00] [-2.28009475e-03 -4.12468467e-05 9.99997400e-01 -3.52565071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.21, Y:6.40, Z:-0.35 [[ 8.02374211e-01 -5.96818474e-01 1.82617769e-03 1.18206368e+02] [ 5.96816912e-01 8.02376289e-01 1.36541385e-03 6.39764758e+00] [-2.28018589e-03 -5.67912557e-06 9.99997400e-01 -3.52457212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:6.41, Z:-0.35 [[ 8.02848315e-01 -5.96180551e-01 1.82579129e-03 1.18229323e+02] [ 5.96178986e-01 8.02850391e-01 1.36593034e-03 6.41371843e+00] [-2.28017835e-03 -8.13647814e-06 9.99997400e-01 -3.52001154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:6.43, Z:-0.35 [[ 8.03963390e-01 -5.94675991e-01 1.82540639e-03 1.18252388e+02] [ 5.94674422e-01 8.03965463e-01 1.36644452e-03 6.42968900e+00] [-2.28015544e-03 -1.30488834e-05 9.99997400e-01 -3.53510375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.28, Y:6.45, Z:-0.36 [[ 8.04283496e-01 -5.94242987e-01 1.82501874e-03 1.18275106e+02] [ 5.94241415e-01 8.04285566e-01 1.36696207e-03 6.44593436e+00] [-2.28014385e-03 -1.49233169e-05 9.99997400e-01 -3.57021730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:6.46, Z:-0.35 [[ 8.05248648e-01 -5.92934470e-01 1.82463336e-03 1.18297899e+02] [ 5.92932893e-01 8.05250715e-01 1.36747629e-03 6.46216805e+00] [-2.28011114e-03 -1.92732953e-05 9.99997400e-01 -3.54825492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:6.48, Z:-0.36 [[ 8.06045499e-01 -5.91850763e-01 1.82424277e-03 1.18320677e+02] [ 5.91849183e-01 8.06047563e-01 1.36799714e-03 6.47846632e+00] [-2.28007659e-03 -2.29913476e-05 9.99997400e-01 -3.55107621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:118.34, Y:6.49, Z:-0.36 [[ 8.07241978e-01 -5.90217810e-01 1.82384220e-03 1.18344103e+02] [ 5.90216224e-01 8.07244037e-01 1.36853098e-03 6.49402517e+00] [-2.28001710e-03 -2.82744035e-05 9.99997400e-01 -3.58460067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:6.51, Z:-0.36 [[ 8.08089193e-01 -5.89057324e-01 1.82371820e-03 1.18367153e+02] [ 5.89055734e-01 8.08091250e-01 1.36869621e-03 6.51004502e+00] [-2.27997124e-03 -3.17569515e-05 9.99997400e-01 -3.57464577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:6.53, Z:-0.36 [[ 8.05782424e-01 -5.92208882e-01 1.82332458e-03 1.18383689e+02] [ 5.92207300e-01 8.05784487e-01 1.36922037e-03 6.52702197e+00] [-2.28007112e-03 -2.35075878e-05 9.99997400e-01 -3.62524627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:6.54, Z:-0.36 [[ 8.09074559e-01 -5.87703240e-01 1.80569412e-03 1.18413416e+02] [ 5.87701593e-01 8.09076571e-01 1.39267371e-03 6.54159940e+00] [-2.27942366e-03 -6.55675546e-05 9.99997400e-01 -3.57668071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:6.56, Z:-0.36 [[ 8.07184093e-01 -5.90296973e-01 1.82298740e-03 1.18431114e+02] [ 5.90295385e-01 8.07186151e-01 1.36965667e-03 6.55749727e+00] [-2.27999437e-03 -2.94640256e-05 9.99997400e-01 -3.61100267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:6.57, Z:-0.36 [[ 8.09159829e-01 -5.87585833e-01 1.80557598e-03 1.18459883e+02] [ 5.87584186e-01 8.09161841e-01 1.39273916e-03 6.57369735e+00] [-2.27935699e-03 -6.60206867e-05 9.99997400e-01 -3.55851218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:6.59, Z:-0.35 [[ 8.09663227e-01 -5.86891924e-01 1.82440182e-03 1.18482049e+02] [ 5.86890332e-01 8.09665281e-01 1.36775409e-03 6.58961224e+00] [-2.27987864e-03 -3.66964006e-05 9.99997400e-01 -3.54593255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:6.61, Z:-0.36 [[ 8.07116703e-01 -5.90389119e-01 1.82078280e-03 1.18500698e+02] [ 5.90387525e-01 8.07118756e-01 1.37255495e-03 6.60681753e+00] [-2.27992946e-03 -3.28445786e-05 9.99997400e-01 -3.55915450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:6.62, Z:-0.36 [[ 8.06155618e-01 -5.91700818e-01 1.80611783e-03 1.18524344e+02] [ 5.91699183e-01 8.06157639e-01 1.39198563e-03 6.62330263e+00] [-2.27965472e-03 -5.34785895e-05 9.99997400e-01 -3.55944238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:118.55, Y:6.64, Z:-0.36 [[ 8.06668748e-01 -5.91001066e-01 1.80874234e-03 1.18551356e+02] [ 5.90999437e-01 8.06670774e-01 1.38851115e-03 6.63824398e+00] [-2.27967116e-03 -5.11028450e-05 9.99997400e-01 -3.55739328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:6.66, Z:-0.36 [[ 8.03296298e-01 -5.95576819e-01 1.81961012e-03 1.18569503e+02] [ 5.95575234e-01 8.03298358e-01 1.37412005e-03 6.65618642e+00] [-2.28008386e-03 -2.01108259e-05 9.99997400e-01 -3.55020315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:6.67, Z:-0.35 [[ 8.02347701e-01 -5.96854175e-01 1.80563059e-03 1.18593407e+02] [ 5.96852551e-01 8.02349732e-01 1.39262075e-03 6.67238424e+00] [-2.27993873e-03 -3.96708316e-05 9.99997400e-01 -3.54792469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.62, Y:6.69, Z:-0.36 [[ 7.99582324e-01 -6.00553777e-01 1.80751193e-03 1.18615835e+02] [ 6.00552169e-01 7.99584367e-01 1.39013150e-03 6.68850664e+00] [-2.28010700e-03 -2.60193639e-05 9.99997400e-01 -3.55875626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:6.70, Z:-0.35 [[ 8.01135272e-01 -5.98480587e-01 1.80644925e-03 1.18643093e+02] [ 5.98478970e-01 8.01137308e-01 1.39153695e-03 6.70350796e+00] [-2.28002174e-03 -3.36874458e-05 9.99997400e-01 -3.53123404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:6.72, Z:-0.35 [[ 8.00405305e-01 -5.99456453e-01 1.81901867e-03 1.18665410e+02] [ 5.99454877e-01 8.00407372e-01 1.37490747e-03 6.72045538e+00] [-2.28015311e-03 -1.00636187e-05 9.99997400e-01 -3.53765582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:6.74, Z:-0.35 [[ 8.00218915e-01 -5.99705244e-01 1.81863072e-03 1.18687260e+02] [ 5.99703667e-01 8.00220982e-01 1.37542043e-03 6.73718307e+00] [-2.28015330e-03 -9.99792991e-06 9.99997400e-01 -3.54602187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:6.76, Z:-0.36 [[ 7.97374608e-01 -6.03481920e-01 1.81846288e-03 1.18703814e+02] [ 6.03480352e-01 7.97376682e-01 1.37564229e-03 6.75633436e+00] [-2.28017515e-03 5.04386466e-07 9.99997400e-01 -3.60990497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:6.77, Z:-0.36 [[ 7.97391255e-01 -6.03459965e-01 1.80492733e-03 1.18725727e+02] [ 6.03458356e-01 7.97393297e-01 1.39352202e-03 6.77291825e+00] [-2.28017170e-03 -2.19837928e-05 9.99997400e-01 -3.61043407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:6.79, Z:-0.36 [[ 7.99453229e-01 -6.00725626e-01 1.80458470e-03 1.18752444e+02] [ 6.00724009e-01 7.99455266e-01 1.39397454e-03 6.78838465e+00] [-2.28008097e-03 -3.03600954e-05 9.99997400e-01 -3.57963933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:6.81, Z:-0.36 [[ 7.96676778e-01 -6.04402851e-01 1.81802331e-03 1.18771149e+02] [ 6.04401284e-01 7.96678852e-01 1.37622180e-03 6.80711208e+00] [-2.28017311e-03 2.41167482e-06 9.99997400e-01 -3.62921296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:6.82, Z:-0.36 [[ 7.95888503e-01 -6.05440518e-01 1.80829622e-03 1.18794155e+02] [ 6.05438925e-01 7.95890557e-01 1.38905276e-03 6.82430888e+00] [-2.28019470e-03 -1.07182040e-05 9.99997400e-01 -3.62955590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:6.84, Z:-0.36 [[ 7.95051429e-01 -6.06539324e-01 1.80952978e-03 1.18816753e+02] [ 6.06537737e-01 7.95053488e-01 1.38742590e-03 6.84075230e+00] [-2.28020134e-03 -5.52684584e-06 9.99997400e-01 -3.62022068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:6.86, Z:-0.36 [[ 7.94094571e-01 -6.07791520e-01 1.81129560e-03 1.18841288e+02] [ 6.07789942e-01 7.94096636e-01 1.38509768e-03 6.85580414e+00] [-2.28019437e-03 9.88699060e-07 9.99997400e-01 -3.57292122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:6.87, Z:-0.36 [[ 7.90690613e-01 -6.12213242e-01 1.81672729e-03 1.18860188e+02] [ 6.12211692e-01 7.90692700e-01 1.37793631e-03 6.87392752e+00] [-2.28006386e-03 2.27003790e-05 9.99997400e-01 -3.60097805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:6.89, Z:-0.36 [[ 7.91498931e-01 -6.11167881e-01 1.80645833e-03 1.18885943e+02] [ 6.11166297e-01 7.91500993e-01 1.39146282e-03 6.88972232e+00] [-2.28023094e-03 2.70510810e-06 9.99997400e-01 -3.56188348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.0 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:118.91, Y:6.91, Z:-0.36 [[ 7.89818959e-01 -6.13337357e-01 1.81625425e-03 1.18909552e+02] [ 6.13335808e-01 7.89821047e-01 1.37855665e-03 6.90806621e+00] [-2.28003613e-03 2.51635855e-05 9.99997400e-01 -3.58112816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:6.93, Z:-0.36 [[ 7.87075361e-01 -6.16854163e-01 1.82169933e-03 1.18927317e+02] [ 6.16852640e-01 7.87077468e-01 1.37138498e-03 6.92539333e+00] [-2.27976303e-03 4.43367149e-05 9.99997400e-01 -3.59160340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:6.94, Z:-0.36 [[ 7.86751681e-01 -6.17266986e-01 1.80557383e-03 1.18954155e+02] [ 6.17265415e-01 7.86753753e-01 1.39263827e-03 6.94145842e+00] [-2.28017162e-03 1.88577853e-05 9.99997400e-01 -3.55486330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:6.96, Z:-0.36 [[ 7.85538461e-01 -6.18810170e-01 1.81662165e-03 1.18976237e+02] [ 6.18808637e-01 7.85540560e-01 1.37807469e-03 6.95879564e+00] [-2.27979662e-03 4.16104980e-05 9.99997400e-01 -3.55674849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:6.98, Z:-0.36 [[ 7.81624000e-01 -6.23747243e-01 1.81624918e-03 1.18992621e+02] [ 6.23745722e-01 7.81626109e-01 1.37856541e-03 6.97786935e+00] [-2.27950415e-03 5.53578506e-05 9.99997400e-01 -3.59795540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:7.00, Z:-0.36 [[ 7.81052898e-01 -6.24462271e-01 1.80073429e-03 1.19015187e+02] [ 6.24460705e-01 7.81054973e-01 1.39898426e-03 6.99540398e+00] [-2.28008536e-03 3.18070917e-05 9.99997400e-01 -3.59513861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:7.01, Z:-0.36 [[ 7.80612121e-01 -6.25013167e-01 1.80480469e-03 1.19036356e+02] [ 6.25011614e-01 7.80614207e-01 1.39362578e-03 7.01363124e+00] [-2.27989064e-03 4.01427114e-05 9.99997400e-01 -3.60019100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:7.03, Z:-0.36 [[ 7.83336070e-01 -6.21595813e-01 1.80188350e-03 1.19063567e+02] [ 6.21594242e-01 7.83338142e-01 1.39746950e-03 7.03060478e+00] [-2.28014526e-03 2.53521382e-05 9.99997400e-01 -3.55968805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:7.05, Z:-0.36 [[ 7.83734653e-01 -6.21093147e-01 1.81561642e-03 1.19085162e+02] [ 6.21091617e-01 7.83736754e-01 1.37939365e-03 7.04883022e+00] [-2.27969726e-03 4.65855400e-05 9.99997400e-01 -3.55934877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:7.07, Z:-0.36 [[ 7.83161930e-01 -6.21815162e-01 1.81522481e-03 1.19102142e+02] [ 6.21813633e-01 7.83164032e-01 1.37990880e-03 7.06978285e+00] [-2.27966700e-03 4.80394927e-05 9.99997400e-01 -3.59443027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:119.13, Y:7.09, Z:-0.36 [[ 7.85961780e-01 -6.18272450e-01 1.80509804e-03 1.19127375e+02] [ 6.18270880e-01 7.85963853e-01 1.39321755e-03 7.08685658e+00] [-2.28012983e-03 2.10238081e-05 9.99997400e-01 -3.57701417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:7.11, Z:-0.36 [[ 7.84863026e-01 -6.19666634e-01 1.81474779e-03 1.19144634e+02] [ 6.19665098e-01 7.84865123e-01 1.38053268e-03 7.10657166e+00] [-2.27980229e-03 4.10068067e-05 9.99997400e-01 -3.59095370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:7.13, Z:-0.36 [[ 7.86834999e-01 -6.17160787e-01 1.80238191e-03 1.19168792e+02] [ 6.17159206e-01 7.86837063e-01 1.39675325e-03 7.12512131e+00] [-2.28020222e-03 1.33422526e-05 9.99997400e-01 -3.58171104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:7.14, Z:-0.36 [[ 7.89367490e-01 -6.13918311e-01 1.80929319e-03 1.19192047e+02] [ 6.13916743e-01 7.89369563e-01 1.38769207e-03 7.14228007e+00] [-2.28013055e-03 1.53563736e-05 9.99997400e-01 -3.55591093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:7.16, Z:-0.36 [[ 7.90828554e-01 -6.12035057e-01 1.81285567e-03 1.19211672e+02] [ 6.12033495e-01 7.90830632e-01 1.38302239e-03 7.16305618e+00] [-2.28011999e-03 1.57947914e-05 9.99997400e-01 -3.58535438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:7.18, Z:-0.36 [[ 7.94115220e-01 -6.07764551e-01 1.80758735e-03 1.19235522e+02] [ 6.07762962e-01 7.94117277e-01 1.38992404e-03 7.18021375e+00] [-2.28018291e-03 -5.17519634e-06 9.99997400e-01 -3.56156346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:7.20, Z:-0.36 [[ 7.95959685e-01 -6.05346921e-01 1.81251630e-03 1.19257255e+02] [ 6.05345340e-01 7.95961749e-01 1.38346649e-03 7.19880610e+00] [-2.28017083e-03 -3.98525969e-06 9.99997400e-01 -3.56355233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:7.22, Z:-0.36 [[ 7.97859775e-01 -6.02840357e-01 1.81212531e-03 1.19278753e+02] [ 6.02838768e-01 7.97861833e-01 1.38397843e-03 7.21684908e+00] [-2.28014368e-03 -1.18013303e-05 9.99997400e-01 -3.56512099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:7.24, Z:-0.36 [[ 7.99931416e-01 -6.00088700e-01 1.81173399e-03 1.19296704e+02] [ 6.00087103e-01 7.99933467e-01 1.38449052e-03 7.23692524e+00] [-2.28008377e-03 -2.02992585e-05 9.99997400e-01 -3.60173276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:7.25, Z:-0.36 [[ 8.03302173e-01 -5.95568945e-01 1.80323783e-03 1.19321555e+02] [ 5.95567311e-01 8.03304195e-01 1.39559930e-03 7.25355522e+00] [-2.27972411e-03 -4.71384406e-05 9.99997400e-01 -3.57842633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:7.27, Z:-0.36 [[ 8.04491367e-01 -5.93961582e-01 1.81124228e-03 1.19343303e+02] [ 5.93959968e-01 8.04493405e-01 1.38513244e-03 7.27093806e+00] [-2.27984792e-03 -3.85216815e-05 9.99997400e-01 -3.58494007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:7.29, Z:-0.36 [[ 8.05268436e-01 -5.92907637e-01 1.81084966e-03 1.19364997e+02] [ 5.92906020e-01 8.05270471e-01 1.38564553e-03 7.28834336e+00] [-2.27978358e-03 -4.21529399e-05 9.99997400e-01 -3.59365557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:7.31, Z:-0.36 [[ 8.04807603e-01 -5.93533019e-01 1.81045305e-03 1.19386780e+02] [ 5.93531402e-01 8.04809638e-01 1.38616354e-03 7.30510021e+00] [-2.27980389e-03 -4.10342181e-05 9.99997400e-01 -3.59462092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:7.32, Z:-0.36 [[ 8.02209165e-01 -5.97040349e-01 1.81028131e-03 1.19405771e+02] [ 5.97038740e-01 8.02211207e-01 1.38638778e-03 7.32330552e+00] [-2.27995740e-03 -3.13649119e-05 9.99997400e-01 -3.62689222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:7.34, Z:-0.36 [[ 8.02854025e-01 -5.96172940e-01 1.80012508e-03 1.19431716e+02] [ 5.96171299e-01 8.02856041e-01 1.39963405e-03 7.33871799e+00] [-2.27966525e-03 -5.05189249e-05 9.99997400e-01 -3.59281792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:7.35, Z:-0.36 [[ 7.99768178e-01 -6.00306244e-01 1.80972688e-03 1.19455316e+02] [ 6.00304642e-01 7.99770225e-01 1.38710680e-03 7.35440807e+00] [-2.28005455e-03 -2.29764335e-05 9.99997400e-01 -3.58740612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:7.37, Z:-0.36 [[ 7.94570212e-01 -6.07169584e-01 1.80933201e-03 1.19471808e+02] [ 6.07167999e-01 7.94572272e-01 1.38762168e-03 7.37246311e+00] [-2.28016673e-03 -3.99436016e-06 9.99997400e-01 -3.62580134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:7.39, Z:-0.36 [[ 7.95859864e-01 -6.05478221e-01 1.78897287e-03 1.19502653e+02] [ 6.05476571e-01 7.95861874e-01 1.41414118e-03 7.38733135e+00] [-2.28000698e-03 -4.22770460e-05 9.99997400e-01 -3.59239275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:7.40, Z:-0.36 [[ 7.93770451e-01 -6.08214764e-01 1.80905270e-03 1.19525570e+02] [ 6.08213180e-01 7.93772512e-01 1.38796951e-03 7.40355576e+00] [-2.28015986e-03 -1.43948762e-06 9.99997400e-01 -3.59758089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:7.42, Z:-0.36 [[ 7.90254822e-01 -6.12775689e-01 1.80865714e-03 1.19549325e+02] [ 6.12774116e-01 7.90256892e-01 1.38848477e-03 7.41930485e+00] [-2.28013348e-03 1.10414973e-05 9.99997400e-01 -3.60756337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:7.44, Z:-0.37 [[ 7.85596486e-01 -6.18736528e-01 1.80825783e-03 1.19564771e+02] [ 6.18734969e-01 7.85598567e-01 1.38900460e-03 7.43798353e+00] [-2.27999265e-03 2.76352188e-05 9.99997400e-01 -3.66047349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:7.45, Z:-0.36 [[ 7.87968177e-01 -6.15713374e-01 1.78668807e-03 1.19596489e+02] [ 6.15711744e-01 7.87970203e-01 1.41705146e-03 7.45315836e+00] [-2.28035449e-03 -1.65066328e-05 9.99997400e-01 -3.61835864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:7.47, Z:-0.36 [[ 7.87225449e-01 -6.16662650e-01 1.80797061e-03 1.19619553e+02] [ 6.16661085e-01 7.87227525e-01 1.38935648e-03 7.46994998e+00] [-2.28004847e-03 2.11683394e-05 9.99997400e-01 -3.62012856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:7.49, Z:-0.36 [[ 7.86703210e-01 -6.17328755e-01 1.80757392e-03 1.19642077e+02] [ 6.17327191e-01 7.86705286e-01 1.38987239e-03 7.48593581e+00] [-2.28003614e-03 2.24474601e-05 9.99997400e-01 -3.63170919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:7.50, Z:-0.36 [[ 7.86930177e-01 -6.17039407e-01 1.80718030e-03 1.19664921e+02] [ 6.17037841e-01 7.86932252e-01 1.39038400e-03 7.50290073e+00] [-2.28005018e-03 2.09635022e-05 9.99997400e-01 -3.63411243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:7.52, Z:-0.36 [[ 7.87021528e-01 -6.16922888e-01 1.80678479e-03 1.19686804e+02] [ 6.16921321e-01 7.87023602e-01 1.39089777e-03 7.51979743e+00] [-2.28005894e-03 1.99775687e-05 9.99997400e-01 -3.64205318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:7.54, Z:-0.37 [[ 7.84582732e-01 -6.20021510e-01 1.80638937e-03 1.19702258e+02] [ 6.20019949e-01 7.84584811e-01 1.39141111e-03 7.53780773e+00] [-2.27997049e-03 2.83203139e-05 9.99997400e-01 -3.69472897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:7.55, Z:-0.36 [[ 7.87970131e-01 -6.15710874e-01 1.78662155e-03 1.19731517e+02] [ 6.15709244e-01 7.87972156e-01 1.41704298e-03 7.55318646e+00] [-2.28029681e-03 -1.65481377e-05 9.99997400e-01 -3.63824389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:7.57, Z:-0.37 [[ 7.85045525e-01 -6.19435438e-01 1.80604275e-03 1.19747704e+02] [ 6.19433875e-01 7.85047602e-01 1.39184221e-03 7.57183272e+00] [-2.27998591e-03 2.60645622e-05 9.99997400e-01 -3.68393234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.78, Y:7.59, Z:-0.36 [[ 7.88129160e-01 -6.15507300e-01 1.78635980e-03 1.19777156e+02] [ 6.15505668e-01 7.88131184e-01 1.41735153e-03 7.58722315e+00] [-2.28027608e-03 -1.75414888e-05 9.99997400e-01 -3.64236274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:7.60, Z:-0.36 [[ 7.88374604e-01 -6.15192834e-01 1.80570559e-03 1.19799483e+02] [ 6.15191259e-01 7.88376672e-01 1.39226082e-03 7.60369212e+00] [-2.28008505e-03 1.32312236e-05 9.99997401e-01 -3.61409663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:7.62, Z:-0.36 [[ 7.88490610e-01 -6.15044144e-01 1.80532528e-03 1.19821819e+02] [ 6.15042567e-01 7.88492677e-01 1.39275379e-03 7.62090849e+00] [-2.28009083e-03 1.21786063e-05 9.99997401e-01 -3.60908432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:7.64, Z:-0.36 [[ 7.88644687e-01 -6.14846566e-01 1.80494411e-03 1.19844086e+02] [ 6.14844988e-01 7.88646752e-01 1.39324760e-03 7.63806621e+00] [-2.28009681e-03 1.09835257e-05 9.99997401e-01 -3.60325113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:7.66, Z:-0.36 [[ 7.89056396e-01 -6.14318116e-01 1.80456541e-03 1.19865955e+02] [ 6.14316535e-01 7.89058460e-01 1.39373792e-03 7.65506264e+00] [-2.28010606e-03 8.83654890e-06 9.99997401e-01 -3.59517648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:7.67, Z:-0.36 [[ 7.90519349e-01 -6.12434408e-01 1.80416821e-03 1.19887098e+02] [ 6.12432820e-01 7.90521408e-01 1.39425190e-03 7.67139391e+00] [-2.28012143e-03 2.74872089e-06 9.99997401e-01 -3.58613253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:7.69, Z:-0.36 [[ 7.91146995e-01 -6.11623396e-01 1.80389825e-03 1.19908957e+02] [ 6.11621806e-01 7.91149051e-01 1.39460110e-03 7.68858910e+00] [-2.28012305e-03 -3.09625227e-08 9.99997401e-01 -3.58594720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:7.71, Z:-0.36 [[ 7.92578483e-01 -6.09767248e-01 1.80350188e-03 1.19930513e+02] [ 6.09765652e-01 7.92580534e-01 1.39511349e-03 7.70561099e+00] [-2.28011500e-03 -6.02343529e-06 9.99997401e-01 -3.59174731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:7.72, Z:-0.36 [[ 7.93053508e-01 -6.09149309e-01 1.80333013e-03 1.19953016e+02] [ 6.09147711e-01 7.93055558e-01 1.39533547e-03 7.72315455e+00] [-2.28010862e-03 -8.08126781e-06 9.99997401e-01 -3.59921978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:7.74, Z:-0.36 [[ 7.93596998e-01 -6.08441085e-01 1.80292774e-03 1.19975391e+02] [ 6.08439484e-01 7.93599046e-01 1.39585520e-03 7.74057191e+00] [-2.28009739e-03 -1.07740690e-05 9.99997401e-01 -3.60894745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:7.76, Z:-0.36 [[ 7.94018013e-01 -6.07891557e-01 1.80252435e-03 1.19997339e+02] [ 6.07889953e-01 7.94020059e-01 1.39637592e-03 7.75782370e+00] [-2.28008562e-03 -1.30111928e-05 9.99997401e-01 -3.62113910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:7.78, Z:-0.36 [[ 7.94428080e-01 -6.07355562e-01 1.80212367e-03 1.20019490e+02] [ 6.07353956e-01 7.94430123e-01 1.39689283e-03 7.77531616e+00] [-2.28007196e-03 -1.52039515e-05 9.99997401e-01 -3.63488793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:7.79, Z:-0.36 [[ 7.95634256e-01 -6.05774615e-01 1.80172537e-03 1.20042085e+02] [ 6.05773004e-01 7.95636296e-01 1.39740637e-03 7.79255529e+00] [-2.28003141e-03 -2.03877897e-05 9.99997401e-01 -3.64893331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:7.81, Z:-0.37 [[ 7.96066100e-01 -6.05207006e-01 1.80132894e-03 1.20063496e+02] [ 6.05205392e-01 7.96068137e-01 1.39791721e-03 7.80896321e+00] [-2.28000986e-03 -2.26605092e-05 9.99997401e-01 -3.65261338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:7.83, Z:-0.37 [[ 7.96296817e-01 -6.04903411e-01 1.80105991e-03 1.20085777e+02] [ 6.04901795e-01 7.96298853e-01 1.39826373e-03 7.82614161e+00] [-2.27999645e-03 -2.39685857e-05 9.99997401e-01 -3.65522515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:7.84, Z:-0.37 [[ 7.96447665e-01 -6.04704783e-01 1.80066270e-03 1.20107971e+02] [ 6.04703166e-01 7.96449700e-01 1.39877507e-03 7.84346279e+00] [-2.27998324e-03 -2.51846994e-05 9.99997401e-01 -3.65739500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:7.86, Z:-0.37 [[ 7.96491937e-01 -6.04646469e-01 1.80025766e-03 1.20129292e+02] [ 6.04644851e-01 7.96493971e-01 1.39929618e-03 7.86046256e+00] [-2.27997386e-03 -2.60116050e-05 9.99997401e-01 -3.66314587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:7.88, Z:-0.37 [[ 7.96319928e-01 -6.04872988e-01 1.80008232e-03 1.20151829e+02] [ 6.04871370e-01 7.96321962e-01 1.39952169e-03 7.87807837e+00] [-2.27997796e-03 -2.56487540e-05 9.99997401e-01 -3.66379687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:7.89, Z:-0.37 [[ 7.96306195e-01 -6.04891069e-01 1.79968412e-03 1.20173592e+02] [ 6.04889449e-01 7.96308228e-01 1.40003357e-03 7.89431799e+00] [-2.27997107e-03 -2.62454739e-05 9.99997401e-01 -3.66393942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:7.91, Z:-0.37 [[ 7.95859358e-01 -6.05478855e-01 1.79951167e-03 1.20195957e+02] [ 6.05477236e-01 7.95861392e-01 1.40025519e-03 7.91146631e+00] [-2.27998677e-03 -2.48428461e-05 9.99997401e-01 -3.66455077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:7.93, Z:-0.37 [[ 7.95315694e-01 -6.06192799e-01 1.79910888e-03 1.20218295e+02] [ 6.06191181e-01 7.95317729e-01 1.40077253e-03 7.92838422e+00] [-2.28000140e-03 -2.34524407e-05 9.99997401e-01 -3.66718948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79999999999998 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:120.24, Y:7.95, Z:-0.37 [[ 7.94642769e-01 -6.07074653e-01 1.79870783e-03 1.20241199e+02] [ 6.07073036e-01 7.94644804e-01 1.40128731e-03 7.94559835e+00] [-2.28001984e-03 -2.15758014e-05 9.99997401e-01 -3.66316830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:7.96, Z:-0.37 [[ 7.92999363e-01 -6.09219807e-01 1.79902914e-03 1.20262805e+02] [ 6.09218197e-01 7.93001404e-01 1.40087495e-03 7.96145316e+00] [-2.28007340e-03 -1.48916511e-05 9.99997401e-01 -3.66027814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.29, Y:7.98, Z:-0.37 [[ 7.92082727e-01 -6.10411107e-01 1.79811192e-03 1.20285167e+02] [ 6.10409497e-01 7.92084768e-01 1.40205128e-03 7.97834201e+00] [-2.28008473e-03 -1.29560094e-05 9.99997401e-01 -3.66064291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:7.99, Z:-0.37 [[ 7.91398244e-01 -6.11298281e-01 1.79771728e-03 1.20306441e+02] [ 6.11296672e-01 7.91400286e-01 1.40255710e-03 7.99463738e+00] [-2.28009471e-03 -1.10426368e-05 9.99997401e-01 -3.65048389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:120.33, Y:8.01, Z:-0.36 [[ 7.90109492e-01 -6.12963098e-01 1.79754613e-03 1.20328147e+02] [ 6.12961493e-01 7.90111537e-01 1.40277641e-03 8.01128228e+00] [-2.28011211e-03 -6.52039999e-06 9.99997401e-01 -3.64693804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:8.03, Z:-0.36 [[ 7.89739929e-01 -6.13439169e-01 1.79708239e-03 1.20350435e+02] [ 6.13437564e-01 7.89741974e-01 1.40337026e-03 8.02893083e+00] [-2.28011368e-03 -5.89968785e-06 9.99997401e-01 -3.64617329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:8.05, Z:-0.37 [[ 7.89094500e-01 -6.14269193e-01 1.79660699e-03 1.20372638e+02] [ 6.14267589e-01 7.89096545e-01 1.40397860e-03 8.04689827e+00] [-2.28011717e-03 -4.27435028e-06 9.99997401e-01 -3.65307281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:8.06, Z:-0.37 [[ 7.88574747e-01 -6.14936291e-01 1.79621435e-03 1.20394318e+02] [ 6.14934688e-01 7.88576792e-01 1.40448075e-03 8.06399254e+00] [-2.28011914e-03 -2.98354339e-06 9.99997401e-01 -3.65754721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:8.08, Z:-0.37 [[ 7.87408849e-01 -6.16428488e-01 1.79581927e-03 1.20416295e+02] [ 6.16426886e-01 7.87410896e-01 1.40498574e-03 8.08146960e+00] [-2.28012090e-03 6.93079891e-07 9.99997401e-01 -3.67094170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:8.10, Z:-0.37 [[ 7.86606556e-01 -6.17451944e-01 1.79542444e-03 1.20438644e+02] [ 6.17450344e-01 7.86608605e-01 1.40549011e-03 8.09904339e+00] [-2.28011892e-03 3.01769830e-06 9.99997401e-01 -3.67253061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:8.12, Z:-0.37 [[ 7.85637865e-01 -6.18684025e-01 1.79503181e-03 1.20461120e+02] [ 6.18682427e-01 7.85639916e-01 1.40599139e-03 8.11654344e+00] [-2.28011305e-03 5.95456244e-06 9.99997401e-01 -3.67544599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:8.13, Z:-0.37 [[ 7.84410244e-01 -6.20239751e-01 1.79463702e-03 1.20483641e+02] [ 6.20238156e-01 7.84412297e-01 1.40649512e-03 8.13401849e+00] [-2.28009953e-03 9.83318307e-06 9.99997401e-01 -3.67357336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:8.15, Z:-0.37 [[ 7.81908010e-01 -6.23391246e-01 1.79423856e-03 1.20505201e+02] [ 6.23389658e-01 7.81910068e-01 1.40700325e-03 8.15065106e+00] [-2.28004670e-03 1.83626526e-05 9.99997401e-01 -3.66667905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:8.17, Z:-0.37 [[ 7.80447545e-01 -6.25218690e-01 1.79406604e-03 1.20527329e+02] [ 6.25217107e-01 7.80449607e-01 1.40722320e-03 8.16820802e+00] [-2.28000038e-03 2.34168880e-05 9.99997401e-01 -3.66247798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:8.18, Z:-0.37 [[ 7.78773680e-01 -6.27302429e-01 1.79366878e-03 1.20548705e+02] [ 6.27300850e-01 7.78775745e-01 1.40772936e-03 8.18499870e+00] [-2.27993779e-03 2.88673724e-05 9.99997401e-01 -3.65109170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:8.20, Z:-0.36 [[ 7.78395323e-01 -6.27771858e-01 1.79349693e-03 1.20570055e+02] [ 6.27770279e-01 7.78397388e-01 1.40794827e-03 8.20239519e+00] [-2.27992363e-03 2.99637174e-05 9.99997401e-01 -3.64910884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:8.22, Z:-0.37 [[ 7.78101148e-01 -6.28136440e-01 1.79332784e-03 1.20591842e+02] [ 6.28134863e-01 7.78103214e-01 1.40816361e-03 8.22016388e+00] [-2.27991303e-03 3.07580168e-05 9.99997401e-01 -3.65178220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:8.24, Z:-0.37 [[ 7.78132734e-01 -6.28097313e-01 1.79292870e-03 1.20612901e+02] [ 6.28095734e-01 7.78134799e-01 1.40867162e-03 8.23740081e+00] [-2.27992308e-03 2.99973693e-05 9.99997401e-01 -3.65096562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:8.26, Z:-0.37 [[ 7.78614265e-01 -6.27500289e-01 1.79275582e-03 1.20634330e+02] [ 6.27498708e-01 7.78616328e-01 1.40889161e-03 8.25565139e+00] [-2.27994885e-03 2.79688515e-05 9.99997401e-01 -3.65050480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:8.27, Z:-0.37 [[ 7.78747380e-01 -6.27335082e-01 1.79235926e-03 1.20656015e+02] [ 6.27333499e-01 7.78749442e-01 1.40939593e-03 8.27427033e+00] [-2.27996228e-03 2.68436169e-05 9.99997401e-01 -3.65069547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:8.29, Z:-0.37 [[ 7.78973588e-01 -6.27054175e-01 1.79196467e-03 1.20677635e+02] [ 6.27052591e-01 7.78975648e-01 1.40989744e-03 8.29263105e+00] [-2.27997892e-03 2.53832259e-05 9.99997401e-01 -3.65394500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:8.31, Z:-0.37 [[ 7.78963306e-01 -6.27066949e-01 1.79156739e-03 1.20698921e+02] [ 6.27065363e-01 7.78965366e-01 1.41040208e-03 8.31071246e+00] [-2.27998548e-03 2.47783873e-05 9.99997401e-01 -3.65691138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:8.33, Z:-0.37 [[ 7.79193138e-01 -6.26781338e-01 1.79117084e-03 1.20719668e+02] [ 6.26779751e-01 7.79195196e-01 1.41090551e-03 8.32983041e+00] [-2.28000096e-03 2.33017207e-05 9.99997401e-01 -3.66320853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:8.35, Z:-0.37 [[ 7.79064386e-01 -6.26941365e-01 1.79076610e-03 1.20739797e+02] [ 6.26939777e-01 7.79066444e-01 1.41141904e-03 8.34748973e+00] [-2.28000276e-03 2.31161916e-05 9.99997401e-01 -3.67318923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:8.37, Z:-0.37 [[ 7.77389470e-01 -6.29017016e-01 1.79059084e-03 1.20758862e+02] [ 6.29015432e-01 7.77391531e-01 1.41164135e-03 8.36661480e+00] [-2.27993658e-03 2.89141463e-05 9.99997401e-01 -3.70254175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:8.38, Z:-0.37 [[ 7.78694339e-01 -6.27400948e-01 1.78242823e-03 1.20783443e+02] [ 6.27399337e-01 7.78696379e-01 1.42198717e-03 8.38416385e+00] [-2.28012651e-03 1.10009245e-05 9.99997400e-01 -3.68865994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:8.40, Z:-0.37 [[ 7.77900778e-01 -6.28384576e-01 1.79013596e-03 1.20804948e+02] [ 6.28382990e-01 7.77902837e-01 1.41221679e-03 8.40288629e+00] [-2.27996710e-03 2.63264475e-05 9.99997401e-01 -3.69700479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:8.42, Z:-0.37 [[ 7.77360921e-01 -6.29052299e-01 1.78974122e-03 1.20826646e+02] [ 6.29050713e-01 7.77362981e-01 1.41271689e-03 8.42107798e+00] [-2.27995137e-03 2.76470874e-05 9.99997401e-01 -3.69235274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:8.44, Z:-0.37 [[ 7.76827069e-01 -6.29711444e-01 1.78934338e-03 1.20848163e+02] [ 6.29709859e-01 7.76829130e-01 1.41322060e-03 8.43925107e+00] [-2.27993525e-03 2.89391491e-05 9.99997401e-01 -3.68989549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:8.46, Z:-0.37 [[ 7.76318753e-01 -6.30338000e-01 1.78894163e-03 1.20869711e+02] [ 6.30336415e-01 7.76320813e-01 1.41372899e-03 8.45747417e+00] [-2.27991972e-03 3.01307267e-05 9.99997401e-01 -3.68442732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:8.48, Z:-0.37 [[ 7.76215670e-01 -6.30464936e-01 1.78854101e-03 1.20890327e+02] [ 6.30463350e-01 7.76217730e-01 1.41423563e-03 8.47704229e+00] [-2.27992322e-03 2.98577000e-05 9.99997401e-01 -3.68940595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:8.49, Z:-0.37 [[ 7.76603425e-01 -6.29987240e-01 1.78814016e-03 1.20910822e+02] [ 6.29985652e-01 7.76605483e-01 1.41474229e-03 8.49451966e+00] [-2.27994904e-03 2.78089336e-05 9.99997401e-01 -3.69459775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:8.51, Z:-0.37 [[ 7.77125708e-01 -6.29342862e-01 1.78786756e-03 1.20932309e+02] [ 6.29341271e-01 7.77127764e-01 1.41508670e-03 8.51244557e+00] [-2.27997623e-03 2.54785892e-05 9.99997401e-01 -3.69864543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:8.53, Z:-0.37 [[ 7.79064171e-01 -6.26941642e-01 1.78746636e-03 1.20952610e+02] [ 6.26940044e-01 7.79066222e-01 1.41559329e-03 8.53014574e+00] [-2.28004905e-03 1.77962253e-05 9.99997401e-01 -3.70598863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:8.55, Z:-0.37 [[ 7.80217265e-01 -6.25506055e-01 1.78729273e-03 1.20973824e+02] [ 6.25504452e-01 7.80219312e-01 1.41581247e-03 8.54817226e+00] [-2.28007958e-03 1.33182257e-05 9.99997401e-01 -3.70707964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:8.57, Z:-0.37 [[ 7.81604385e-01 -6.23771907e-01 1.78689456e-03 1.20995138e+02] [ 6.23770299e-01 7.81606428e-01 1.41631482e-03 8.56642931e+00] [-2.28010568e-03 7.61387861e-06 9.99997401e-01 -3.71327803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:8.58, Z:-0.37 [[ 7.83038508e-01 -6.21970661e-01 1.78649247e-03 1.21016403e+02] [ 6.21969047e-01 7.83040546e-01 1.41682183e-03 8.58489160e+00] [-2.28011765e-03 1.71697240e-06 9.99997401e-01 -3.72271140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:8.60, Z:-0.38 [[ 7.86419134e-01 -6.17690663e-01 1.78608860e-03 1.21036818e+02] [ 6.17689038e-01 7.86421162e-01 1.41733078e-03 8.60398390e+00] [-2.28008986e-03 -1.13686987e-05 9.99997401e-01 -3.75644111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:8.62, Z:-0.38 [[ 7.87789370e-01 -6.15942139e-01 1.78596347e-03 1.21059457e+02] [ 6.15940508e-01 7.87791394e-01 1.41748844e-03 8.62257622e+00] [-2.28005751e-03 -1.66350761e-05 9.99997401e-01 -3.75981169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:8.64, Z:-0.38 [[ 7.88797657e-01 -6.14650362e-01 1.78561315e-03 1.21080853e+02] [ 6.14648727e-01 7.88799678e-01 1.41792959e-03 8.64021183e+00] [-2.28002202e-03 -2.09346924e-05 9.99997401e-01 -3.76692741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:8.66, Z:-0.38 [[ 7.89749499e-01 -6.13426884e-01 1.78520926e-03 1.21102188e+02] [ 6.13425245e-01 7.89751516e-01 1.41843792e-03 8.65741137e+00] [-2.27997968e-03 -2.51182071e-05 9.99997401e-01 -3.77380249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:8.67, Z:-0.38 [[ 7.90191532e-01 -6.12857370e-01 1.78503410e-03 1.21124297e+02] [ 6.12855729e-01 7.90193548e-01 1.41865833e-03 8.67480243e+00] [-2.27995764e-03 -2.70434255e-05 9.99997401e-01 -3.76907147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:8.69, Z:-0.38 [[ 7.90877851e-01 -6.11971437e-01 1.78463488e-03 1.21147017e+02] [ 6.11969792e-01 7.90879864e-01 1.41916034e-03 8.69256972e+00] [-2.27991739e-03 -3.02398434e-05 9.99997401e-01 -3.75237312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:8.71, Z:-0.37 [[ 7.91039864e-01 -6.11762004e-01 1.78428273e-03 1.21168772e+02] [ 6.11760357e-01 7.91041876e-01 1.41960296e-03 8.70990504e+00] [-2.27990151e-03 -3.14090949e-05 9.99997401e-01 -3.74819401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:8.73, Z:-0.37 [[ 7.91131613e-01 -6.11643350e-01 1.78409555e-03 1.21192020e+02] [ 6.11641703e-01 7.91133624e-01 1.41983817e-03 8.72762512e+00] [-2.27989255e-03 -3.20516200e-05 9.99997401e-01 -3.73720056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:8.74, Z:-0.37 [[ 7.91091990e-01 -6.11694599e-01 1.78374275e-03 1.21214828e+02] [ 6.11692951e-01 7.91094000e-01 1.42028125e-03 8.74330723e+00] [-2.27988656e-03 -3.24702573e-05 9.99997401e-01 -3.71674368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:8.76, Z:-0.37 [[ 7.90893444e-01 -6.11951288e-01 1.78361797e-03 1.21236927e+02] [ 6.11949640e-01 7.90895455e-01 1.42043794e-03 8.75992019e+00] [-2.27989417e-03 -3.19306777e-05 9.99997401e-01 -3.70712712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:8.78, Z:-0.37 [[ 7.90734598e-01 -6.12156529e-01 1.78321580e-03 1.21259480e+02] [ 6.12154881e-01 7.90736608e-01 1.42094264e-03 8.77720596e+00] [-2.27989333e-03 -3.19842533e-05 9.99997401e-01 -3.70664934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:8.79, Z:-0.37 [[ 7.90623298e-01 -6.12300272e-01 1.78281294e-03 1.21281422e+02] [ 6.12298622e-01 7.90625307e-01 1.42144791e-03 8.79431543e+00] [-2.27988997e-03 -3.22159285e-05 9.99997401e-01 -3.70694261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:8.81, Z:-0.37 [[ 7.90902749e-01 -6.11939266e-01 1.78241024e-03 1.21303721e+02] [ 6.11937615e-01 7.90904757e-01 1.42195270e-03 8.81167457e+00] [-2.27986543e-03 -3.39024245e-05 9.99997401e-01 -3.72048360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:8.83, Z:-0.37 [[ 7.90834183e-01 -6.12027875e-01 1.78200510e-03 1.21326132e+02] [ 6.12026223e-01 7.90836190e-01 1.42246023e-03 8.82937196e+00] [-2.27985944e-03 -3.42963247e-05 9.99997401e-01 -3.73068214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:8.85, Z:-0.37 [[ 7.90690163e-01 -6.12213926e-01 1.78174987e-03 1.21347476e+02] [ 6.12212274e-01 7.90692170e-01 1.42277986e-03 8.84573004e+00] [-2.27986132e-03 -3.41688956e-05 9.99997401e-01 -3.74331839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:8.86, Z:-0.38 [[ 7.90025591e-01 -6.13071278e-01 1.78157627e-03 1.21369501e+02] [ 6.13069627e-01 7.90027599e-01 1.42299722e-03 8.86254367e+00] [-2.27989314e-03 -3.19739188e-05 9.99997401e-01 -3.75299345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:8.88, Z:-0.38 [[ 7.87784162e-01 -6.15948814e-01 1.78117421e-03 1.21392686e+02] [ 6.15947169e-01 7.87786175e-01 1.42350029e-03 8.87882415e+00] [-2.27998774e-03 -2.43017663e-05 9.99997401e-01 -3.75854300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:8.90, Z:-0.38 [[ 7.86097563e-01 -6.18099871e-01 1.78076974e-03 1.21414282e+02] [ 6.18098231e-01 7.86099580e-01 1.42400610e-03 8.89505928e+00] [-2.28004033e-03 -1.87170993e-05 9.99997401e-01 -3.75929930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:8.91, Z:-0.38 [[ 7.83999367e-01 -6.20759070e-01 1.78059443e-03 1.21436995e+02] [ 6.20757436e-01 7.84001388e-01 1.42422528e-03 8.91242723e+00] [-2.28008926e-03 -1.12744820e-05 9.99997401e-01 -3.75359518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:8.93, Z:-0.38 [[ 7.79291703e-01 -6.26658817e-01 1.78018999e-03 1.21458911e+02] [ 6.26657197e-01 7.79293736e-01 1.42473061e-03 8.92858611e+00] [-2.28011091e-03 5.28812557e-06 9.99997401e-01 -3.75039047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:8.95, Z:-0.37 [[ 7.76318880e-01 -6.30337868e-01 1.78002635e-03 1.21481324e+02] [ 6.30336258e-01 7.76320921e-01 1.42493503e-03 8.94613760e+00] [-2.28006221e-03 1.58111813e-05 9.99997401e-01 -3.74712946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:8.96, Z:-0.37 [[ 7.73087663e-01 -6.34296695e-01 1.77963103e-03 1.21503295e+02] [ 6.34295094e-01 7.73089711e-01 1.42542859e-03 8.96327043e+00] [-2.27995908e-03 2.68299677e-05 9.99997401e-01 -3.74403226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:8.98, Z:-0.37 [[ 7.72909684e-01 -6.34513558e-01 1.77923079e-03 1.21525567e+02] [ 6.34511956e-01 7.72911731e-01 1.42592800e-03 8.98121228e+00] [-2.27995900e-03 2.68296524e-05 9.99997401e-01 -3.74468169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:9.00, Z:-0.37 [[ 7.69349564e-01 -6.38825551e-01 1.77883061e-03 1.21548231e+02] [ 6.38823959e-01 7.69351620e-01 1.42642704e-03 8.99853963e+00] [-2.27978425e-03 3.89385906e-05 9.99997401e-01 -3.73981946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:9.02, Z:-0.37 [[ 7.65731859e-01 -6.43157490e-01 1.77842946e-03 1.21570410e+02] [ 6.43155909e-01 7.65733922e-01 1.42692701e-03 9.01536527e+00] [-2.27954256e-03 5.11639416e-05 9.99997401e-01 -3.73155306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:9.03, Z:-0.37 [[ 7.58992264e-01 -6.51097213e-01 1.77802356e-03 1.21593596e+02] [ 6.51095653e-01 7.58994343e-01 1.42743260e-03 9.03275488e+00] [-2.27890721e-03 7.42531054e-05 9.99997401e-01 -3.71650915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:9.05, Z:-0.37 [[ 7.56014566e-01 -6.54552378e-01 1.77767158e-03 1.21615208e+02] [ 6.54550826e-01 7.56016651e-01 1.42787081e-03 9.05011423e+00] [-2.27856555e-03 8.40852668e-05 9.99997401e-01 -3.70916823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:9.07, Z:-0.37 [[ 7.53609296e-01 -6.57320219e-01 1.77726785e-03 1.21636648e+02] [ 6.57318674e-01 7.53611386e-01 1.42837315e-03 9.06777323e+00] [-2.27826784e-03 9.17960599e-05 9.99997401e-01 -3.70421823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:9.09, Z:-0.37 [[ 7.51667040e-01 -6.59540373e-01 1.77686154e-03 1.21657720e+02] [ 6.59538833e-01 7.51669134e-01 1.42887842e-03 9.08540161e+00] [-2.27801498e-03 9.78683777e-05 9.99997401e-01 -3.70561272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:9.10, Z:-0.37 [[ 7.49661229e-01 -6.61819375e-01 1.77668578e-03 1.21677948e+02] [ 6.61817840e-01 7.49663327e-01 1.42909693e-03 9.10408972e+00] [-2.27772021e-03 1.04503782e-04 9.99997401e-01 -3.70538081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:9.12, Z:-0.37 [[ 7.49458310e-01 -6.62049157e-01 1.77651779e-03 1.21699279e+02] [ 6.62047622e-01 7.49460408e-01 1.42930573e-03 9.12253111e+00] [-2.27770040e-03 1.04934323e-04 9.99997401e-01 -3.70942251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:9.14, Z:-0.37 [[ 7.49881311e-01 -6.61570000e-01 1.77611331e-03 1.21720007e+02] [ 6.61568462e-01 7.49883408e-01 1.42980817e-03 9.14126530e+00] [-2.27779609e-03 1.02834125e-04 9.99997401e-01 -3.72034079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:121.74, Y:9.16, Z:-0.37 [[ 7.50642269e-01 -6.60706463e-01 1.77597378e-03 1.21741286e+02] [ 6.60704923e-01 7.50644363e-01 1.42998147e-03 9.16102078e+00] [-2.27792270e-03 9.99900828e-05 9.99997401e-01 -3.73265820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:9.18, Z:-0.37 [[ 7.55222814e-01 -6.55465749e-01 1.77562235e-03 1.21761220e+02] [ 6.55464193e-01 7.55224897e-01 1.43041771e-03 9.18133367e+00] [-2.27858402e-03 8.35727843e-05 9.99997401e-01 -3.74181384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:9.20, Z:-0.37 [[ 7.57662260e-01 -6.52644427e-01 1.77522159e-03 1.21781817e+02] [ 6.52642863e-01 7.57664336e-01 1.43091489e-03 9.20115049e+00] [-2.27890072e-03 7.44354876e-05 9.99997401e-01 -3.74321294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:9.22, Z:-0.37 [[ 7.60340364e-01 -6.49522426e-01 1.77481710e-03 1.21802524e+02] [ 6.49520852e-01 7.60342432e-01 1.43141642e-03 9.22098510e+00] [-2.27920582e-03 6.44170347e-05 9.99997401e-01 -3.74591627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:9.24, Z:-0.37 [[ 7.65771206e-01 -6.43110653e-01 1.77441237e-03 1.21822066e+02] [ 6.43109060e-01 7.65773260e-01 1.43191795e-03 9.24269752e+00] [-2.27967924e-03 4.46191363e-05 9.99997401e-01 -3.74950941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:9.26, Z:-0.37 [[ 7.68303814e-01 -6.40082887e-01 1.77406086e-03 1.21842912e+02] [ 6.40081286e-01 7.68305861e-01 1.43235332e-03 9.26189164e+00] [-2.27984621e-03 3.50606378e-05 9.99997401e-01 -3.74790136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:9.28, Z:-0.37 [[ 7.70367129e-01 -6.37598103e-01 1.77365632e-03 1.21863935e+02] [ 6.37596494e-01 7.70369170e-01 1.43285409e-03 9.28125619e+00] [-2.27995519e-03 2.70533554e-05 9.99997401e-01 -3.74114286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:9.30, Z:-0.37 [[ 7.72196416e-01 -6.35381422e-01 1.77324721e-03 1.21884324e+02] [ 6.35379805e-01 7.72198452e-01 1.43336020e-03 9.30002425e+00] [-2.28002919e-03 1.98498574e-05 9.99997401e-01 -3.73376810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:9.32, Z:-0.37 [[ 7.75657775e-01 -6.31151229e-01 1.77283100e-03 1.21903176e+02] [ 6.31149600e-01 7.75659800e-01 1.43387480e-03 9.31951646e+00] [-2.28010558e-03 6.72544534e-06 9.99997401e-01 -3.73601548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:9.34, Z:-0.37 [[ 7.76906103e-01 -6.29613981e-01 1.77265068e-03 1.21924088e+02] [ 6.29612347e-01 7.76908125e-01 1.43409769e-03 9.33836534e+00] [-2.28011467e-03 1.92350309e-06 9.99997401e-01 -3.73588193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:9.36, Z:-0.37 [[ 7.77951599e-01 -6.28321708e-01 1.77224233e-03 1.21945021e+02] [ 6.28320070e-01 7.77953618e-01 1.43460214e-03 9.35707993e+00] [-2.28011401e-03 -2.51560467e-06 9.99997401e-01 -3.73680645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:9.38, Z:-0.37 [[ 7.80074938e-01 -6.25683587e-01 1.77183273e-03 1.21966067e+02] [ 6.25681941e-01 7.80076951e-01 1.43510785e-03 9.37679253e+00] [-2.28008930e-03 -1.08879258e-05 9.99997401e-01 -3.73731774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:9.40, Z:-0.37 [[ 7.80927715e-01 -6.24618896e-01 1.77147239e-03 1.21987442e+02] [ 6.24617246e-01 7.80929725e-01 1.43555251e-03 9.39507183e+00] [-2.28006867e-03 -1.45705352e-05 9.99997401e-01 -3.73693578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:9.41, Z:-0.37 [[ 7.81972985e-01 -6.23309806e-01 1.77105878e-03 1.22007955e+02] [ 6.23308152e-01 7.81974990e-01 1.43606261e-03 9.41263445e+00] [-2.28003558e-03 -1.90467909e-05 9.99997401e-01 -3.74389653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:9.43, Z:-0.37 [[ 7.82894181e-01 -6.22152365e-01 1.77088859e-03 1.22029068e+02] [ 6.22150708e-01 7.82896183e-01 1.43627245e-03 9.43099032e+00] [-2.28000222e-03 -2.26897570e-05 9.99997401e-01 -3.74695024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:9.45, Z:-0.38 [[ 7.84803115e-01 -6.19742637e-01 1.77048358e-03 1.22050633e+02] [ 6.19740972e-01 7.84805112e-01 1.43677153e-03 9.44989556e+00] [-2.27991314e-03 -3.03415578e-05 9.99997401e-01 -3.75154820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:9.47, Z:-0.38 [[ 7.85376627e-01 -6.19015687e-01 1.77012560e-03 1.22072954e+02] [ 6.19014019e-01 7.85378621e-01 1.43721243e-03 9.46860115e+00] [-2.27987584e-03 -3.30204834e-05 9.99997401e-01 -3.75562780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:9.49, Z:-0.38 [[ 7.85846149e-01 -6.18419516e-01 1.76976808e-03 1.22095191e+02] [ 6.18417846e-01 7.85848141e-01 1.43765254e-03 9.48697010e+00] [-2.27984135e-03 -3.53175440e-05 9.99997401e-01 -3.76169766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:9.51, Z:-0.38 [[ 7.86150609e-01 -6.18032433e-01 1.76941054e-03 1.22117431e+02] [ 6.18030761e-01 7.86152600e-01 1.43809246e-03 9.50512414e+00] [-2.27981448e-03 -3.70071253e-05 9.99997401e-01 -3.76526089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:9.52, Z:-0.38 [[ 7.86327249e-01 -6.17807679e-01 1.76905377e-03 1.22140177e+02] [ 6.17806006e-01 7.86329238e-01 1.43853120e-03 9.52246765e+00] [-2.27979432e-03 -3.82242430e-05 9.99997401e-01 -3.76870467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:9.54, Z:-0.38 [[ 7.85900227e-01 -6.18350795e-01 1.76869953e-03 1.22162511e+02] [ 6.18349121e-01 7.85902216e-01 1.43896662e-03 9.53918266e+00] [-2.27981103e-03 -3.72103921e-05 9.99997401e-01 -3.76853532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:9.55, Z:-0.38 [[ 7.85154735e-01 -6.19297113e-01 1.76829613e-03 1.22184466e+02] [ 6.19295441e-01 7.85156726e-01 1.43946216e-03 9.55499994e+00] [-2.27984436e-03 -3.51028013e-05 9.99997401e-01 -3.76855646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:9.57, Z:-0.37 [[ 7.83918566e-01 -6.20861140e-01 1.76812127e-03 1.22207517e+02] [ 6.20859472e-01 7.83920560e-01 1.43967692e-03 9.57153626e+00] [-2.27990607e-03 -3.08346307e-05 9.99997401e-01 -3.74750360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:9.59, Z:-0.37 [[ 7.81229307e-01 -6.24241656e-01 1.76771560e-03 1.22231975e+02] [ 6.24239995e-01 7.81231307e-01 1.44017485e-03 9.58737317e+00] [-2.28001190e-03 -2.16280209e-05 9.99997401e-01 -3.72043903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:9.60, Z:-0.37 [[ 7.79806722e-01 -6.26017853e-01 1.76735374e-03 1.22254694e+02] [ 6.26016196e-01 7.79808725e-01 1.44061877e-03 9.60422235e+00] [-2.28005094e-03 -1.70121371e-05 9.99997401e-01 -3.71862064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:9.62, Z:-0.37 [[ 7.78180740e-01 -6.28037907e-01 1.76722587e-03 1.22277866e+02] [ 6.28036255e-01 7.78182746e-01 1.44077562e-03 9.62175316e+00] [-2.28008639e-03 -1.13019231e-05 9.99997401e-01 -3.70596585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:9.64, Z:-0.37 [[ 7.76667225e-01 -6.29908644e-01 1.76686237e-03 1.22300204e+02] [ 6.29906995e-01 7.76669235e-01 1.44122126e-03 9.63867883e+00] [-2.28010537e-03 -6.39035197e-06 9.99997401e-01 -3.70614589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.32, Y:9.66, Z:-0.37 [[ 7.73495942e-01 -6.33798790e-01 1.76666205e-03 1.22323400e+02] [ 6.33797151e-01 7.73497960e-01 1.44146676e-03 9.65512158e+00] [-2.28010938e-03 4.73668438e-06 9.99997401e-01 -3.70172052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:9.67, Z:-0.37 [[ 7.72176933e-01 -6.35405118e-01 1.76625049e-03 1.22345928e+02] [ 6.35403482e-01 7.72178953e-01 1.44197088e-03 9.67205964e+00] [-2.28009713e-03 8.82506382e-06 9.99997401e-01 -3.69969609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:9.69, Z:-0.37 [[ 7.70729535e-01 -6.37160000e-01 1.76584067e-03 1.22368511e+02] [ 6.37158367e-01 7.70731558e-01 1.44247257e-03 9.68925354e+00] [-2.28007495e-03 1.33639424e-05 9.99997401e-01 -3.69138163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:9.71, Z:-0.37 [[ 7.69470313e-01 -6.38680140e-01 1.76542667e-03 1.22389722e+02] [ 6.38678510e-01 7.69472338e-01 1.44297909e-03 9.70577372e+00] [-2.28004907e-03 1.72105058e-05 9.99997401e-01 -3.68572159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:9.72, Z:-0.37 [[ 7.68139767e-01 -6.40279769e-01 1.76524734e-03 1.22411367e+02] [ 6.40278143e-01 7.68141795e-01 1.44319844e-03 9.72360562e+00] [-2.28001102e-03 2.16711763e-05 9.99997401e-01 -3.69379902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:9.74, Z:-0.37 [[ 7.65532750e-01 -6.43394509e-01 1.76505755e-03 1.22433199e+02] [ 6.43392890e-01 7.65534784e-01 1.44343051e-03 9.74221512e+00] [-2.27990821e-03 3.06321578e-05 9.99997401e-01 -3.65742985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:9.76, Z:-0.37 [[ 7.64357152e-01 -6.44790687e-01 1.76469488e-03 1.22455331e+02] [ 6.44789072e-01 7.64359188e-01 1.44387377e-03 9.76113763e+00] [-2.27985710e-03 3.42207348e-05 9.99997401e-01 -3.65382230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:9.78, Z:-0.37 [[ 7.63549313e-01 -6.45747113e-01 1.76433382e-03 1.22476158e+02] [ 6.45745499e-01 7.63551351e-01 1.44431482e-03 9.77922497e+00] [-2.27982160e-03 3.65050367e-05 9.99997401e-01 -3.65606392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:9.80, Z:-0.37 [[ 7.62564365e-01 -6.46909945e-01 1.76420609e-03 1.22497939e+02] [ 6.46908333e-01 7.62566405e-01 1.44447083e-03 9.79897302e+00] [-2.27976684e-03 3.97776386e-05 9.99997401e-01 -3.65112786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:9.82, Z:-0.37 [[ 7.62482519e-01 -6.47006411e-01 1.76384870e-03 1.22518357e+02] [ 6.47004799e-01 7.62484559e-01 1.44490710e-03 9.81646170e+00] [-2.27977156e-03 3.95021698e-05 9.99997401e-01 -3.65290185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:9.84, Z:-0.37 [[ 7.62770180e-01 -6.46667258e-01 1.76367682e-03 1.22539862e+02] [ 6.46665644e-01 7.62772218e-01 1.44511688e-03 9.83510764e+00] [-2.27979345e-03 3.82171428e-05 9.99997401e-01 -3.65533804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:9.85, Z:-0.37 [[ 7.64743178e-01 -6.44332805e-01 1.76327332e-03 1.22559627e+02] [ 6.44331184e-01 7.64745210e-01 1.44560904e-03 9.85469451e+00] [-2.27990815e-03 3.06123316e-05 9.99997401e-01 -3.65514117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:9.87, Z:-0.37 [[ 7.66444521e-01 -6.42308095e-01 1.76285717e-03 1.22579762e+02] [ 6.42306468e-01 7.66446548e-01 1.44611634e-03 9.87331434e+00] [-2.27998802e-03 2.39266199e-05 9.99997401e-01 -3.66856571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:9.89, Z:-0.37 [[ 7.67927058e-01 -6.40534876e-01 1.76267639e-03 1.22600457e+02] [ 6.40533243e-01 7.67929081e-01 1.44633666e-03 9.89226707e+00] [-2.28003953e-03 1.83717745e-05 9.99997401e-01 -3.66933002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:9.91, Z:-0.37 [[ 7.69324097e-01 -6.38856266e-01 1.76227523e-03 1.22621883e+02] [ 6.38854627e-01 7.69326115e-01 1.44682529e-03 9.91183767e+00] [-2.28007776e-03 1.27601298e-05 9.99997401e-01 -3.66757672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:9.93, Z:-0.37 [[ 7.70768635e-01 -6.37112712e-01 1.76191573e-03 1.22641738e+02] [ 6.37111068e-01 7.70770648e-01 1.44726295e-03 9.92960131e+00] [-2.28010255e-03 7.03112464e-06 9.99997401e-01 -3.66781905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:9.95, Z:-0.37 [[ 7.72982711e-01 -6.34424641e-01 1.76163619e-03 1.22661990e+02] [ 6.34422990e-01 7.72984718e-01 1.44760313e-03 9.94952379e+00] [-2.28011295e-03 -1.34969606e-06 9.99997401e-01 -3.66147808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:9.97, Z:-0.37 [[ 7.73726076e-01 -6.33517842e-01 1.76151064e-03 1.22683271e+02] [ 6.33516188e-01 7.73728081e-01 1.44775589e-03 9.96939019e+00] [-2.28010943e-03 -4.22097387e-06 9.99997401e-01 -3.65867020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:9.99, Z:-0.37 [[ 7.74194406e-01 -6.32945433e-01 1.76115317e-03 1.22704593e+02] [ 6.32943776e-01 7.74196409e-01 1.44819061e-03 9.98963341e+00] [-2.28010409e-03 -6.47012971e-06 9.99997401e-01 -3.65760485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:10.01, Z:-0.37 [[ 7.74609501e-01 -6.32437365e-01 1.76079438e-03 1.22724873e+02] [ 6.32435706e-01 7.74611502e-01 1.44862671e-03 1.00089256e+01] [-2.28009724e-03 -8.53077617e-06 9.99997401e-01 -3.65933667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:10.03, Z:-0.37 [[ 7.74678880e-01 -6.32352381e-01 1.76038424e-03 1.22745106e+02] [ 6.32350720e-01 7.74680880e-01 1.44912495e-03 1.00279400e+01] [-2.28009362e-03 -9.42625685e-06 9.99997401e-01 -3.66073301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:10.05, Z:-0.37 [[ 7.74461393e-01 -6.32618727e-01 1.75997471e-03 1.22764441e+02] [ 6.32617066e-01 7.74463392e-01 1.44962216e-03 1.00480717e+01] [-2.28009411e-03 -9.28636343e-06 9.99997401e-01 -3.65631380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:10.07, Z:-0.36 [[ 7.73923554e-01 -6.33276586e-01 1.75984814e-03 1.22785318e+02] [ 6.33274927e-01 7.73925555e-01 1.44977579e-03 1.00674653e+01] [-2.28010052e-03 -7.54792717e-06 9.99997401e-01 -3.64685880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:10.09, Z:-0.36 [[ 7.73259892e-01 -6.34086779e-01 1.75942907e-03 1.22805620e+02] [ 6.34085121e-01 7.73261894e-01 1.45028419e-03 1.00864410e+01] [-2.28010549e-03 -5.81880368e-06 9.99997401e-01 -3.64466466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:10.11, Z:-0.37 [[ 7.71777893e-01 -6.35889762e-01 1.75901006e-03 1.22823989e+02] [ 6.35888107e-01 7.71779898e-01 1.45079222e-03 1.01063290e+01] [-2.28011253e-03 -1.15578301e-06 9.99997401e-01 -3.65038592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:10.12, Z:-0.37 [[ 7.70943627e-01 -6.36900958e-01 1.75882930e-03 1.22843801e+02] [ 6.36899305e-01 7.70945633e-01 1.45101133e-03 1.01248741e+01] [-2.28011227e-03 1.54922615e-06 9.99997401e-01 -3.66427879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:10.14, Z:-0.37 [[ 7.70149801e-01 -6.37860636e-01 1.75854835e-03 1.22864400e+02] [ 6.37858985e-01 7.70151809e-01 1.45135174e-03 1.01436178e+01] [-2.28010934e-03 3.94761288e-06 9.99997401e-01 -3.67237505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:10.16, Z:-0.37 [[ 7.69968457e-01 -6.38079529e-01 1.75813566e-03 1.22886399e+02] [ 6.38077877e-01 7.69970464e-01 1.45185150e-03 1.01618736e+01] [-2.28010925e-03 3.94761272e-06 9.99997401e-01 -3.67302449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:10.18, Z:-0.37 [[ 7.68831646e-01 -6.39448833e-01 1.75772283e-03 1.22906982e+02] [ 6.39447184e-01 7.68833655e-01 1.45235114e-03 1.01804252e+01] [-2.28010070e-03 7.35739706e-06 9.99997401e-01 -3.68831900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:10.20, Z:-0.37 [[ 7.67461885e-01 -6.41092168e-01 1.75731208e-03 1.22927869e+02] [ 6.41090521e-01 7.67463897e-01 1.45284796e-03 1.01987783e+01] [-2.28008302e-03 1.15906841e-05 9.99997401e-01 -3.71648371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:10.22, Z:-0.37 [[ 7.66325051e-01 -6.42450643e-01 1.75718495e-03 1.22948809e+02] [ 6.42449001e-01 7.66327065e-01 1.45300170e-03 1.02171177e+01] [-2.28006026e-03 1.54301122e-05 9.99997401e-01 -3.71666869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:10.24, Z:-0.37 [[ 7.65265529e-01 -6.43712346e-01 1.75676938e-03 1.22970229e+02] [ 6.43710705e-01 7.65267545e-01 1.45350398e-03 1.02352436e+01] [-2.28003705e-03 1.85347664e-05 9.99997401e-01 -3.72103619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:10.25, Z:-0.37 [[ 7.63181676e-01 -6.46181588e-01 1.75635439e-03 1.22991403e+02] [ 6.46179952e-01 7.63183697e-01 1.45400527e-03 1.02530429e+01] [-2.27997247e-03 2.52508149e-05 9.99997401e-01 -3.72169647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:10.27, Z:-0.37 [[ 7.62089548e-01 -6.47469256e-01 1.75593935e-03 1.23012692e+02] [ 6.47467623e-01 7.62091570e-01 1.45450631e-03 1.02707807e+01] [-2.27993470e-03 2.84498181e-05 9.99997401e-01 -3.71871543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:10.29, Z:-0.37 [[ 7.60972936e-01 -6.48781249e-01 1.75551912e-03 1.23034784e+02] [ 6.48779618e-01 7.60974960e-01 1.45501333e-03 1.02888543e+01] [-2.27989146e-03 3.17192606e-05 9.99997401e-01 -3.71629785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:10.31, Z:-0.37 [[ 7.60104302e-01 -6.49798715e-01 1.75509886e-03 1.23056892e+02] [ 6.49797086e-01 7.60106327e-01 1.45552010e-03 1.03069566e+01] [-2.27985684e-03 3.41110331e-05 9.99997401e-01 -3.71277260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:10.33, Z:-0.37 [[ 7.59482968e-01 -6.50524821e-01 1.75468018e-03 1.23079165e+02] [ 6.50523192e-01 7.59484994e-01 1.45602466e-03 1.03253124e+01] [-2.27983344e-03 3.56342189e-05 9.99997401e-01 -3.69800494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:10.34, Z:-0.37 [[ 7.59601173e-01 -6.50386793e-01 1.75431434e-03 1.23100660e+02] [ 6.50385164e-01 7.59603198e-01 1.45646531e-03 1.03436785e+01] [-2.27984858e-03 3.46472588e-05 9.99997401e-01 -3.69079016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:10.36, Z:-0.37 [[ 7.60043405e-01 -6.49869946e-01 1.75389099e-03 1.23121435e+02] [ 6.49868313e-01 7.60045428e-01 1.45697493e-03 1.03620996e+01] [-2.27988105e-03 3.24339972e-05 9.99997401e-01 -3.68752193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:10.38, Z:-0.37 [[ 7.60767732e-01 -6.49021866e-01 1.75347085e-03 1.23141649e+02] [ 6.49020231e-01 7.60769752e-01 1.45748040e-03 1.03802105e+01] [-2.27992423e-03 2.92339941e-05 9.99997401e-01 -3.68524781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:10.40, Z:-0.37 [[ 7.61651008e-01 -6.47985084e-01 1.75331288e-03 1.23161562e+02] [ 6.47983445e-01 7.61653025e-01 1.45767041e-03 1.03985160e+01] [-2.27996474e-03 2.58815858e-05 9.99997401e-01 -3.68394076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:10.42, Z:-0.37 [[ 7.64732819e-01 -6.44345127e-01 1.75303133e-03 1.23182599e+02] [ 6.44343478e-01 7.64734828e-01 1.45800893e-03 1.04188734e+01] [-2.28006506e-03 1.45670277e-05 9.99997401e-01 -3.67573097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:10.44, Z:-0.37 [[ 7.66668128e-01 -6.42041206e-01 1.75267540e-03 1.23203314e+02] [ 6.42039549e-01 7.66670131e-01 1.45843666e-03 1.04378560e+01] [-2.28010031e-03 7.15002236e-06 9.99997401e-01 -3.67199907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:10.46, Z:-0.37 [[ 7.68846531e-01 -6.39430951e-01 1.75226238e-03 1.23223838e+02] [ 6.39429286e-01 7.68848528e-01 1.45893273e-03 1.04569557e+01] [-2.28011109e-03 -1.24748347e-06 9.99997401e-01 -3.67582333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.0 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:123.24, Y:10.48, Z:-0.37 [[ 7.71155800e-01 -6.36644064e-01 1.75184774e-03 1.23244985e+02] [ 6.36642391e-01 7.71157789e-01 1.45943045e-03 1.04772677e+01] [-2.28008876e-03 -1.01477207e-05 9.99997401e-01 -3.68868770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:10.50, Z:-0.37 [[ 7.73959408e-01 -6.33232790e-01 1.75148396e-03 1.23265352e+02] [ 6.33231108e-01 7.73961390e-01 1.45986690e-03 1.04959053e+01] [-2.28001655e-03 -2.07835949e-05 9.99997401e-01 -3.70415897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.29, Y:10.52, Z:-0.37 [[ 7.79144529e-01 -6.26841875e-01 1.75128973e-03 1.23286760e+02] [ 6.26840176e-01 7.79146496e-01 1.46009986e-03 1.05157311e+01] [-2.27976299e-03 -3.98500521e-05 9.99997401e-01 -3.73627763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:123.31, Y:10.53, Z:-0.38 [[ 7.81203621e-01 -6.24273847e-01 1.75093131e-03 1.23307693e+02] [ 6.24272141e-01 7.81205582e-01 1.46052955e-03 1.05335744e+01] [-2.27960771e-03 -4.79133387e-05 9.99997401e-01 -3.75269433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.33, Y:10.55, Z:-0.37 [[ 7.84187945e-01 -6.20520912e-01 1.75074128e-03 1.23329637e+02] [ 6.20519195e-01 7.84189897e-01 1.46075730e-03 1.05513385e+01] [-2.27934407e-03 -5.91396905e-05 9.99997401e-01 -3.74529672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.35, Y:10.57, Z:-0.38 [[ 7.84965372e-01 -6.19537166e-01 1.75032052e-03 1.23351088e+02] [ 6.19535446e-01 7.84967321e-01 1.46126129e-03 1.05681055e+01] [-2.27925009e-03 -6.26539143e-05 9.99997401e-01 -3.75780388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:10.59, Z:-0.37 [[ 7.85106814e-01 -6.19357916e-01 1.75016072e-03 1.23373736e+02] [ 6.19356195e-01 7.85108762e-01 1.46145266e-03 1.05859117e+01] [-2.27922879e-03 -6.34235625e-05 9.99997401e-01 -3.74972309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.40, Y:10.60, Z:-0.37 [[ 7.84896417e-01 -6.19624525e-01 1.74980482e-03 1.23396403e+02] [ 6.19622804e-01 7.84898365e-01 1.46187866e-03 1.06035160e+01] [-2.27923481e-03 -6.32043510e-05 9.99997401e-01 -3.73891166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.42, Y:10.62, Z:-0.37 [[ 7.84380316e-01 -6.20277721e-01 1.75166955e-03 1.23419283e+02] [ 6.20276007e-01 7.84382270e-01 1.45964780e-03 1.06212524e+01] [-2.27936555e-03 -5.84004123e-05 9.99997401e-01 -3.72802674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:10.64, Z:-0.37 [[ 7.82690293e-01 -6.22408905e-01 1.74922670e-03 1.23443877e+02] [ 6.22407189e-01 7.82692246e-01 1.46256945e-03 1.06362956e+01] [-2.27942242e-03 -5.60076376e-05 9.99997401e-01 -3.70267788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:10.65, Z:-0.37 [[ 7.81897598e-01 -6.23404433e-01 1.74886541e-03 1.23466585e+02] [ 6.23402719e-01 7.81899552e-01 1.46300133e-03 1.06522612e+01] [-2.27947859e-03 -5.36697781e-05 9.99997401e-01 -3.69296578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:10.67, Z:-0.37 [[ 7.80431134e-01 -6.25239309e-01 1.74688592e-03 1.23489681e+02] [ 6.25237594e-01 7.80433087e-01 1.46536723e-03 1.06694265e+01] [-2.27953277e-03 -5.13994592e-05 9.99997401e-01 -3.67617987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35999999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.51, Y:10.68, Z:-0.37 [[ 7.78358123e-01 -6.27818107e-01 1.74846963e-03 1.23512739e+02] [ 6.27816402e-01 7.78360086e-01 1.46347512e-03 1.06846718e+01] [-2.27973514e-03 -4.13898351e-05 9.99997401e-01 -3.67118599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:10.70, Z:-0.37 [[ 7.77552713e-01 -6.28815332e-01 1.74833471e-03 1.23535004e+02] [ 6.28813630e-01 7.77554677e-01 1.46363627e-03 1.07011699e+01] [-2.27978276e-03 -3.86776572e-05 9.99997401e-01 -3.66891068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:123.56, Y:10.72, Z:-0.37 [[ 7.76912860e-01 -6.29605712e-01 1.74790735e-03 1.23556388e+02] [ 6.29604011e-01 7.76914825e-01 1.46414646e-03 1.07179777e+01] [-2.27981011e-03 -3.70247378e-05 9.99997401e-01 -3.68287638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:10.73, Z:-0.37 [[ 7.76847465e-01 -6.29686400e-01 1.74761675e-03 1.23578571e+02] [ 6.29684698e-01 7.76849430e-01 1.46449324e-03 1.07344663e+01] [-2.27980655e-03 -3.72403340e-05 9.99997401e-01 -3.68529609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:10.75, Z:-0.37 [[ 7.77236180e-01 -6.29206538e-01 1.74719549e-03 1.23602831e+02] [ 6.29204834e-01 7.77238143e-01 1.46499565e-03 1.07511297e+01] [-2.27977182e-03 -3.93037719e-05 9.99997401e-01 -3.70309313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.62, Y:10.77, Z:-0.37 [[ 7.77580079e-01 -6.28781496e-01 1.74682340e-03 1.23624585e+02] [ 6.28779789e-01 7.77582040e-01 1.46543918e-03 1.07682089e+01] [-2.27973954e-03 -4.11290632e-05 9.99997401e-01 -3.71830834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:10.79, Z:-0.37 [[ 7.78042050e-01 -6.28209772e-01 1.74669177e-03 1.23647594e+02] [ 6.28208064e-01 7.78044009e-01 1.46559606e-03 1.07858533e+01] [-2.27970483e-03 -4.30095015e-05 9.99997401e-01 -3.72564314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:10.80, Z:-0.38 [[ 7.78316909e-01 -6.27869206e-01 1.74631633e-03 1.23669751e+02] [ 6.27867496e-01 7.78318867e-01 1.46604328e-03 1.08030901e+01] [-2.27967437e-03 -4.45910163e-05 9.99997401e-01 -3.76764411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:10.82, Z:-0.38 [[ 7.78235675e-01 -6.27969892e-01 1.74618361e-03 1.23692699e+02] [ 6.27968182e-01 7.78237632e-01 1.46620134e-03 1.08207494e+01] [-2.27967610e-03 -4.45024485e-05 9.99997401e-01 -3.75670188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:10.84, Z:-0.38 [[ 7.78047141e-01 -6.28203469e-01 1.74581275e-03 1.23716708e+02] [ 6.28201759e-01 7.78049098e-01 1.46664279e-03 1.08357982e+01] [-2.27967813e-03 -4.43945844e-05 9.99997401e-01 -3.77191749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:10.85, Z:-0.38 [[ 7.77412696e-01 -6.28988437e-01 1.74561728e-03 1.23739516e+02] [ 6.28986728e-01 7.77414654e-01 1.46687541e-03 1.08523206e+01] [-2.27971612e-03 -4.23974638e-05 9.99997401e-01 -3.76888867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:10.87, Z:-0.37 [[ 7.74875102e-01 -6.32111960e-01 1.74520105e-03 1.23755905e+02] [ 6.32110258e-01 7.74877067e-01 1.46737044e-03 1.08685777e+01] [-2.27985868e-03 -3.38693376e-05 9.99997401e-01 -3.74189911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:10.89, Z:-0.38 [[ 7.75935773e-01 -6.30809574e-01 1.71972916e-03 1.23786378e+02] [ 6.30807801e-01 7.75937675e-01 1.49763022e-03 1.08856582e+01] [-2.27912213e-03 -7.72462924e-05 9.99997400e-01 -3.77522710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:10.90, Z:-0.37 [[ 7.73427717e-01 -6.33882104e-01 1.74494061e-03 1.23811709e+02] [ 6.33880406e-01 7.73429685e-01 1.46765556e-03 1.09008564e+01] [-2.27990946e-03 -2.90418259e-05 9.99997401e-01 -3.74109166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:10.92, Z:-0.37 [[ 7.72178715e-01 -6.35403012e-01 1.74458218e-03 1.23835485e+02] [ 6.35401317e-01 7.72180686e-01 1.46808151e-03 1.09182021e+01] [-2.27995607e-03 -2.51114808e-05 9.99997401e-01 -3.72868234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:10.94, Z:-0.37 [[ 7.70924707e-01 -6.36923899e-01 1.74422098e-03 1.23859039e+02] [ 6.36922207e-01 7.70926680e-01 1.46851051e-03 1.09355738e+01] [-2.27999593e-03 -2.11779572e-05 9.99997401e-01 -3.71733037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:10.95, Z:-0.37 [[ 7.69734633e-01 -6.38361617e-01 1.74385700e-03 1.23881741e+02] [ 6.38359927e-01 7.69736608e-01 1.46894261e-03 1.09522030e+01] [-2.28002716e-03 -1.74875760e-05 9.99997401e-01 -3.71046891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:10.97, Z:-0.37 [[ 7.67064020e-01 -6.41568195e-01 1.74372807e-03 1.23906050e+02] [ 6.41566513e-01 7.67066002e-01 1.46909565e-03 1.09671463e+01] [-2.28007956e-03 -8.17288159e-06 9.99997401e-01 -3.70581160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:10.98, Z:-0.37 [[ 7.65778718e-01 -6.43101792e-01 1.74353591e-03 1.23928337e+02] [ 6.43100114e-01 7.65780703e-01 1.46932367e-03 1.09839718e+01] [-2.28009084e-03 -3.90864869e-06 9.99997401e-01 -3.69918644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:11.00, Z:-0.37 [[ 7.64562824e-01 -6.44546856e-01 1.74313327e-03 1.23950720e+02] [ 6.44545180e-01 7.64564811e-01 1.46980118e-03 1.10014924e+01] [-2.28009409e-03 -2.27190664e-07 9.99997401e-01 -3.69590909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:11.02, Z:-0.37 [[ 7.63531100e-01 -6.45768706e-01 1.74272049e-03 1.23972138e+02] [ 6.45767033e-01 7.63533089e-01 1.47029046e-03 1.10182956e+01] [-2.28009232e-03 2.77894702e-06 9.99997401e-01 -3.69941822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:11.04, Z:-0.37 [[ 7.62483737e-01 -6.47005034e-01 1.74254171e-03 1.23994314e+02] [ 6.47003363e-01 7.62485728e-01 1.47050230e-03 1.10355443e+01] [-2.28008558e-03 6.19626165e-06 9.99997401e-01 -3.69359117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:11.05, Z:-0.37 [[ 7.61653836e-01 -6.47981790e-01 1.74212435e-03 1.24016240e+02] [ 6.47980120e-01 7.61655828e-01 1.47099659e-03 1.10526060e+01] [-2.28007817e-03 8.47175588e-06 9.99997401e-01 -3.69322704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:11.07, Z:-0.37 [[ 7.60377916e-01 -6.49478553e-01 1.74170217e-03 1.24038975e+02] [ 6.49476886e-01 7.60379911e-01 1.47149629e-03 1.10693156e+01] [-2.28006063e-03 1.23020168e-05 9.99997401e-01 -3.70412030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:11.09, Z:-0.37 [[ 7.59571710e-01 -6.50421236e-01 1.74157150e-03 1.24060640e+02] [ 6.50419572e-01 7.59573706e-01 1.47165093e-03 1.10864033e+01] [-2.28004494e-03 1.49277773e-05 9.99997401e-01 -3.71394407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:11.10, Z:-0.37 [[ 7.58567274e-01 -6.51592402e-01 1.74137746e-03 1.24083604e+02] [ 6.51590739e-01 7.58569273e-01 1.47188050e-03 1.11046038e+01] [-2.28002158e-03 1.81450490e-05 9.99997401e-01 -3.71310466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:11.12, Z:-0.37 [[ 7.57131621e-01 -6.53260038e-01 1.74101371e-03 1.24107261e+02] [ 6.53258379e-01 7.57133623e-01 1.47231064e-03 1.11216672e+01] [-2.27998172e-03 2.25988532e-05 9.99997401e-01 -3.71781796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:11.14, Z:-0.37 [[ 7.56559952e-01 -6.53922021e-01 1.74065196e-03 1.24129007e+02] [ 6.53920363e-01 7.56561954e-01 1.47273819e-03 1.11385784e+01] [-2.27996698e-03 2.40330306e-05 9.99997401e-01 -3.72085066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.2 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:124.15, Y:11.16, Z:-0.37 [[ 7.56121565e-01 -6.54428873e-01 1.74047251e-03 1.24151579e+02] [ 6.54427216e-01 7.56123568e-01 1.47295024e-03 1.11570862e+01] [-2.27995345e-03 2.52831410e-05 9.99997401e-01 -3.71341960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:11.17, Z:-0.37 [[ 7.56089388e-01 -6.54466049e-01 1.74011421e-03 1.24174929e+02] [ 6.54464391e-01 7.56091390e-01 1.47337340e-03 1.11733480e+01] [-2.27995824e-03 2.48407950e-05 9.99997401e-01 -3.71025170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:11.19, Z:-0.37 [[ 7.56074800e-01 -6.54482903e-01 1.73998489e-03 1.24197028e+02] [ 6.54481244e-01 7.56076801e-01 1.47352611e-03 1.11905837e+01] [-2.27995985e-03 2.46915166e-05 9.99997401e-01 -3.70338852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:11.21, Z:-0.37 [[ 7.56283095e-01 -6.54242198e-01 1.73957047e-03 1.24218824e+02] [ 6.54240538e-01 7.56285096e-01 1.47401519e-03 1.12075978e+01] [-2.27997416e-03 2.33247462e-05 9.99997401e-01 -3.69010210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:11.22, Z:-0.37 [[ 7.56883397e-01 -6.53547625e-01 1.73914615e-03 1.24240670e+02] [ 6.53545962e-01 7.56885395e-01 1.47451566e-03 1.12247561e+01] [-2.28000053e-03 2.05755187e-05 9.99997401e-01 -3.68762301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:11.24, Z:-0.37 [[ 7.58155726e-01 -6.52071216e-01 1.73901468e-03 1.24263819e+02] [ 6.52069548e-01 7.58157721e-01 1.47467070e-03 1.12416877e+01] [-2.28003772e-03 1.59284760e-05 9.99997401e-01 -3.67080982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:11.26, Z:-0.37 [[ 7.57969378e-01 -6.52287820e-01 1.73864634e-03 1.24285586e+02] [ 6.52286152e-01 7.57971372e-01 1.47510484e-03 1.12602422e+01] [-2.28003707e-03 1.60106333e-05 9.99997401e-01 -3.67145956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:11.28, Z:-0.37 [[ 7.58953089e-01 -6.51142985e-01 1.73822471e-03 1.24307093e+02] [ 6.51141313e-01 7.58955080e-01 1.47560151e-03 1.12776852e+01] [-2.28006205e-03 1.19175975e-05 9.99997401e-01 -3.67799418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:11.30, Z:-0.37 [[ 7.59841356e-01 -6.50106216e-01 1.73809427e-03 1.24328611e+02] [ 6.50104541e-01 7.59843344e-01 1.47575515e-03 1.12956014e+01] [-2.28007696e-03 8.60318211e-06 9.99997401e-01 -3.66418271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:11.31, Z:-0.37 [[ 7.61231906e-01 -6.48477421e-01 1.73767407e-03 1.24348973e+02] [ 6.48475741e-01 7.61233890e-01 1.47624976e-03 1.13129591e+01] [-2.28009103e-03 3.07106017e-06 9.99997401e-01 -3.66889494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:11.33, Z:-0.37 [[ 7.64430512e-01 -6.44703788e-01 1.73749135e-03 1.24370229e+02] [ 6.44702097e-01 7.64432486e-01 1.47646478e-03 1.13311053e+01] [-2.28007727e-03 -8.49041605e-06 9.99997401e-01 -3.67737285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:11.35, Z:-0.37 [[ 7.66010090e-01 -6.42826201e-01 1.73707920e-03 1.24391435e+02] [ 6.42824504e-01 7.66012060e-01 1.47694952e-03 1.13488122e+01] [-2.28004546e-03 -1.47211586e-05 9.99997401e-01 -3.67939902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:11.37, Z:-0.37 [[ 7.67375081e-01 -6.41196124e-01 1.73666607e-03 1.24413253e+02] [ 6.41194422e-01 7.67377046e-01 1.47743514e-03 1.13671312e+01] [-2.28000336e-03 -2.02063156e-05 9.99997401e-01 -3.68383821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:11.38, Z:-0.37 [[ 7.68831076e-01 -6.39449577e-01 1.73625355e-03 1.24434044e+02] [ 6.39447870e-01 7.68833036e-01 1.47791976e-03 1.13840647e+01] [-2.27994426e-03 -2.60270069e-05 9.99997401e-01 -3.69105997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:11.40, Z:-0.37 [[ 7.71060174e-01 -6.36759918e-01 1.73608261e-03 1.24456144e+02] [ 6.36758204e-01 7.71062128e-01 1.47812053e-03 1.14017018e+01] [-2.27983546e-03 -3.42550305e-05 9.99997401e-01 -3.70506226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:11.42, Z:-0.37 [[ 7.71995493e-01 -6.35625633e-01 1.73595598e-03 1.24478881e+02] [ 6.35623915e-01 7.71997444e-01 1.47826924e-03 1.14204027e+01] [-2.27977940e-03 -3.78020530e-05 9.99997401e-01 -3.70578489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:11.44, Z:-0.37 [[ 7.72509900e-01 -6.35000348e-01 1.73562440e-03 1.24501005e+02] [ 6.34998628e-01 7.72511848e-01 1.47865845e-03 1.14395709e+01] [-2.27973904e-03 -4.01591786e-05 9.99997401e-01 -3.71093563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:11.46, Z:-0.37 [[ 7.72826372e-01 -6.34615149e-01 1.73526158e-03 1.24522288e+02] [ 6.34613427e-01 7.72828319e-01 1.47908411e-03 1.14585775e+01] [-2.27970847e-03 -4.18549057e-05 9.99997401e-01 -3.72250577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:11.48, Z:-0.38 [[ 7.73153491e-01 -6.34216580e-01 1.73489833e-03 1.24543175e+02] [ 6.34214856e-01 7.73155436e-01 1.47951005e-03 1.14784476e+01] [-2.27967588e-03 -4.35900644e-05 9.99997401e-01 -3.75000618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:11.50, Z:-0.38 [[ 7.72969652e-01 -6.34440626e-01 1.73452854e-03 1.24565061e+02] [ 6.34438901e-01 7.72971597e-01 1.47994346e-03 1.14977456e+01] [-2.27967755e-03 -4.34989964e-05 9.99997401e-01 -3.76369185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:11.52, Z:-0.38 [[ 7.72795998e-01 -6.34652139e-01 1.73415746e-03 1.24586535e+02] [ 6.34650414e-01 7.72797943e-01 1.48037815e-03 1.15161574e+01] [-2.27967848e-03 -4.34465639e-05 9.99997401e-01 -3.76893212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:11.53, Z:-0.38 [[ 7.72459298e-01 -6.35061909e-01 1.73373211e-03 1.24608031e+02] [ 6.35060183e-01 7.72461242e-01 1.48087613e-03 1.15340147e+01] [-2.27968888e-03 -4.28923053e-05 9.99997401e-01 -3.75683354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:11.55, Z:-0.38 [[ 7.72407453e-01 -6.35124966e-01 1.73329911e-03 1.24629745e+02] [ 6.35123240e-01 7.72409396e-01 1.48138276e-03 1.15515738e+01] [-2.27967970e-03 -4.33725394e-05 9.99997401e-01 -3.75256618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:11.57, Z:-0.37 [[ 7.72100963e-01 -6.35497521e-01 1.73316568e-03 1.24652256e+02] [ 6.35495795e-01 7.72102907e-01 1.48153885e-03 1.15685026e+01] [-2.27969653e-03 -4.24780703e-05 9.99997401e-01 -3.74704558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:11.59, Z:-0.37 [[ 7.71789706e-01 -6.35875497e-01 1.73296786e-03 1.24674457e+02] [ 6.35873772e-01 7.71791650e-01 1.48177021e-03 1.15867250e+01] [-2.27971149e-03 -4.16661898e-05 9.99997401e-01 -3.74117866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:11.61, Z:-0.37 [[ 7.71714028e-01 -6.35967340e-01 1.73260026e-03 1.24696850e+02] [ 6.35965614e-01 7.71715972e-01 1.48219992e-03 1.16052527e+01] [-2.27970603e-03 -4.19602811e-05 9.99997401e-01 -3.73804722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:11.62, Z:-0.37 [[ 7.71590951e-01 -6.36116658e-01 1.73223297e-03 1.24718730e+02] [ 6.36114932e-01 7.71592895e-01 1.48262904e-03 1.16235188e+01] [-2.27970368e-03 -4.20838983e-05 9.99997401e-01 -3.72654522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:11.64, Z:-0.37 [[ 7.70969478e-01 -6.36869739e-01 1.73186138e-03 1.24741550e+02] [ 6.36868014e-01 7.70971422e-01 1.48306296e-03 1.16409999e+01] [-2.27973355e-03 -4.04291605e-05 9.99997401e-01 -3.71285490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:11.66, Z:-0.37 [[ 7.70473142e-01 -6.37470109e-01 1.73149129e-03 1.24763751e+02] [ 6.37468384e-01 7.70475086e-01 1.48349492e-03 1.16590130e+01] [-2.27975457e-03 -3.92220389e-05 9.99997401e-01 -3.70485099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:11.68, Z:-0.37 [[ 7.69219968e-01 -6.38981724e-01 1.73112235e-03 1.24785592e+02] [ 6.38980002e-01 7.69221916e-01 1.48392533e-03 1.16767126e+01] [-2.27981841e-03 -3.53124329e-05 9.99997401e-01 -3.70650750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:11.70, Z:-0.37 [[ 7.67909215e-01 -6.40556353e-01 1.73099146e-03 1.24806485e+02] [ 6.40554634e-01 7.67911166e-01 1.48407799e-03 1.16951702e+01] [-2.27988325e-03 -3.08425604e-05 9.99997401e-01 -3.70660739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:11.71, Z:-0.37 [[ 7.66573550e-01 -6.42154185e-01 1.73057025e-03 1.24827593e+02] [ 6.42152469e-01 7.66575503e-01 1.48456900e-03 1.17130580e+01] [-2.27993495e-03 -2.67413672e-05 9.99997401e-01 -3.70765506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:11.73, Z:-0.37 [[ 7.65373541e-01 -6.43583988e-01 1.73014754e-03 1.24849275e+02] [ 6.43582275e-01 7.65375496e-01 1.48506146e-03 1.17311869e+01] [-2.27997431e-03 -2.31344603e-05 9.99997401e-01 -3.71104777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:11.75, Z:-0.37 [[ 7.63965953e-01 -6.45254237e-01 1.73001684e-03 1.24871070e+02] [ 6.45252528e-01 7.63967911e-01 1.48521371e-03 1.17494191e+01] [-2.28001779e-03 -1.83549641e-05 9.99997401e-01 -3.71116175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:11.77, Z:-0.37 [[ 7.62610185e-01 -6.46856022e-01 1.72960251e-03 1.24892673e+02] [ 6.46854316e-01 7.62612147e-01 1.48569607e-03 1.17674795e+01] [-2.28004733e-03 -1.42061063e-05 9.99997401e-01 -3.71170007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:11.79, Z:-0.37 [[ 7.60267674e-01 -6.49607631e-01 1.72918683e-03 1.24914333e+02] [ 6.49605931e-01 7.60269641e-01 1.48617972e-03 1.17850987e+01] [-2.28008193e-03 -6.60437856e-06 9.99997401e-01 -3.71601133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:11.80, Z:-0.37 [[ 7.59007687e-01 -6.51079367e-01 1.72899346e-03 1.24934729e+02] [ 6.51077670e-01 7.59009656e-01 1.48640463e-03 1.18022122e+01] [-2.28009012e-03 -2.48350458e-06 9.99997401e-01 -3.72477301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:11.82, Z:-0.37 [[ 7.57464121e-01 -6.52874503e-01 1.72878347e-03 1.24955953e+02] [ 6.52872811e-01 7.57466094e-01 1.48664883e-03 1.18203220e+01] [-2.28008998e-03 2.59257255e-06 9.99997401e-01 -3.72224706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:11.84, Z:-0.37 [[ 7.55642785e-01 -6.54981675e-01 1.72836277e-03 1.24977463e+02] [ 6.54979986e-01 7.55644762e-01 1.48713777e-03 1.18384879e+01] [-2.28007626e-03 8.29810123e-06 9.99997401e-01 -3.72199639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:11.86, Z:-0.37 [[ 7.52005609e-01 -6.59154442e-01 1.72794048e-03 1.24998635e+02] [ 6.59152763e-01 7.52007594e-01 1.48762827e-03 1.18562648e+01] [-2.28000115e-03 2.02719382e-05 9.99997401e-01 -3.71761504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:11.88, Z:-0.37 [[ 7.50057001e-01 -6.61370932e-01 1.72774538e-03 1.25020951e+02] [ 6.61369259e-01 7.50058991e-01 1.48785483e-03 1.18752155e+01] [-2.27993489e-03 2.67017494e-05 9.99997401e-01 -3.70385296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.03, Y:11.90, Z:-0.38 [[ 7.43103020e-01 -6.69174804e-01 1.72737435e-03 1.25030900e+02] [ 6.69173151e-01 7.43105026e-01 1.48828547e-03 1.18958159e+01] [-2.27954370e-03 4.99631063e-05 9.99997401e-01 -3.78852515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:11.91, Z:-0.37 [[ 7.46956242e-01 -6.64871041e-01 1.69453574e-03 1.25064519e+02] [ 6.64869289e-01 7.46958164e-01 1.52633702e-03 1.19116801e+01] [-2.28056459e-03 -1.34621882e-05 9.99997399e-01 -3.68198005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:11.93, Z:-0.37 [[ 7.44407942e-01 -6.67722872e-01 1.72710892e-03 1.25085672e+02] [ 6.67721214e-01 7.44409944e-01 1.48854341e-03 1.19309930e+01] [-2.27961154e-03 4.51437265e-05 9.99997401e-01 -3.66714253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:11.95, Z:-0.37 [[ 7.43554685e-01 -6.68672901e-01 1.72673797e-03 1.25106890e+02] [ 6.68671245e-01 7.43556689e-01 1.48897360e-03 1.19507179e+01] [-2.27956386e-03 4.74867289e-05 9.99997401e-01 -3.66536555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:11.97, Z:-0.37 [[ 7.43303301e-01 -6.68952332e-01 1.72636983e-03 1.25126517e+02] [ 6.68950676e-01 7.43305304e-01 1.48940031e-03 1.19693405e+01] [-2.27955766e-03 4.77800955e-05 9.99997401e-01 -3.66407096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:11.99, Z:-0.37 [[ 7.38323939e-01 -6.74444053e-01 1.72619645e-03 1.25136442e+02] [ 6.74442411e-01 7.38325954e-01 1.48960123e-03 1.19904137e+01] [-2.27914833e-03 6.44118424e-05 9.99997401e-01 -3.72740793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:12.01, Z:-0.37 [[ 7.39968810e-01 -6.72639044e-01 1.69618489e-03 1.25156937e+02] [ 6.72637317e-01 7.39970754e-01 1.52434959e-03 1.20103974e+01] [-2.28046427e-03 1.29460990e-05 9.99997400e-01 -3.71001269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:12.03, Z:-0.37 [[ 7.41780779e-01 -6.70640285e-01 1.69810806e-03 1.25178369e+02] [ 6.70638558e-01 7.41782723e-01 1.52212153e-03 1.20301426e+01] [-2.28042324e-03 9.73624362e-06 9.99997400e-01 -3.70619138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:12.05, Z:-0.37 [[ 7.47711020e-01 -6.64022096e-01 1.69874699e-03 1.25207736e+02] [ 6.64020353e-01 7.47712950e-01 1.52138140e-03 1.20481515e+01] [-2.28040599e-03 -9.55106095e-06 9.99997400e-01 -3.67031591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:12.07, Z:-0.37 [[ 7.49702639e-01 -6.61772597e-01 1.72675375e-03 1.25227667e+02] [ 6.61770923e-01 7.49704628e-01 1.48890053e-03 1.20678798e+01] [-2.27986885e-03 2.64827649e-05 9.99997401e-01 -3.67955996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:12.09, Z:-0.37 [[ 7.52029434e-01 -6.59127264e-01 1.72632606e-03 1.25246662e+02] [ 6.59125581e-01 7.52031415e-01 1.48939626e-03 1.20873050e+01] [-2.27995311e-03 1.77958433e-05 9.99997401e-01 -3.68531283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:12.11, Z:-0.37 [[ 7.54348853e-01 -6.56471498e-01 1.72614063e-03 1.25258152e+02] [ 6.56469808e-01 7.54350828e-01 1.48961113e-03 1.21103439e+01] [-2.28000287e-03 9.47276199e-06 9.99997401e-01 -3.72338900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:12.13, Z:-0.37 [[ 7.56912717e-01 -6.53513759e-01 1.70460980e-03 1.25277838e+02] [ 6.53512005e-01 7.56914636e-01 1.51453574e-03 1.21298198e+01] [-2.28001405e-03 -3.23883922e-05 9.99997400e-01 -3.72595980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:12.15, Z:-0.37 [[ 7.62410171e-01 -6.47091825e-01 1.70345006e-03 1.25305484e+02] [ 6.47090051e-01 7.62412072e-01 1.51587769e-03 1.21486388e+01] [-2.27964295e-03 -5.34349810e-05 9.99997400e-01 -3.70743456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:12.17, Z:-0.37 [[ 7.65758617e-01 -6.43125776e-01 1.72550183e-03 1.25324852e+02] [ 6.43124050e-01 7.65760560e-01 1.49034647e-03 1.21687752e+01] [-2.27980147e-03 -3.15339246e-05 9.99997401e-01 -3.71614025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:12.19, Z:-0.37 [[ 7.66859680e-01 -6.41812477e-01 1.72507643e-03 1.25344678e+02] [ 6.41810746e-01 7.66861619e-01 1.49083871e-03 1.21870199e+01] [-2.27973379e-03 -3.60915047e-05 9.99997401e-01 -3.71586057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:12.21, Z:-0.37 [[ 7.67375067e-01 -6.41196172e-01 1.72489180e-03 1.25365671e+02] [ 6.41194440e-01 7.67377004e-01 1.49105228e-03 1.22061567e+01] [-2.27969932e-03 -3.82053119e-05 9.99997401e-01 -3.71648248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:12.23, Z:-0.37 [[ 7.67505058e-01 -6.41040570e-01 1.72446291e-03 1.25386451e+02] [ 6.41038836e-01 7.67506994e-01 1.49154815e-03 1.22253420e+01] [-2.27968022e-03 -3.93230565e-05 9.99997401e-01 -3.71846742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:12.24, Z:-0.37 [[ 7.64571909e-01 -6.44536131e-01 1.72402535e-03 1.25400115e+02] [ 6.44534405e-01 7.64573852e-01 1.49205375e-03 1.22444147e+01] [-2.27982725e-03 -2.95887314e-05 9.99997401e-01 -3.73018637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:12.26, Z:-0.37 [[ 7.66699942e-01 -6.42003350e-01 1.70228600e-03 1.25428213e+02] [ 6.42001561e-01 7.66701828e-01 1.51714810e-03 1.22620637e+01] [-2.27915995e-03 -7.03270907e-05 9.99997400e-01 -3.72556233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:12.28, Z:-0.37 [[ 7.62400581e-01 -6.47103070e-01 1.72370056e-03 1.25441978e+02] [ 6.47101349e-01 7.62402529e-01 1.49241483e-03 1.22813170e+01] [-2.27989988e-03 -2.24089759e-05 9.99997401e-01 -3.74795189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:12.30, Z:-0.38 [[ 7.61227196e-01 -6.48483054e-01 1.69829510e-03 1.25461546e+02] [ 6.48481271e-01 7.61229089e-01 1.52172826e-03 1.22997788e+01] [-2.27960662e-03 -5.70683732e-05 9.99997400e-01 -3.75522209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:12.32, Z:-0.37 [[ 7.63943336e-01 -6.45281111e-01 1.69331586e-03 1.25492752e+02] [ 6.45279307e-01 7.63945209e-01 1.52746757e-03 1.23175082e+01] [-2.27924651e-03 -7.42369892e-05 9.99997400e-01 -3.73756795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:12.34, Z:-0.37 [[ 7.63023044e-01 -6.46368986e-01 1.72295521e-03 1.25514618e+02] [ 6.46367261e-01 7.63024989e-01 1.49326928e-03 1.23358996e+01] [-2.27986083e-03 -2.57370320e-05 9.99997401e-01 -3.73600068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:12.35, Z:-0.38 [[ 7.58593923e-01 -6.51561427e-01 1.72252897e-03 1.25529383e+02] [ 6.51559715e-01 7.58595878e-01 1.49376079e-03 1.23540052e+01] [-2.27998029e-03 -1.08273724e-05 9.99997401e-01 -3.75899060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:12.37, Z:-0.37 [[ 7.61478737e-01 -6.48187662e-01 1.69949274e-03 1.25557732e+02] [ 6.48185882e-01 7.61480631e-01 1.52028943e-03 1.23712233e+01] [-2.27956366e-03 -5.60808694e-05 9.99997400e-01 -3.74092404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:12.39, Z:-0.37 [[ 7.60968176e-01 -6.48786921e-01 1.72215123e-03 1.25578643e+02] [ 6.48785201e-01 7.60970125e-01 1.49417377e-03 1.23893447e+01] [-2.27990603e-03 -1.97124610e-05 9.99997401e-01 -3.74584167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:12.41, Z:-0.38 [[ 7.60521853e-01 -6.49310054e-01 1.72172657e-03 1.25600438e+02] [ 6.49308334e-01 7.60523802e-01 1.49466293e-03 1.24077792e+01] [-2.27991371e-03 -1.87924090e-05 9.99997401e-01 -3.75296231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:12.43, Z:-0.38 [[ 7.55694701e-01 -6.54921794e-01 1.72130283e-03 1.25615023e+02] [ 6.54920087e-01 7.55696661e-01 1.49515077e-03 1.24255947e+01] [-2.27998963e-03 -2.56171621e-06 9.99997401e-01 -3.80122119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:12.44, Z:-0.38 [[ 7.55792031e-01 -6.54809536e-01 1.69610639e-03 1.25635769e+02] [ 6.54807764e-01 7.55793933e-01 1.52414320e-03 1.24435431e+01] [-2.27993042e-03 -4.13116551e-05 9.99997400e-01 -3.80168935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:12.46, Z:-0.38 [[ 7.58444931e-01 -6.51734925e-01 1.69539883e-03 1.25665688e+02] [ 6.51733143e-01 7.58446824e-01 1.52495730e-03 1.24602013e+01] [-2.27973779e-03 -5.16485290e-05 9.99997400e-01 -3.77610560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:12.48, Z:-0.38 [[ 7.55288541e-01 -6.55390156e-01 1.72157762e-03 1.25688702e+02] [ 6.55388451e-01 7.55290503e-01 1.49480704e-03 1.24760812e+01] [-2.27997305e-03 -7.08537033e-07 9.99997401e-01 -3.77921578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:12.49, Z:-0.38 [[ 7.53222036e-01 -6.57764093e-01 1.72115258e-03 1.25711008e+02] [ 6.57762393e-01 7.53224003e-01 1.49529629e-03 1.24932150e+01] [-2.27996564e-03 5.81932864e-06 9.99997401e-01 -3.77391824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:12.51, Z:-0.38 [[ 7.46405672e-01 -6.65489002e-01 1.72072703e-03 1.25723194e+02] [ 6.65487322e-01 7.46407655e-01 1.49578583e-03 1.25113012e+01] [-2.27979285e-03 2.86590012e-05 9.99997401e-01 -3.81725123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:12.53, Z:-0.38 [[ 7.45058675e-01 -6.66996793e-01 1.68757991e-03 1.25748094e+02] [ 6.66995030e-01 7.45060586e-01 1.53387124e-03 1.25284763e+01] [-2.28043648e-03 -1.72166626e-05 9.99997400e-01 -3.79484819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:12.54, Z:-0.37 [[ 7.43691179e-01 -6.68521167e-01 1.69696163e-03 1.25778495e+02] [ 6.68519432e-01 7.43693115e-01 1.52309311e-03 1.25445894e+01] [-2.28023867e-03 1.74091855e-06 9.99997400e-01 -3.72779347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:12.56, Z:-0.37 [[ 7.41305979e-01 -6.71165021e-01 1.72036014e-03 1.25799350e+02] [ 6.71163355e-01 7.41307974e-01 1.49618885e-03 1.25624058e+01] [-2.27950631e-03 4.55089395e-05 9.99997401e-01 -3.71808647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:12.58, Z:-0.37 [[ 7.39031208e-01 -6.73668995e-01 1.72017611e-03 1.25820089e+02] [ 6.73667335e-01 7.39033208e-01 1.49640039e-03 1.25806677e+01] [-2.27934582e-03 5.29398658e-05 9.99997401e-01 -3.70592320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:12.60, Z:-0.37 [[ 7.37316285e-01 -6.75545512e-01 1.71975560e-03 1.25840289e+02] [ 6.75543856e-01 7.37318288e-01 1.49688351e-03 1.25984012e+01] [-2.27922020e-03 5.80937406e-05 9.99997401e-01 -3.69634852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:12.62, Z:-0.37 [[ 7.35829167e-01 -6.77165032e-01 1.71952215e-03 1.25860460e+02] [ 6.77163380e-01 7.35831173e-01 1.49715164e-03 1.26165826e+01] [-2.27909674e-03 6.27495820e-05 9.99997401e-01 -3.68699025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:12.64, Z:-0.37 [[ 7.32103057e-01 -6.81191719e-01 1.71929278e-03 1.25876230e+02] [ 6.81190078e-01 7.32105072e-01 1.49741500e-03 1.26368515e+01] [-2.27872966e-03 7.49030898e-05 9.99997401e-01 -3.68995879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:12.66, Z:-0.37 [[ 7.31761922e-01 -6.81558204e-01 1.70403377e-03 1.25895449e+02] [ 6.81556522e-01 7.31763904e-01 1.51492295e-03 1.26558167e+01] [-2.27945857e-03 5.28323989e-05 9.99997401e-01 -3.68351919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:12.68, Z:-0.37 [[ 7.33268744e-01 -6.79936800e-01 1.70234853e-03 1.25918070e+02] [ 6.79935109e-01 7.33270718e-01 1.51685682e-03 1.26754982e+01] [-2.27964910e-03 4.52228401e-05 9.99997401e-01 -3.68777074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:12.70, Z:-0.37 [[ 7.33967547e-01 -6.79182390e-01 1.70940358e-03 1.25936602e+02] [ 6.79180716e-01 7.33969535e-01 1.50876171e-03 1.26950717e+01] [-2.27937454e-03 5.36118177e-05 9.99997401e-01 -3.69573547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:12.71, Z:-0.37 [[ 7.37360986e-01 -6.75496753e-01 1.70692994e-03 1.25959935e+02] [ 6.75495062e-01 7.37362961e-01 1.51159879e-03 1.27140417e+01] [-2.27970699e-03 3.84287693e-05 9.99997401e-01 -3.68847685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:12.74, Z:-0.37 [[ 7.41994043e-01 -6.70404271e-01 1.71852762e-03 1.25978347e+02] [ 6.70402598e-01 7.41996032e-01 1.49829640e-03 1.27357316e+01] [-2.27960498e-03 4.03783771e-05 9.99997401e-01 -3.68910773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:12.76, Z:-0.37 [[ 7.42793589e-01 -6.69518284e-01 1.71810201e-03 1.25993621e+02] [ 6.69516607e-01 7.42795575e-01 1.49878429e-03 1.27563838e+01] [-2.27966205e-03 3.70104650e-05 9.99997401e-01 -3.71650409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:12.78, Z:-0.37 [[ 7.47887036e-01 -6.63823828e-01 1.70497045e-03 1.26017180e+02] [ 6.63822102e-01 7.47888979e-01 1.51382162e-03 1.27761875e+01] [-2.28003948e-03 -3.70492251e-07 9.99997401e-01 -3.69431985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:12.80, Z:-0.37 [[ 7.50519254e-01 -6.60846351e-01 1.71761453e-03 1.26036575e+02] [ 6.60844650e-01 7.50521219e-01 1.49933678e-03 1.27968560e+01] [-2.27993739e-03 9.79524902e-06 9.99997401e-01 -3.69516584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:12.82, Z:-0.37 [[ 7.55418997e-01 -6.55239796e-01 1.71719727e-03 1.26055291e+02] [ 6.55238079e-01 7.55420949e-01 1.49981453e-03 1.28188754e+01] [-2.27994495e-03 -7.81534714e-06 9.99997401e-01 -3.69575096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:12.84, Z:-0.37 [[ 7.56992520e-01 -6.53421286e-01 1.71678118e-03 1.26074833e+02] [ 6.53419564e-01 7.56994467e-01 1.50029066e-03 1.28387469e+01] [-2.27991570e-03 -1.39303978e-05 9.99997401e-01 -3.69179296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:12.86, Z:-0.37 [[ 7.58097038e-01 -6.52139506e-01 1.71635479e-03 1.26094522e+02] [ 6.52137780e-01 7.58098980e-01 1.50077829e-03 1.28585049e+01] [-2.27988363e-03 -1.84357778e-05 9.99997401e-01 -3.68909396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:12.88, Z:-0.37 [[ 7.58762033e-01 -6.51365667e-01 1.71592884e-03 1.26114510e+02] [ 6.51363937e-01 7.58763973e-01 1.50126515e-03 1.28783353e+01] [-2.27985756e-03 -2.14088323e-05 9.99997401e-01 -3.68168138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:12.90, Z:-0.37 [[ 7.59022502e-01 -6.51062131e-01 1.71549995e-03 1.26134116e+02] [ 6.51060399e-01 7.59024440e-01 1.50175508e-03 1.28974723e+01] [-2.27984225e-03 -2.29718132e-05 9.99997401e-01 -3.67026095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:12.92, Z:-0.37 [[ 7.58319090e-01 -6.51881289e-01 1.71531398e-03 1.26152896e+02] [ 6.51879559e-01 7.58321030e-01 1.50196747e-03 1.29181374e+01] [-2.27986315e-03 -2.07924866e-05 9.99997401e-01 -3.66030783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:12.94, Z:-0.37 [[ 7.57355554e-01 -6.53000478e-01 1.71488978e-03 1.26173203e+02] [ 6.52998750e-01 7.57357495e-01 1.50245165e-03 1.29380015e+01] [-2.27988627e-03 -1.80692156e-05 9.99997401e-01 -3.66060939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:12.96, Z:-0.37 [[ 7.56505028e-01 -6.53985629e-01 1.71445879e-03 1.26192754e+02] [ 6.53983902e-01 7.56506971e-01 1.50294329e-03 1.29566092e+01] [-2.27990334e-03 -1.57557069e-05 9.99997401e-01 -3.65838422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:12.98, Z:-0.37 [[ 7.55409734e-01 -6.55250482e-01 1.71427218e-03 1.26213536e+02] [ 6.55248758e-01 7.55411679e-01 1.50315611e-03 1.29761281e+01] [-2.27992499e-03 -1.22240352e-05 9.99997401e-01 -3.65693070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.23, Y:13.00, Z:-0.37 [[ 7.54352786e-01 -6.56467012e-01 1.71383621e-03 1.26232332e+02] [ 6.56465290e-01 7.54354733e-01 1.50365302e-03 1.29959844e+01] [-2.27993906e-03 -9.21085430e-06 9.99997401e-01 -3.65742764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:13.02, Z:-0.37 [[ 7.54080056e-01 -6.56780278e-01 1.71364755e-03 1.26252484e+02] [ 6.56778556e-01 7.54082003e-01 1.50386799e-03 1.30160933e+01] [-2.27994162e-03 -8.54989551e-06 9.99997401e-01 -3.66563892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:13.04, Z:-0.37 [[ 7.54222928e-01 -6.56616204e-01 1.71321803e-03 1.26271309e+02] [ 6.56614481e-01 7.54224874e-01 1.50435715e-03 1.30351724e+01] [-2.27993693e-03 -9.69688632e-06 9.99997401e-01 -3.68510512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:13.06, Z:-0.37 [[ 7.54594511e-01 -6.56189141e-01 1.71303302e-03 1.26292250e+02] [ 6.56187417e-01 7.54596455e-01 1.50456780e-03 1.30557415e+01] [-2.27992969e-03 -1.12678899e-05 9.99997401e-01 -3.69512872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:13.08, Z:-0.37 [[ 7.55668984e-01 -6.54951489e-01 1.71265731e-03 1.26311992e+02] [ 6.54949760e-01 7.55670925e-01 1.50499535e-03 1.30765871e+01] [-2.27990428e-03 -1.55738144e-05 9.99997401e-01 -3.72338785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:13.10, Z:-0.37 [[ 7.56183416e-01 -6.54357478e-01 1.71227960e-03 1.26332979e+02] [ 6.54355746e-01 7.56185355e-01 1.50542495e-03 1.30964225e+01] [-2.27988683e-03 -1.79373861e-05 9.99997401e-01 -3.73555305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:13.12, Z:-0.37 [[ 7.56352716e-01 -6.54161783e-01 1.71190145e-03 1.26353633e+02] [ 6.54160050e-01 7.56354653e-01 1.50585485e-03 1.31162623e+01] [-2.27987732e-03 -1.90998737e-05 9.99997401e-01 -3.74594315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:13.14, Z:-0.38 [[ 7.56715412e-01 -6.53742194e-01 1.71152464e-03 1.26373652e+02] [ 6.53740459e-01 7.56717347e-01 1.50628300e-03 1.31352016e+01] [-2.27986114e-03 -2.09346517e-05 9.99997401e-01 -3.75568566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:13.15, Z:-0.38 [[ 7.56630431e-01 -6.53840548e-01 1.71139125e-03 1.26393588e+02] [ 6.53838813e-01 7.56632366e-01 1.50643454e-03 1.31543645e+01] [-2.27986200e-03 -2.08401942e-05 9.99997401e-01 -3.76373174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:13.17, Z:-0.38 [[ 7.56211660e-01 -6.54324841e-01 1.71096761e-03 1.26413258e+02] [ 6.54323106e-01 7.56213596e-01 1.50691555e-03 1.31739639e+01] [-2.27986924e-03 -2.00214681e-05 9.99997401e-01 -3.76537995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:13.19, Z:-0.38 [[ 7.56147650e-01 -6.54398812e-01 1.71054518e-03 1.26433280e+02] [ 6.54397077e-01 7.56149584e-01 1.50739491e-03 1.31922976e+01] [-2.27986546e-03 -2.04373567e-05 9.99997401e-01 -3.76073651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:13.21, Z:-0.38 [[ 7.55925409e-01 -6.54655520e-01 1.71036592e-03 1.26453918e+02] [ 6.54653785e-01 7.55927344e-01 1.50759827e-03 1.32113226e+01] [-2.27986990e-03 -1.99343173e-05 9.99997401e-01 -3.75228879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:13.23, Z:-0.37 [[ 7.55843591e-01 -6.54749985e-01 1.70994580e-03 1.26474251e+02] [ 6.54748248e-01 7.55845525e-01 1.50807463e-03 1.32296905e+01] [-2.27986672e-03 -2.02845279e-05 9.99997401e-01 -3.74592459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:13.25, Z:-0.37 [[ 7.55606691e-01 -6.55023362e-01 1.70966009e-03 1.26495111e+02] [ 6.55021626e-01 7.55608625e-01 1.50839846e-03 1.32497489e+01] [-2.27987014e-03 -1.98916363e-05 9.99997401e-01 -3.72426706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:13.27, Z:-0.37 [[ 7.55382738e-01 -6.55281617e-01 1.70929073e-03 1.26515291e+02] [ 6.55279880e-01 7.55384672e-01 1.50881691e-03 1.32689065e+01] [-2.27987200e-03 -1.96704242e-05 9.99997401e-01 -3.72331771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:13.29, Z:-0.37 [[ 7.55144847e-01 -6.55555748e-01 1.70909511e-03 1.26535930e+02] [ 6.55554012e-01 7.55146781e-01 1.50903845e-03 1.32884427e+01] [-2.27987650e-03 -1.91384558e-05 9.99997401e-01 -3.70471495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:13.31, Z:-0.37 [[ 7.54922254e-01 -6.55812069e-01 1.70866855e-03 1.26555984e+02] [ 6.55810332e-01 7.54924188e-01 1.50952129e-03 1.33072765e+01] [-2.27987750e-03 -1.90087214e-05 9.99997401e-01 -3.70446715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:13.33, Z:-0.37 [[ 7.54854855e-01 -6.55889646e-01 1.70849417e-03 1.26576312e+02] [ 6.55887909e-01 7.54856789e-01 1.50971863e-03 1.33261279e+01] [-2.27987724e-03 -1.90377675e-05 9.99997401e-01 -3.69252615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:13.35, Z:-0.37 [[ 7.53407664e-01 -6.57551499e-01 1.70831859e-03 1.26593070e+02] [ 6.57549766e-01 7.53409600e-01 1.50991729e-03 1.33458431e+01] [-2.27991200e-03 -1.42787694e-05 9.99997401e-01 -3.68050132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:13.37, Z:-0.37 [[ 7.54626503e-01 -6.56152399e-01 1.69430656e-03 1.26617129e+02] [ 6.56150626e-01 7.54628404e-01 1.52575740e-03 1.33657515e+01] [-2.27970123e-03 -3.96566636e-05 9.99997401e-01 -3.67630863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:13.39, Z:-0.37 [[ 7.54352543e-01 -6.56467306e-01 1.70788174e-03 1.26637383e+02] [ 6.56465569e-01 7.54354476e-01 1.51040737e-03 1.33854853e+01] [-2.27988129e-03 -1.82140822e-05 9.99997401e-01 -3.67764925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:13.41, Z:-0.37 [[ 7.53965626e-01 -6.56911652e-01 1.70745879e-03 1.26657574e+02] [ 6.56909915e-01 7.53967559e-01 1.51088534e-03 1.34051217e+01] [-2.27988672e-03 -1.75090048e-05 9.99997401e-01 -3.68223759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:13.43, Z:-0.37 [[ 7.53320655e-01 -6.57651182e-01 1.70703740e-03 1.26676692e+02] [ 6.57649445e-01 7.53322589e-01 1.51136129e-03 1.34254981e+01] [-2.27989837e-03 -1.59074813e-05 9.99997401e-01 -3.68751941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:13.45, Z:-0.37 [[ 7.52848362e-01 -6.58191790e-01 1.70661397e-03 1.26696690e+02] [ 6.58190053e-01 7.52850296e-01 1.51183927e-03 1.34450177e+01] [-2.27990503e-03 -1.49093711e-05 9.99997401e-01 -3.69213144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:13.46, Z:-0.37 [[ 7.52262509e-01 -6.58861295e-01 1.70619308e-03 1.26716960e+02] [ 6.58859560e-01 7.52264444e-01 1.51231412e-03 1.34645558e+01] [-2.27991363e-03 -1.35155878e-05 9.99997401e-01 -3.70020197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:13.48, Z:-0.37 [[ 7.51057019e-01 -6.60235143e-01 1.70577519e-03 1.26735528e+02] [ 6.60233410e-01 7.51058956e-01 1.51278532e-03 1.34842197e+01] [-2.27993177e-03 -9.97826611e-06 9.99997401e-01 -3.71831507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:13.50, Z:-0.37 [[ 7.50202806e-01 -6.61205596e-01 1.70560133e-03 1.26755968e+02] [ 6.61203865e-01 7.50204745e-01 1.51298131e-03 1.35039921e+01] [-2.27994192e-03 -7.29263698e-06 9.99997401e-01 -3.72881177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:13.52, Z:-0.37 [[ 7.49397815e-01 -6.62117820e-01 1.70519030e-03 1.26776049e+02] [ 6.62116090e-01 7.49399755e-01 1.51344442e-03 1.35231408e+01] [-2.27994771e-03 -5.13800387e-06 9.99997401e-01 -3.73147586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:13.54, Z:-0.37 [[ 7.48658023e-01 -6.62954190e-01 1.70478127e-03 1.26796590e+02] [ 6.62952462e-01 7.48659964e-01 1.51390502e-03 1.35425434e+01] [-2.27995116e-03 -3.20820155e-06 9.99997401e-01 -3.73137094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:13.56, Z:-0.37 [[ 7.47621114e-01 -6.64123305e-01 1.70436775e-03 1.26817011e+02] [ 6.64121579e-01 7.47623057e-01 1.51437043e-03 1.35621514e+01] [-2.27995332e-03 -2.67907639e-07 9.99997401e-01 -3.72009163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:13.58, Z:-0.37 [[ 7.46548894e-01 -6.65328374e-01 1.70393073e-03 1.26835757e+02] [ 6.65326649e-01 7.46550839e-01 1.51486199e-03 1.35818863e+01] [-2.27995158e-03 2.75197586e-06 9.99997401e-01 -3.73445003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:13.60, Z:-0.37 [[ 7.46205165e-01 -6.65713864e-01 1.70374161e-03 1.26855834e+02] [ 6.65712140e-01 7.46207110e-01 1.51507465e-03 1.36014074e+01] [-2.27995031e-03 3.64494452e-06 9.99997401e-01 -3.72815992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.88, Y:13.62, Z:-0.37 [[ 7.45872412e-01 -6.66086664e-01 1.70330857e-03 1.26875793e+02] [ 6.66084940e-01 7.45874357e-01 1.51556134e-03 1.36209139e+01] [-2.27994938e-03 4.13279087e-06 9.99997401e-01 -3.73779053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:13.64, Z:-0.37 [[ 7.46264801e-01 -6.65647014e-01 1.70287468e-03 1.26896547e+02] [ 6.65645288e-01 7.46266744e-01 1.51604870e-03 1.36405209e+01] [-2.27995203e-03 2.13672752e-06 9.99997401e-01 -3.72970485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:13.66, Z:-0.37 [[ 7.46074314e-01 -6.65860511e-01 1.70249585e-03 1.26917844e+02] [ 6.65858784e-01 7.46076256e-01 1.51647400e-03 1.36595813e+01] [-2.27995188e-03 2.21951503e-06 9.99997401e-01 -3.73035451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:13.68, Z:-0.37 [[ 7.46489504e-01 -6.65395013e-01 1.70206181e-03 1.26938475e+02] [ 6.65393284e-01 7.46491444e-01 1.51696100e-03 1.36791830e+01] [-2.27995287e-03 1.45031231e-07 9.99997401e-01 -3.72929190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:13.70, Z:-0.37 [[ 7.47909442e-01 -6.63798592e-01 1.70163090e-03 1.26957658e+02] [ 6.63796857e-01 7.47911378e-01 1.51744422e-03 1.36984099e+01] [-2.27994645e-03 -5.37361278e-06 9.99997401e-01 -3.72255913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:13.72, Z:-0.37 [[ 7.48314121e-01 -6.63342356e-01 1.70145195e-03 1.26977812e+02] [ 6.63340620e-01 7.48316055e-01 1.51764485e-03 1.37175257e+01] [-2.27994192e-03 -7.03288023e-06 9.99997401e-01 -3.71659250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:13.74, Z:-0.38 [[ 7.45875227e-01 -6.66083518e-01 1.70101409e-03 1.26993338e+02] [ 6.66081788e-01 7.45877166e-01 1.51813544e-03 1.37377501e+01] [-2.27995257e-03 6.74888800e-07 9.99997401e-01 -3.77295673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:13.76, Z:-0.37 [[ 7.48478180e-01 -6.63157277e-01 1.68509250e-03 1.27018770e+02] [ 6.63155500e-01 7.48480076e-01 1.53595451e-03 1.37570499e+01] [-2.27983758e-03 -3.21500823e-05 9.99997401e-01 -3.71404187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:13.78, Z:-0.37 [[ 7.47974847e-01 -6.63724896e-01 1.70057577e-03 1.27038666e+02] [ 6.63723158e-01 7.47976780e-01 1.51861604e-03 1.37751736e+01] [-2.27993447e-03 -7.17507697e-06 9.99997401e-01 -3.71381833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:13.79, Z:-0.37 [[ 7.47233017e-01 -6.64559950e-01 1.70039275e-03 1.27059676e+02] [ 6.64558214e-01 7.47234952e-01 1.51882095e-03 1.37937221e+01] [-2.27994047e-03 -4.90318817e-06 9.99997401e-01 -3.70640552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.08, Y:13.81, Z:-0.37 [[ 7.45829784e-01 -6.66134403e-01 1.69995745e-03 1.27079715e+02] [ 6.66132671e-01 7.45831722e-01 1.51930801e-03 1.38119914e+01] [-2.27994552e-03 -7.47971969e-07 9.99997401e-01 -3.72541788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:13.83, Z:-0.37 [[ 7.44353159e-01 -6.67784011e-01 1.69976889e-03 1.27101214e+02] [ 6.67782282e-01 7.44355100e-01 1.51951894e-03 1.38309653e+01] [-2.27994209e-03 4.01682452e-06 9.99997401e-01 -3.69511032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:13.85, Z:-0.37 [[ 7.43439768e-01 -6.68800736e-01 1.69938675e-03 1.27122242e+02] [ 6.68799009e-01 7.43441710e-01 1.51994618e-03 1.38500661e+01] [-2.27993612e-03 6.55973737e-06 9.99997401e-01 -3.69457847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:13.87, Z:-0.37 [[ 7.40572362e-01 -6.71974471e-01 1.69893645e-03 1.27138471e+02] [ 6.71972752e-01 7.40574311e-01 1.52044935e-03 1.38697369e+01] [-2.27989184e-03 1.56362336e-05 9.99997401e-01 -3.74671324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:13.89, Z:-0.37 [[ 7.43102132e-01 -6.69175902e-01 1.68333949e-03 1.27164763e+02] [ 6.69174135e-01 7.43104038e-01 1.53786435e-03 1.38883184e+01] [-2.27999813e-03 -1.63430288e-05 9.99997401e-01 -3.69838593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:13.91, Z:-0.37 [[ 7.43416778e-01 -6.68826292e-01 1.69879910e-03 1.27184817e+02] [ 6.68824563e-01 7.43418719e-01 1.52059294e-03 1.39062006e+01] [-2.27993159e-03 5.76425855e-06 9.99997401e-01 -3.69507217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:13.93, Z:-0.37 [[ 7.44325789e-01 -6.67814521e-01 1.69861054e-03 1.27204937e+02] [ 6.67812789e-01 7.44327727e-01 1.52080355e-03 1.39250049e+01] [-2.27993762e-03 2.38053697e-06 9.99997401e-01 -3.69014978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:13.94, Z:-0.37 [[ 7.45024986e-01 -6.67034396e-01 1.69841981e-03 1.27224866e+02] [ 6.67032662e-01 7.45026922e-01 1.52101653e-03 1.39438739e+01] [-2.27993882e-03 -2.93835746e-07 9.99997401e-01 -3.69035038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:13.96, Z:-0.37 [[ 7.45889782e-01 -6.66067225e-01 1.69823042e-03 1.27244684e+02] [ 6.66065488e-01 7.45891715e-01 1.52122795e-03 1.39630234e+01] [-2.27993608e-03 -3.53570847e-06 9.99997401e-01 -3.68899433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:13.98, Z:-0.37 [[ 7.46989313e-01 -6.64833876e-01 1.69803628e-03 1.27264261e+02] [ 6.64832135e-01 7.46991243e-01 1.52144462e-03 1.39817952e+01] [-2.27992616e-03 -7.59378375e-06 9.99997401e-01 -3.69024136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:14.00, Z:-0.37 [[ 7.48249814e-01 -6.63414902e-01 1.69784426e-03 1.27284568e+02] [ 6.63413157e-01 7.48251740e-01 1.52165888e-03 1.40008902e+01] [-2.27990610e-03 -1.22087563e-05 9.99997401e-01 -3.68965321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.30, Y:14.02, Z:-0.37 [[ 7.51668502e-01 -6.59538917e-01 1.69739996e-03 1.27304266e+02] [ 6.59537161e-01 7.51670418e-01 1.52215433e-03 1.40199230e+01] [-2.27980536e-03 -2.46571127e-05 9.99997401e-01 -3.69764827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:14.04, Z:-0.37 [[ 7.53708428e-01 -6.57206760e-01 1.69720748e-03 1.27324543e+02] [ 6.57204997e-01 7.53710338e-01 1.52236892e-03 1.40387264e+01] [-2.27971397e-03 -3.20090477e-05 9.99997401e-01 -3.68757911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:14.06, Z:-0.37 [[ 7.55557081e-01 -6.55080620e-01 1.69676533e-03 1.27345064e+02] [ 6.55078851e-01 7.55558985e-01 1.52286156e-03 1.40581580e+01] [-2.27960338e-03 -3.90937522e-05 9.99997401e-01 -3.68846101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.36, Y:14.08, Z:-0.37 [[ 7.59238746e-01 -6.50809995e-01 1.69632130e-03 1.27363305e+02] [ 6.50808214e-01 7.59240639e-01 1.52335600e-03 1.40782551e+01] [-2.27933138e-03 -5.26110640e-05 9.99997401e-01 -3.71999389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:127.38, Y:14.10, Z:-0.37 [[ 7.61070171e-01 -6.48667340e-01 1.69612893e-03 1.27383433e+02] [ 6.48665553e-01 7.61072059e-01 1.52357016e-03 1.40976747e+01] [-2.27916654e-03 -5.93233904e-05 9.99997401e-01 -3.71326791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.40, Y:14.12, Z:-0.37 [[ 7.62932607e-01 -6.46475801e-01 1.69568827e-03 1.27403531e+02] [ 6.46474008e-01 7.62934489e-01 1.52406045e-03 1.41164751e+01] [-2.27896726e-03 -6.65370221e-05 9.99997401e-01 -3.71015279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:14.14, Z:-0.37 [[ 7.64611700e-01 -6.44489002e-01 1.69549721e-03 1.27424192e+02] [ 6.44487203e-01 7.64613577e-01 1.52427297e-03 1.41353500e+01] [-2.27877735e-03 -7.27506950e-05 9.99997401e-01 -3.69638140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:14.15, Z:-0.37 [[ 7.66580597e-01 -6.42145867e-01 1.69505914e-03 1.27444535e+02] [ 6.42144062e-01 7.66582467e-01 1.52475996e-03 1.41544096e+01] [-2.27852093e-03 -8.03792403e-05 9.99997401e-01 -3.70029405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.0 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:127.47, Y:14.17, Z:-0.37 [[ 7.66481951e-01 -6.42263612e-01 1.69461534e-03 1.27465068e+02] [ 6.42261806e-01 7.66483820e-01 1.52525304e-03 1.41734535e+01] [-2.27850977e-03 -8.06922149e-05 9.99997401e-01 -3.73599819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:14.19, Z:-0.37 [[ 7.67212637e-01 -6.41390598e-01 1.69417358e-03 1.27485074e+02] [ 6.41388788e-01 7.67214503e-01 1.52574357e-03 1.41912312e+01] [-2.27839212e-03 -8.39458062e-05 9.99997401e-01 -3.71418177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.51, Y:14.21, Z:-0.37 [[ 7.67133721e-01 -6.41484984e-01 1.69398207e-03 1.27505965e+02] [ 6.41483174e-01 7.67135587e-01 1.52595617e-03 1.42098352e+01] [-2.27839190e-03 -8.39514417e-05 9.99997401e-01 -3.72827127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:14.23, Z:-0.37 [[ 7.66981260e-01 -6.41667264e-01 1.69354049e-03 1.27527406e+02] [ 6.41665454e-01 7.66983125e-01 1.52644609e-03 1.42282194e+01] [-2.27838746e-03 -8.40691158e-05 9.99997401e-01 -3.72592052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:14.25, Z:-0.37 [[ 7.66668541e-01 -6.42040873e-01 1.69310093e-03 1.27549170e+02] [ 6.42039063e-01 7.66670405e-01 1.52693349e-03 1.42462892e+01] [-2.27840408e-03 -8.36149364e-05 9.99997401e-01 -3.72586828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:14.26, Z:-0.37 [[ 7.66296376e-01 -6.42485018e-01 1.69266183e-03 1.27569823e+02] [ 6.42483208e-01 7.66298241e-01 1.52742009e-03 1.42632214e+01] [-2.27842830e-03 -8.29496802e-05 9.99997401e-01 -3.72533024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.59, Y:14.28, Z:-0.37 [[ 7.65501136e-01 -6.43432317e-01 1.69247139e-03 1.27591178e+02] [ 6.43430509e-01 7.65503002e-01 1.52763108e-03 1.42808873e+01] [-2.27851913e-03 -8.04156003e-05 9.99997401e-01 -3.74870339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.61, Y:14.30, Z:-0.37 [[ 7.64975535e-01 -6.44057115e-01 1.69202894e-03 1.27612630e+02] [ 6.44055307e-01 7.64977403e-01 1.52812099e-03 1.42983415e+01] [-2.27856109e-03 -7.92149545e-05 9.99997401e-01 -3.72295558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:14.31, Z:-0.37 [[ 7.63511059e-01 -6.45792537e-01 1.69159070e-03 1.27635636e+02] [ 6.45790733e-01 7.63512929e-01 1.52860595e-03 1.43138840e+01] [-2.27871368e-03 -7.46939528e-05 9.99997401e-01 -3.71504168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.65, Y:14.33, Z:-0.38 [[ 7.57846660e-01 -6.52430517e-01 1.69140073e-03 1.27648546e+02] [ 6.52428728e-01 7.57848545e-01 1.52881613e-03 1.43322959e+01] [-2.27927188e-03 -5.50897693e-05 9.99997401e-01 -3.77416660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29999999999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:127.68, Y:14.35, Z:-0.37 [[ 7.60953043e-01 -6.48804834e-01 1.65915929e-03 1.27680860e+02] [ 6.48802958e-01 7.60954844e-01 1.56442912e-03 1.43485674e+01] [-2.27755447e-03 -1.13989642e-04 9.99997400e-01 -3.73594232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32999999999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:127.71, Y:14.36, Z:-0.37 [[ 7.57981190e-01 -6.52274218e-01 1.69110722e-03 1.27705092e+02] [ 6.52272429e-01 7.57983074e-01 1.52909624e-03 1.43620693e+01] [-2.27922070e-03 -5.59635794e-05 9.99997401e-01 -3.73889638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:14.38, Z:-0.38 [[ 7.52096323e-01 -6.59051031e-01 1.69092030e-03 1.27718811e+02] [ 6.59049258e-01 7.52098223e-01 1.52930291e-03 1.43794474e+01] [-2.27962681e-03 -3.57833226e-05 9.99997401e-01 -3.77017072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.75, Y:14.40, Z:-0.37 [[ 7.55122476e-01 -6.55581650e-01 1.65712083e-03 1.27753182e+02] [ 6.55579786e-01 7.55124288e-01 1.56662844e-03 1.43951928e+01] [-2.27838504e-03 -9.66214345e-05 9.99997400e-01 -3.73094780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:14.41, Z:-0.37 [[ 7.53532413e-01 -6.57408581e-01 1.69104118e-03 1.27776694e+02] [ 6.57406804e-01 7.53534310e-01 1.52911612e-03 1.44112820e+01] [-2.27951160e-03 -4.05365796e-05 9.99997401e-01 -3.72410537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:14.42, Z:-0.37 [[ 7.49979629e-01 -6.61458765e-01 1.69060112e-03 1.27803832e+02] [ 6.61456997e-01 7.49981534e-01 1.52960249e-03 1.44249277e+01] [-2.27968860e-03 -2.89107721e-05 9.99997401e-01 -3.74118581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.83, Y:14.44, Z:-0.38 [[ 7.48219058e-01 -6.63449609e-01 1.69021046e-03 1.27826580e+02] [ 6.63447845e-01 7.48220967e-01 1.53003404e-03 1.44401791e+01] [-2.27975140e-03 -2.34341418e-05 9.99997401e-01 -3.76328995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:14.46, Z:-0.38 [[ 7.46831543e-01 -6.65011121e-01 1.69002456e-03 1.27849039e+02] [ 6.65009360e-01 7.46833455e-01 1.53023936e-03 1.44551152e+01] [-2.27979307e-03 -1.89488638e-05 9.99997401e-01 -3.76249002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:14.47, Z:-0.38 [[ 7.45394485e-01 -6.66621486e-01 1.68983532e-03 1.27872277e+02] [ 6.66619729e-01 7.45396401e-01 1.53044831e-03 1.44707089e+01] [-2.27982689e-03 -1.43101668e-05 9.99997401e-01 -3.76631076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:14.49, Z:-0.38 [[ 7.44580774e-01 -6.67530237e-01 1.68939999e-03 1.27895064e+02] [ 6.67528482e-01 7.44582690e-01 1.53092870e-03 1.44858841e+01] [-2.27983919e-03 -1.21774657e-05 9.99997401e-01 -3.77275024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:14.50, Z:-0.38 [[ 7.44964667e-01 -6.67101784e-01 1.68921168e-03 1.27921074e+02] [ 6.67100027e-01 7.44966583e-01 1.53113646e-03 1.44996769e+01] [-2.27983011e-03 -1.37694044e-05 9.99997401e-01 -3.76996644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:14.52, Z:-0.38 [[ 7.46071698e-01 -6.65863477e-01 1.68877426e-03 1.27943050e+02] [ 6.65861716e-01 7.46073609e-01 1.53161875e-03 1.45160152e+01] [-2.27979890e-03 -1.82072768e-05 9.99997401e-01 -3.77105774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:14.53, Z:-0.38 [[ 7.47627936e-01 -6.64115666e-01 1.68858477e-03 1.27966081e+02] [ 6.64113900e-01 7.47629843e-01 1.53182764e-03 1.45331548e+01] [-2.27974710e-03 -2.38245226e-05 9.99997401e-01 -3.76027785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:14.55, Z:-0.37 [[ 7.49543001e-01 -6.61953502e-01 1.68819607e-03 1.27988284e+02] [ 6.61951729e-01 7.49544902e-01 1.53225589e-03 1.45499234e+01] [-2.27966091e-03 -3.09873684e-05 9.99997401e-01 -3.74966023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.01, Y:14.57, Z:-0.37 [[ 7.53741637e-01 -6.57168697e-01 1.68800885e-03 1.28012257e+02] [ 6.57166911e-01 7.53743525e-01 1.53246212e-03 1.45656875e+01] [-2.27941187e-03 -4.57769480e-05 9.99997401e-01 -3.74392935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:14.58, Z:-0.37 [[ 7.55709971e-01 -6.54904261e-01 1.68786858e-03 1.28034513e+02] [ 6.54902469e-01 7.55711854e-01 1.53261660e-03 1.45836802e+01] [-2.27925943e-03 -5.28243478e-05 9.99997401e-01 -3.72761165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:128.06, Y:14.60, Z:-0.37 [[ 7.57400432e-01 -6.52948496e-01 1.68742272e-03 1.28055887e+02] [ 6.52946699e-01 7.57402309e-01 1.53310733e-03 1.46004491e+01] [-2.27909799e-03 -5.93790610e-05 9.99997401e-01 -3.74163212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:14.62, Z:-0.37 [[ 7.59309066e-01 -6.50727973e-01 1.68722947e-03 1.28077734e+02] [ 6.50726170e-01 7.59310938e-01 1.53331998e-03 1.46183328e+01] [-2.27890600e-03 -6.63393951e-05 9.99997401e-01 -3.72705872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:14.64, Z:-0.37 [[ 7.62141974e-01 -6.47407728e-01 1.68678526e-03 1.28100583e+02] [ 6.47405915e-01 7.62143837e-01 1.53380850e-03 1.46355078e+01] [-2.27857246e-03 -7.69450811e-05 9.99997401e-01 -3.74279438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:14.65, Z:-0.38 [[ 7.63270001e-01 -6.46077442e-01 1.68634407e-03 1.28121369e+02] [ 6.46075626e-01 7.63271860e-01 1.53429341e-03 1.46531005e+01] [-2.27841134e-03 -8.15743293e-05 9.99997401e-01 -3.75608408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:14.67, Z:-0.38 [[ 7.64031017e-01 -6.45177310e-01 1.68615270e-03 1.28142283e+02] [ 6.45175491e-01 7.64032873e-01 1.53450370e-03 1.46712971e+01] [-2.27830306e-03 -8.45440266e-05 9.99997401e-01 -3.76943031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:14.69, Z:-0.38 [[ 7.64737664e-01 -6.44339556e-01 1.68571252e-03 1.28162824e+02] [ 6.44337734e-01 7.64739517e-01 1.53498710e-03 1.46891017e+01] [-2.27818388e-03 -8.76942626e-05 9.99997401e-01 -3.78471226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:14.71, Z:-0.38 [[ 7.65246649e-01 -6.43734981e-01 1.68553102e-03 1.28183759e+02] [ 6.43733157e-01 7.65248500e-01 1.53518637e-03 1.47069082e+01] [-2.27810325e-03 -8.97640253e-05 9.99997401e-01 -3.79902341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:14.72, Z:-0.38 [[ 7.65554693e-01 -6.43368612e-01 1.68534896e-03 1.28206738e+02] [ 6.43366787e-01 7.65556543e-01 1.53538621e-03 1.47247477e+01] [-2.27804922e-03 -9.11245731e-05 9.99997401e-01 -3.79487036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:14.74, Z:-0.38 [[ 7.65593913e-01 -6.43321942e-01 1.68495564e-03 1.28227026e+02] [ 6.43320116e-01 7.65595761e-01 1.53581772e-03 1.47419499e+01] [-2.27802014e-03 -9.18468388e-05 9.99997401e-01 -3.79584974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:14.76, Z:-0.38 [[ 7.65499520e-01 -6.43434260e-01 1.68476071e-03 1.28247692e+02] [ 6.43432433e-01 7.65501368e-01 1.53603153e-03 1.47599217e+01] [-2.27802194e-03 -9.18017171e-05 9.99997401e-01 -3.78947218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:14.78, Z:-0.38 [[ 7.65115110e-01 -6.43891319e-01 1.68459869e-03 1.28269335e+02] [ 6.43889493e-01 7.65116959e-01 1.53620920e-03 1.47789883e+01] [-2.27806680e-03 -9.06814688e-05 9.99997401e-01 -3.77793574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:14.80, Z:-0.38 [[ 7.64930801e-01 -6.44110265e-01 1.68421430e-03 1.28290415e+02] [ 6.44108439e-01 7.64932649e-01 1.53663051e-03 1.47983235e+01] [-2.27806999e-03 -9.05993604e-05 9.99997401e-01 -3.77858546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:14.82, Z:-0.38 [[ 7.64311748e-01 -6.44844723e-01 1.68377439e-03 1.28312143e+02] [ 6.44842897e-01 7.64313598e-01 1.53711240e-03 1.48162475e+01] [-2.27813048e-03 -8.90631096e-05 9.99997401e-01 -3.76489070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:14.84, Z:-0.38 [[ 7.61659720e-01 -6.47975028e-01 1.68363826e-03 1.28328095e+02] [ 6.47973209e-01 7.61661577e-01 1.53726148e-03 1.48350082e+01] [-2.27846962e-03 -7.99176634e-05 9.99997401e-01 -3.79151660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:14.85, Z:-0.37 [[ 7.63429131e-01 -6.45889443e-01 1.66985840e-03 1.28355143e+02] [ 6.45887587e-01 7.63430950e-01 1.55234618e-03 1.48533986e+01] [-2.27746559e-03 -1.06565482e-04 9.99997401e-01 -3.73854797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:14.87, Z:-0.37 [[ 7.62741663e-01 -6.46701107e-01 1.68348618e-03 1.28376217e+02] [ 6.46699285e-01 7.62743516e-01 1.53742369e-03 1.48721548e+01] [-2.27832177e-03 -8.39477921e-05 9.99997401e-01 -3.73051243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:14.89, Z:-0.37 [[ 7.61717036e-01 -6.47907651e-01 1.68304484e-03 1.28395807e+02] [ 6.47905830e-01 7.61718892e-01 1.53790669e-03 1.48903494e+01] [-2.27842856e-03 -8.09951640e-05 9.99997401e-01 -3.73552511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:14.91, Z:-0.37 [[ 7.61151252e-01 -6.48572232e-01 1.68285379e-03 1.28415445e+02] [ 6.48570413e-01 7.61153108e-01 1.53811571e-03 1.49089799e+01] [-2.27848853e-03 -7.92895242e-05 9.99997401e-01 -3.74188223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:14.93, Z:-0.37 [[ 7.60632468e-01 -6.49180573e-01 1.68266545e-03 1.28436052e+02] [ 6.49178755e-01 7.60634326e-01 1.53832173e-03 1.49281419e+01] [-2.27854168e-03 -7.77467933e-05 9.99997401e-01 -3.74473450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:14.95, Z:-0.38 [[ 7.59727385e-01 -6.50239549e-01 1.68221917e-03 1.28456261e+02] [ 6.50237732e-01 7.59729244e-01 1.53880960e-03 1.49470527e+01] [-2.27862596e-03 -7.52334095e-05 9.99997401e-01 -3.76454037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:14.97, Z:-0.38 [[ 7.59120027e-01 -6.50948505e-01 1.68201031e-03 1.28476798e+02] [ 6.50946689e-01 7.59121887e-01 1.53903786e-03 1.49663272e+01] [-2.27868523e-03 -7.34154238e-05 9.99997401e-01 -3.77240430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:14.99, Z:-0.38 [[ 7.58129393e-01 -6.52101983e-01 1.68156943e-03 1.28496954e+02] [ 6.52100169e-01 7.58131255e-01 1.53951942e-03 1.49855784e+01] [-2.27877401e-03 -7.06032103e-05 9.99997401e-01 -3.78253619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:15.01, Z:-0.38 [[ 7.56810953e-01 -6.53631666e-01 1.68112869e-03 1.28517755e+02] [ 6.53629855e-01 7.56812818e-01 1.54000055e-03 1.50051916e+01] [-2.27889287e-03 -6.66533801e-05 9.99997401e-01 -3.79331444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:15.02, Z:-0.38 [[ 7.53334009e-01 -6.57635952e-01 1.68071571e-03 1.28538702e+02] [ 6.57634150e-01 7.53335882e-01 1.54045113e-03 1.50237368e+01] [-2.27919950e-03 -5.51781816e-05 9.99997401e-01 -3.78831591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:15.04, Z:-0.38 [[ 7.50922464e-01 -6.60388241e-01 1.68027150e-03 1.28559134e+02] [ 6.60386445e-01 7.50924343e-01 1.54093551e-03 1.50415997e+01] [-2.27937246e-03 -4.74945621e-05 9.99997401e-01 -3.78347692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:15.06, Z:-0.38 [[ 7.47987543e-01 -6.63710639e-01 1.68007974e-03 1.28580542e+02] [ 6.63708851e-01 7.47989429e-01 1.54114456e-03 1.50598639e+01] [-2.27955593e-03 -3.76731365e-05 9.99997401e-01 -3.77611326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:15.08, Z:-0.38 [[ 7.44743900e-01 -6.67348262e-01 1.67964587e-03 1.28602765e+02] [ 6.67346481e-01 7.44745794e-01 1.54161727e-03 1.50788264e+01] [-2.27970480e-03 -2.72043000e-05 9.99997401e-01 -3.76118595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:15.10, Z:-0.37 [[ 7.41471987e-01 -6.70981723e-01 1.67926265e-03 1.28623680e+02] [ 6.70979952e-01 7.41473888e-01 1.54203459e-03 1.50968303e+01] [-2.27980644e-03 -1.66238795e-05 9.99997401e-01 -3.74805239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:15.12, Z:-0.37 [[ 7.34677835e-01 -6.78414077e-01 1.67912683e-03 1.28645877e+02] [ 6.78412324e-01 7.34679754e-01 1.54218248e-03 1.51153240e+01] [-2.27985879e-03 6.13304671e-06 9.99997401e-01 -3.72430484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:15.13, Z:-0.37 [[ 7.31291589e-01 -6.82062895e-01 1.67874225e-03 1.28666252e+02] [ 6.82061151e-01 7.31293516e-01 1.54260100e-03 1.51334466e+01] [-2.27980423e-03 1.69137373e-05 9.99997401e-01 -3.71771545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.69, Y:15.15, Z:-0.37 [[ 7.27805750e-01 -6.85781287e-01 1.67849273e-03 1.28687327e+02] [ 6.85779552e-01 7.27807685e-01 1.54287246e-03 1.51524062e+01] [-2.27969296e-03 2.81645426e-05 9.99997401e-01 -3.71448310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:15.17, Z:-0.37 [[ 7.24660184e-01 -6.89104347e-01 1.67804771e-03 1.28707111e+02] [ 6.89102620e-01 7.24662126e-01 1.54335631e-03 1.51702325e+01] [-2.27955116e-03 3.79382044e-05 9.99997401e-01 -3.71189447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:15.19, Z:-0.37 [[ 7.21524867e-01 -6.92386490e-01 1.67774519e-03 1.28727656e+02] [ 6.92384771e-01 7.21526816e-01 1.54368510e-03 1.51890710e+01] [-2.27936485e-03 4.78380300e-05 9.99997401e-01 -3.71204141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:15.21, Z:-0.38 [[ 7.13291104e-01 -7.00865884e-01 1.67730419e-03 1.28741886e+02] [ 7.00864187e-01 7.13293072e-01 1.54416413e-03 1.52091181e+01] [-2.27866141e-03 7.41239040e-05 9.99997401e-01 -3.75242922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:15.23, Z:-0.37 [[ 7.15179492e-01 -6.98938878e-01 1.65492840e-03 1.28769847e+02] [ 6.98937119e-01 7.15181406e-01 1.56844404e-03 1.52280562e+01] [-2.27982054e-03 3.49718720e-05 9.99997401e-01 -3.70967119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:15.25, Z:-0.37 [[ 7.13531446e-01 -7.00621198e-01 1.67697661e-03 1.28788405e+02] [ 7.00619499e-01 7.13533413e-01 1.54450476e-03 1.52482896e+01] [-2.27869162e-03 7.28697972e-05 9.99997401e-01 -3.72317777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:15.27, Z:-0.37 [[ 7.13319992e-01 -7.00836484e-01 1.67674666e-03 1.28807598e+02] [ 7.00834786e-01 7.13321959e-01 1.54475435e-03 1.52682402e+01] [-2.27868043e-03 7.32182252e-05 9.99997401e-01 -3.73731219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:15.29, Z:-0.37 [[ 7.13510150e-01 -7.00642887e-01 1.67631718e-03 1.28827343e+02] [ 7.00641187e-01 7.13512116e-01 1.54522027e-03 1.52888946e+01] [-2.27872021e-03 7.19665146e-05 9.99997401e-01 -3.74983961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.85, Y:15.31, Z:-0.38 [[ 7.13768237e-01 -7.00379962e-01 1.67693882e-03 1.28846700e+02] [ 7.00378263e-01 7.13770204e-01 1.54454603e-03 1.53096132e+01] [-2.27871805e-03 7.20435978e-05 9.99997401e-01 -3.76613634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:15.33, Z:-0.38 [[ 7.15330793e-01 -6.98783978e-01 1.67576564e-03 1.28865812e+02] [ 6.98782272e-01 7.15332753e-01 1.54581783e-03 1.53315398e+01] [-2.27892278e-03 6.52242231e-05 9.99997401e-01 -3.77453042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:15.35, Z:-0.38 [[ 7.15973063e-01 -6.98125895e-01 1.67537734e-03 1.28885280e+02] [ 6.98124186e-01 7.15975021e-01 1.54623857e-03 1.53519052e+01] [-2.27899751e-03 6.25562766e-05 9.99997401e-01 -3.77292391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:15.37, Z:-0.38 [[ 7.16845435e-01 -6.97230104e-01 1.67494075e-03 1.28904057e+02] [ 6.97228390e-01 7.16847389e-01 1.54671135e-03 1.53719960e+01] [-2.27909062e-03 5.90632763e-05 9.99997401e-01 -3.77430869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:15.39, Z:-0.38 [[ 7.15720994e-01 -6.98384317e-01 1.67464382e-03 1.28918833e+02] [ 6.98382606e-01 7.15722950e-01 1.54703277e-03 1.53933938e+01] [-2.27900444e-03 6.22982828e-05 9.99997401e-01 -3.80665766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:15.41, Z:-0.38 [[ 7.16536755e-01 -6.97547357e-01 1.66237893e-03 1.28936541e+02] [ 6.97545614e-01 7.16538682e-01 1.56030651e-03 1.54144893e+01] [-2.27954649e-03 4.15681726e-05 9.99997401e-01 -3.81626945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.1 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:128.96, Y:15.44, Z:-0.38 [[ 7.22004585e-01 -6.91886289e-01 1.65614674e-03 1.28960077e+02] [ 6.91884515e-01 7.22006484e-01 1.56702485e-03 1.54386407e+01] [-2.27995170e-03 1.44631606e-05 9.99997401e-01 -3.79151706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:15.46, Z:-0.38 [[ 7.23095350e-01 -6.90746184e-01 1.68075781e-03 1.28976161e+02] [ 6.90744467e-01 7.23097302e-01 1.54047761e-03 1.54592509e+01] [-2.27943047e-03 4.70619642e-05 9.99997401e-01 -3.75129032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:15.48, Z:-0.37 [[ 7.24897760e-01 -6.88854443e-01 1.67136293e-03 1.28994076e+02] [ 6.88852698e-01 7.24899687e-01 1.55060415e-03 1.54795435e+01] [-2.27971102e-03 2.72933888e-05 9.99997401e-01 -3.74925029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:15.50, Z:-0.37 [[ 7.26729586e-01 -6.86921623e-01 1.67117049e-03 1.29013181e+02] [ 6.86919873e-01 7.26731507e-01 1.55081153e-03 1.55008289e+01] [-2.27977822e-03 2.09395991e-05 9.99997401e-01 -3.74689564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:15.53, Z:-0.38 [[ 7.27711738e-01 -6.85881064e-01 1.67073660e-03 1.29024443e+02] [ 6.85879310e-01 7.27713656e-01 1.55127883e-03 1.55253615e+01] [-2.27981061e-03 1.70398523e-05 9.99997401e-01 -3.80240588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:15.55, Z:-0.38 [[ 7.32591128e-01 -6.80666959e-01 1.65225806e-03 1.29049347e+02] [ 6.80665146e-01 7.32592991e-01 1.57116415e-03 1.55456912e+01] [-2.27987220e-03 -2.63864437e-05 9.99997401e-01 -3.75503508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:15.57, Z:-0.38 [[ 7.34099865e-01 -6.79039467e-01 1.67051050e-03 1.29068377e+02] [ 6.79037695e-01 7.34101765e-01 1.55151177e-03 1.55671616e+01] [-2.27986244e-03 -4.62497809e-06 9.99997401e-01 -3.75386850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:15.59, Z:-0.38 [[ 7.33382060e-01 -6.79814655e-01 1.67006875e-03 1.29079405e+02] [ 6.79812883e-01 7.33383962e-01 1.55198714e-03 1.55903878e+01] [-2.27986523e-03 -2.86527316e-06 9.99997401e-01 -3.81729061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:15.61, Z:-0.38 [[ 7.34729433e-01 -6.78358271e-01 1.64814264e-03 1.29099728e+02] [ 6.78356442e-01 7.34731281e-01 1.57555753e-03 1.56110088e+01] [-2.27973444e-03 -3.95803170e-05 9.99997401e-01 -3.82159435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:129.13, Y:15.63, Z:-0.38 [[ 7.37995030e-01 -6.74804130e-01 1.64971017e-03 1.29125557e+02] [ 6.74802297e-01 7.37996872e-01 1.57387292e-03 1.56305989e+01] [-2.27953689e-03 -4.82821804e-05 9.99997401e-01 -3.78429083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:15.65, Z:-0.38 [[ 7.39322200e-01 -6.73349758e-01 1.66962936e-03 1.29144564e+02] [ 6.73347969e-01 7.39324085e-01 1.55245022e-03 1.56496223e+01] [-2.27973918e-03 -2.35193747e-05 9.99997401e-01 -3.76653551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:15.67, Z:-0.38 [[ 7.37107377e-01 -6.75773577e-01 1.66943259e-03 1.29158333e+02] [ 6.75771794e-01 7.37109267e-01 1.55266179e-03 1.56714250e+01] [-2.27980204e-03 -1.63230068e-05 9.99997401e-01 -3.83749434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:15.69, Z:-0.38 [[ 7.40912122e-01 -6.71599955e-01 1.65187427e-03 1.29182731e+02] [ 6.71598118e-01 7.40913961e-01 1.57152204e-03 1.56919235e+01] [-2.27933084e-03 -5.49640808e-05 9.99997401e-01 -3.79065061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:15.71, Z:-0.38 [[ 7.41103369e-01 -6.71388867e-01 1.66896440e-03 1.29202347e+02] [ 6.71387071e-01 7.41105248e-01 1.55315763e-03 1.57119881e+01] [-2.27965102e-03 -3.05292325e-05 9.99997401e-01 -3.79466735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:15.73, Z:-0.38 [[ 7.41262280e-01 -6.71213415e-01 1.66852119e-03 1.29222114e+02] [ 6.71211618e-01 7.41264157e-01 1.55363362e-03 1.57314746e+01] [-2.27963468e-03 -3.17191866e-05 9.99997401e-01 -3.79558250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:15.75, Z:-0.38 [[ 7.41075245e-01 -6.71419912e-01 1.66807553e-03 1.29242279e+02] [ 6.71418114e-01 7.41077122e-01 1.55411196e-03 1.57511291e+01] [-2.27963433e-03 -3.17377742e-05 9.99997401e-01 -3.78735957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:15.77, Z:-0.38 [[ 7.40688832e-01 -6.71846168e-01 1.66763156e-03 1.29262952e+02] [ 6.71844370e-01 7.40690708e-01 1.55458822e-03 1.57705763e+01] [-2.27964334e-03 -3.10772599e-05 9.99997401e-01 -3.78215207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:15.79, Z:-0.38 [[ 7.39885341e-01 -6.72730929e-01 1.66718540e-03 1.29282996e+02] [ 6.72729132e-01 7.39887219e-01 1.55506655e-03 1.57897955e+01] [-2.27967053e-03 -2.90067574e-05 9.99997401e-01 -3.77592418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:15.81, Z:-0.38 [[ 7.38812692e-01 -6.73908769e-01 1.66674274e-03 1.29303051e+02] [ 6.73906974e-01 7.38814571e-01 1.55554085e-03 1.58093662e+01] [-2.27970644e-03 -2.60237676e-05 9.99997401e-01 -3.76974360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:15.83, Z:-0.38 [[ 7.36154608e-01 -6.76811359e-01 1.66629967e-03 1.29322723e+02] [ 6.76809571e-01 7.36156494e-01 1.55601532e-03 1.58288287e+01] [-2.27978617e-03 -1.77002784e-05 9.99997401e-01 -3.77243110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:15.85, Z:-0.38 [[ 7.34714116e-01 -6.78374817e-01 1.66585115e-03 1.29342347e+02] [ 6.78373031e-01 7.34716005e-01 1.55649536e-03 1.58471856e+01] [-2.27981475e-03 -1.35106165e-05 9.99997401e-01 -3.77833966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:15.87, Z:-0.38 [[ 7.32892570e-01 -6.80342345e-01 1.66565709e-03 1.29362503e+02] [ 6.80340565e-01 7.32894462e-01 1.55670300e-03 1.58661726e+01] [-2.27984183e-03 -7.68198058e-06 9.99997401e-01 -3.77012909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:15.89, Z:-0.38 [[ 7.29995881e-01 -6.83449515e-01 1.66521358e-03 1.29383707e+02] [ 6.83447741e-01 7.29997781e-01 1.55717728e-03 1.58857266e+01] [-2.27985427e-03 1.35346207e-06 9.99997401e-01 -3.75569307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:15.91, Z:-0.38 [[ 7.28547122e-01 -6.84993664e-01 1.66482553e-03 1.29403986e+02] [ 6.84991893e-01 7.28549024e-01 1.55759204e-03 1.59051828e+01] [-2.27984769e-03 5.61279684e-06 9.99997401e-01 -3.75060982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:15.92, Z:-0.37 [[ 7.27181613e-01 -6.86443101e-01 1.66437728e-03 1.29423857e+02] [ 6.86441333e-01 7.27183518e-01 1.55807087e-03 1.59245700e+01] [-2.27983473e-03 9.49686873e-06 9.99997401e-01 -3.74290108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:15.94, Z:-0.37 [[ 7.26221881e-01 -6.87458370e-01 1.66392985e-03 1.29444212e+02] [ 6.87456604e-01 7.26223787e-01 1.55854856e-03 1.59445245e+01] [-2.27982269e-03 1.20274926e-05 9.99997401e-01 -3.73397660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:15.96, Z:-0.37 [[ 7.25407772e-01 -6.88317366e-01 1.66348143e-03 1.29463084e+02] [ 6.88315601e-01 7.25409680e-01 1.55902702e-03 1.59643648e+01] [-2.27981091e-03 1.40699063e-05 9.99997401e-01 -3.72829942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:15.98, Z:-0.37 [[ 7.25360738e-01 -6.88366933e-01 1.66328734e-03 1.29482577e+02] [ 6.88365167e-01 7.25362644e-01 1.55923407e-03 1.59835906e+01] [-2.27981167e-03 1.39418948e-05 9.99997401e-01 -3.72984035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:16.00, Z:-0.37 [[ 7.25572667e-01 -6.88143545e-01 1.66309547e-03 1.29502572e+02] [ 6.88141778e-01 7.25574573e-01 1.55943869e-03 1.60027812e+01] [-2.27981745e-03 1.29593784e-05 9.99997401e-01 -3.72578248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:16.02, Z:-0.37 [[ 7.26132656e-01 -6.87552617e-01 1.66264702e-03 1.29522164e+02] [ 6.87550848e-01 7.26134559e-01 1.55991667e-03 1.60220384e+01] [-2.27983025e-03 1.04479360e-05 9.99997401e-01 -3.72860351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:16.04, Z:-0.37 [[ 7.25937862e-01 -6.87758283e-01 1.66245282e-03 1.29542961e+02] [ 6.87756514e-01 7.25939766e-01 1.56012361e-03 1.60416507e+01] [-2.27982855e-03 1.08099526e-05 9.99997401e-01 -3.72925420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.56, Y:16.06, Z:-0.37 [[ 7.27465972e-01 -6.86141747e-01 1.66201074e-03 1.29562915e+02] [ 6.86139973e-01 7.27467870e-01 1.56059442e-03 1.60627125e+01] [-2.27984840e-03 5.09267268e-06 9.99997401e-01 -3.74045469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:16.08, Z:-0.37 [[ 7.28579147e-01 -6.84959609e-01 1.66162525e-03 1.29582654e+02] [ 6.84957830e-01 7.28581042e-01 1.56100476e-03 1.60824481e+01] [-2.27985386e-03 8.27711211e-07 9.99997401e-01 -3.74692332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.60, Y:16.10, Z:-0.38 [[ 7.29042721e-01 -6.84466180e-01 1.66118734e-03 1.29602391e+02] [ 6.84464399e-01 7.29044614e-01 1.56147063e-03 1.61026962e+01] [-2.27985352e-03 -1.35520264e-06 9.99997401e-01 -3.77038240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:16.12, Z:-0.37 [[ 7.30496311e-01 -6.82914622e-01 1.66075127e-03 1.29622720e+02] [ 6.82912836e-01 7.30498199e-01 1.56193429e-03 1.61215800e+01] [-2.27984358e-03 -6.83887968e-06 9.99997401e-01 -3.74937142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:16.14, Z:-0.37 [[ 7.31178705e-01 -6.82183951e-01 1.66061623e-03 1.29643135e+02] [ 6.82182163e-01 7.31180591e-01 1.56207784e-03 1.61408914e+01] [-2.27983480e-03 -9.31528242e-06 9.99997401e-01 -3.74737978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:129.66, Y:16.16, Z:-0.38 [[ 7.31416577e-01 -6.81928907e-01 1.66018651e-03 1.29663511e+02] [ 6.81927117e-01 7.31418462e-01 1.56253443e-03 1.61606336e+01] [-2.27982846e-03 -1.07373882e-05 9.99997401e-01 -3.76620842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:16.18, Z:-0.37 [[ 7.33921078e-01 -6.79232726e-01 1.65975567e-03 1.29684943e+02] [ 6.79230928e-01 7.33922954e-01 1.56299194e-03 1.61790169e+01] [-2.27976806e-03 -1.97553440e-05 9.99997401e-01 -3.73840291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:16.20, Z:-0.37 [[ 7.34946668e-01 -6.78122881e-01 1.65956305e-03 1.29705741e+02] [ 6.78121080e-01 7.34948541e-01 1.56319643e-03 1.61982211e+01] [-2.27973271e-03 -2.34813221e-05 9.99997401e-01 -3.74319683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:16.22, Z:-0.38 [[ 7.37591292e-01 -6.75245387e-01 1.65914211e-03 1.29725818e+02] [ 6.75243578e-01 7.37593157e-01 1.56364308e-03 1.62166456e+01] [-2.27961465e-03 -3.30044670e-05 9.99997401e-01 -3.76119439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:16.23, Z:-0.38 [[ 7.39097865e-01 -6.73596017e-01 1.65891299e-03 1.29746062e+02] [ 6.73594202e-01 7.39099726e-01 1.56388613e-03 1.62348996e+01] [-2.27952960e-03 -3.84307251e-05 9.99997401e-01 -3.76628687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32999999999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.77, Y:16.25, Z:-0.38 [[ 7.39938907e-01 -6.72672032e-01 1.65868192e-03 1.29766454e+02] [ 6.72670215e-01 7.39940765e-01 1.56413117e-03 1.62539855e+01] [-2.27947366e-03 -4.16155859e-05 9.99997401e-01 -3.78106073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:16.27, Z:-0.38 [[ 7.41201644e-01 -6.71280399e-01 1.65824195e-03 1.29788044e+02] [ 6.71278577e-01 7.41203497e-01 1.56459746e-03 1.62727082e+01] [-2.27937834e-03 -4.65399138e-05 9.99997401e-01 -3.76084077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:16.29, Z:-0.38 [[ 7.42015848e-01 -6.70380289e-01 1.65784948e-03 1.29809347e+02] [ 6.70378465e-01 7.42017699e-01 1.56501322e-03 1.62911225e+01] [-2.27930767e-03 -4.98780269e-05 9.99997401e-01 -3.76071542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:16.31, Z:-0.38 [[ 7.42335700e-01 -6.70026090e-01 1.65740105e-03 1.29830354e+02] [ 6.70024263e-01 7.42337549e-01 1.56548797e-03 1.63091405e+01] [-2.27926882e-03 -5.16186911e-05 9.99997401e-01 -3.76494464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:16.33, Z:-0.38 [[ 7.42469034e-01 -6.69878338e-01 1.65695199e-03 1.29852974e+02] [ 6.69876510e-01 7.42470881e-01 1.56596313e-03 1.63255877e+01] [-2.27924338e-03 -5.27259129e-05 9.99997401e-01 -3.77167220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:16.34, Z:-0.38 [[ 7.42392319e-01 -6.69963358e-01 1.65650684e-03 1.29875228e+02] [ 6.69961529e-01 7.42394165e-01 1.56643388e-03 1.63436088e+01] [-2.27923431e-03 -5.31126223e-05 9.99997401e-01 -3.77650041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:16.36, Z:-0.38 [[ 7.42503747e-01 -6.69839864e-01 1.65606204e-03 1.29896976e+02] [ 6.69838034e-01 7.42505591e-01 1.56690398e-03 1.63611780e+01] [-2.27921008e-03 -5.41387296e-05 9.99997401e-01 -3.78362906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:16.38, Z:-0.38 [[ 7.42727557e-01 -6.69591693e-01 1.65561816e-03 1.29918942e+02] [ 6.69589861e-01 7.42729400e-01 1.56737285e-03 1.63792148e+01] [-2.27917613e-03 -5.55458754e-05 9.99997401e-01 -3.78889448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:16.40, Z:-0.38 [[ 7.42441109e-01 -6.69909293e-01 1.65517431e-03 1.29941024e+02] [ 6.69907461e-01 7.42442951e-01 1.56784143e-03 1.63970198e+01] [-2.27918404e-03 -5.52163159e-05 9.99997401e-01 -3.84499391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:16.41, Z:-0.38 [[ 7.44254150e-01 -6.67894475e-01 1.65250864e-03 1.29963648e+02] [ 6.67892631e-01 7.44255982e-01 1.57065465e-03 1.64141621e+01] [-2.27892100e-03 -6.52678937e-05 9.99997401e-01 -3.82204336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:16.43, Z:-0.38 [[ 7.44773806e-01 -6.67314948e-01 1.65471467e-03 1.29985060e+02] [ 6.67313108e-01 7.44775641e-01 1.56832710e-03 1.64318961e+01] [-2.27895930e-03 -6.38361584e-05 9.99997401e-01 -3.83228988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:16.45, Z:-0.38 [[ 7.45131800e-01 -6.66915185e-01 1.65426418e-03 1.30006663e+02] [ 6.66913343e-01 7.45133633e-01 1.56880214e-03 1.64492409e+01] [-2.27890584e-03 -6.57135085e-05 9.99997401e-01 -3.83656060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.03, Y:16.47, Z:-0.38 [[ 7.45581942e-01 -6.66411909e-01 1.65381612e-03 1.30028294e+02] [ 6.66410065e-01 7.45583773e-01 1.56927433e-03 1.64661770e+01] [-2.27884157e-03 -6.79028971e-05 9.99997401e-01 -3.84332400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:16.48, Z:-0.38 [[ 7.46001458e-01 -6.65942258e-01 1.65362162e-03 1.30050448e+02] [ 6.65940412e-01 7.46003287e-01 1.56947926e-03 1.64834167e+01] [-2.27878973e-03 -6.96203483e-05 9.99997401e-01 -3.83028648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:16.50, Z:-0.38 [[ 7.45913308e-01 -6.66040993e-01 1.65317668e-03 1.30074511e+02] [ 6.66039147e-01 7.45915136e-01 1.56994779e-03 1.64995192e+01] [-2.27877909e-03 -6.99645636e-05 9.99997401e-01 -3.82150519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:16.52, Z:-0.38 [[ 7.45310607e-01 -6.66715357e-01 1.65278642e-03 1.30096153e+02] [ 6.66713511e-01 7.45312437e-01 1.57035853e-03 1.65169382e+01] [-2.27882442e-03 -6.84698286e-05 9.99997401e-01 -3.81779516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:16.53, Z:-0.38 [[ 7.44436566e-01 -6.67691148e-01 1.65233608e-03 1.30117432e+02] [ 6.67689304e-01 7.44438396e-01 1.57083224e-03 1.65338022e+01] [-2.27889320e-03 -6.61378305e-05 9.99997401e-01 -3.81934626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:16.55, Z:-0.38 [[ 7.43121912e-01 -6.69154014e-01 1.65215059e-03 1.30139349e+02] [ 6.69152173e-01 7.43123746e-01 1.57102731e-03 1.65509654e+01] [-2.27901156e-03 -6.19246600e-05 9.99997401e-01 -3.81877168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:16.57, Z:-0.39 [[ 7.37156913e-01 -6.75719585e-01 1.65170389e-03 1.30161660e+02] [ 6.75717759e-01 7.37158762e-01 1.57149681e-03 1.65668672e+01] [-2.27945916e-03 -4.23540889e-05 9.99997401e-01 -3.85411503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:16.58, Z:-0.38 [[ 7.36587090e-01 -6.76340714e-01 1.64225945e-03 1.30188586e+02] [ 6.76338867e-01 7.36588919e-01 1.58141848e-03 1.65831741e+01] [-2.27924781e-03 -5.41285444e-05 9.99997401e-01 -3.80743546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:16.60, Z:-0.38 [[ 7.33381962e-01 -6.79814806e-01 1.65135013e-03 1.30211379e+02] [ 6.79812990e-01 7.33383820e-01 1.57186812e-03 1.65998932e+01] [-2.27965269e-03 -3.01704580e-05 9.99997401e-01 -3.80790708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:16.62, Z:-0.38 [[ 7.27519809e-01 -6.86084690e-01 1.65090136e-03 1.30230774e+02] [ 6.86082889e-01 7.27521682e-01 1.57233932e-03 1.66173257e+01] [-2.27982447e-03 -1.12528229e-05 9.99997401e-01 -3.84227492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:16.63, Z:-0.38 [[ 7.22675954e-01 -6.91185054e-01 1.63903359e-03 1.30258707e+02] [ 6.91183238e-01 7.22677812e-01 1.58478868e-03 1.66308983e+01] [-2.27987546e-03 -1.24161293e-05 9.99997401e-01 -3.80148454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:16.65, Z:-0.38 [[ 7.19577714e-01 -6.94409958e-01 1.65033423e-03 1.30281031e+02] [ 6.94408177e-01 7.19579606e-01 1.57293195e-03 1.66481383e+01] [-2.27980647e-03 1.41588030e-05 9.99997401e-01 -3.79196399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:16.66, Z:-0.38 [[ 7.16789748e-01 -6.97287412e-01 1.64987769e-03 1.30302513e+02] [ 6.97285637e-01 7.16791647e-01 1.57341068e-03 1.66649367e+01] [-2.27973801e-03 2.26313665e-05 9.99997401e-01 -3.79054451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:16.68, Z:-0.38 [[ 7.14206481e-01 -6.99933127e-01 1.64962528e-03 1.30325023e+02] [ 6.99931358e-01 7.14208385e-01 1.57367527e-03 1.66827503e+01] [-2.27964366e-03 3.06953863e-05 9.99997401e-01 -3.78595987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:16.70, Z:-0.38 [[ 7.09815181e-01 -7.04386037e-01 1.64919519e-03 1.30348070e+02] [ 7.04384279e-01 7.09817096e-01 1.57412588e-03 1.66987170e+01] [-2.27941923e-03 4.43287208e-05 9.99997401e-01 -3.77830624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:16.72, Z:-0.38 [[ 7.07683840e-01 -7.06527328e-01 1.64874832e-03 1.30369928e+02] [ 7.06525575e-01 7.07685758e-01 1.57459379e-03 1.67170151e+01] [-2.27928925e-03 5.05682813e-05 9.99997401e-01 -3.78162423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:16.74, Z:-0.38 [[ 7.05787492e-01 -7.08421696e-01 1.64830466e-03 1.30391217e+02] [ 7.08419947e-01 7.05789414e-01 1.57505808e-03 1.67350702e+01] [-2.27916130e-03 5.60356126e-05 9.99997401e-01 -3.78298027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:16.75, Z:-0.38 [[ 7.04397244e-01 -7.09804062e-01 1.64786292e-03 1.30412614e+02] [ 7.09802316e-01 7.04399169e-01 1.57552010e-03 1.67533314e+01] [-2.27906384e-03 5.98649006e-05 9.99997401e-01 -3.78443511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:16.77, Z:-0.38 [[ 7.03667723e-01 -7.10527284e-01 1.64742212e-03 1.30432816e+02] [ 7.10525539e-01 7.03669649e-01 1.57598088e-03 1.67734308e+01] [-2.27901836e-03 6.15686135e-05 9.99997401e-01 -3.78564957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:16.79, Z:-0.38 [[ 7.03875551e-01 -7.10321404e-01 1.64697352e-03 1.30451762e+02] [ 7.10319657e-01 7.03877475e-01 1.57644956e-03 1.67925721e+01] [-2.27905342e-03 6.02533624e-05 9.99997401e-01 -3.79389483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:16.81, Z:-0.38 [[ 7.04035753e-01 -7.10162620e-01 1.64673011e-03 1.30471633e+02] [ 7.10160872e-01 7.04037677e-01 1.57670378e-03 1.68122425e+01] [-2.27907612e-03 5.93874568e-05 9.99997401e-01 -3.79685831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:16.83, Z:-0.38 [[ 7.04213769e-01 -7.09986097e-01 1.64628091e-03 1.30490888e+02] [ 7.09984347e-01 7.04215691e-01 1.57717266e-03 1.68311946e+01] [-2.27910751e-03 5.81669722e-05 9.99997401e-01 -3.80249089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:16.85, Z:-0.38 [[ 7.04458526e-01 -7.09743247e-01 1.64603800e-03 1.30510896e+02] [ 7.09741496e-01 7.04460446e-01 1.57742614e-03 1.68508970e+01] [-2.27913621e-03 5.70301789e-05 9.99997401e-01 -3.80715361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:16.87, Z:-0.38 [[ 7.04609304e-01 -7.09593560e-01 1.64559294e-03 1.30530485e+02] [ 7.09591808e-01 7.04611224e-01 1.57789029e-03 1.68704729e+01] [-2.27916404e-03 5.59030891e-05 9.99997401e-01 -3.81241346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:16.89, Z:-0.38 [[ 7.05675348e-01 -7.08533413e-01 1.64515100e-03 1.30549131e+02] [ 7.08531656e-01 7.05677264e-01 1.57835094e-03 1.68902351e+01] [-2.27926003e-03 5.18382138e-05 9.99997401e-01 -3.82149992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:16.91, Z:-0.38 [[ 7.06500543e-01 -7.07710588e-01 1.64491070e-03 1.30567924e+02] [ 7.07708829e-01 7.06502457e-01 1.57860133e-03 1.69103224e+01] [-2.27932632e-03 4.88351257e-05 9.99997401e-01 -3.82615434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:16.93, Z:-0.38 [[ 7.07539188e-01 -7.06672196e-01 1.64461412e-03 1.30587443e+02] [ 7.06670433e-01 7.07541098e-01 1.57891025e-03 1.69311593e+01] [-2.27940405e-03 4.50592922e-05 9.99997401e-01 -3.82696507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:16.95, Z:-0.38 [[ 7.08670717e-01 -7.05537462e-01 1.64418295e-03 1.30606213e+02] [ 7.05535696e-01 7.08672624e-01 1.57935912e-03 1.69513133e+01] [-2.27948447e-03 4.07842045e-05 9.99997401e-01 -3.82438393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:16.97, Z:-0.38 [[ 7.11010190e-01 -7.03179783e-01 1.64395590e-03 1.30624890e+02] [ 7.03178010e-01 7.11012090e-01 1.57959542e-03 1.69727021e+01] [-2.27961208e-03 3.28851941e-05 9.99997401e-01 -3.81362437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:16.99, Z:-0.38 [[ 7.13006582e-01 -7.01155413e-01 1.64351321e-03 1.30647001e+02] [ 7.01153633e-01 7.13008475e-01 1.58005589e-03 1.69928317e+01] [-2.27970359e-03 2.57650120e-05 9.99997401e-01 -3.83002641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:17.01, Z:-0.38 [[ 7.13150790e-01 -7.01008720e-01 1.65083588e-03 1.30663441e+02] [ 7.01006957e-01 7.13152700e-01 1.57243943e-03 1.70135193e+01] [-2.27959182e-03 3.58610178e-05 9.99997401e-01 -3.81252772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:130.69, Y:17.03, Z:-0.38 [[ 7.15298728e-01 -6.98816880e-01 1.64287760e-03 1.30686939e+02] [ 6.98815092e-01 7.15300614e-01 1.58071070e-03 1.70342513e+01] [-2.27977868e-03 1.73873079e-05 9.99997401e-01 -3.83706884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:17.05, Z:-0.38 [[ 7.14957323e-01 -6.99166129e-01 1.65811007e-03 1.30701369e+02] [ 6.99164379e-01 7.14959245e-01 1.56487734e-03 1.70547726e+01] [-2.27959035e-03 4.04709792e-05 9.99997401e-01 -3.81850773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:17.08, Z:-0.38 [[ 7.15772006e-01 -6.98332112e-01 1.64190428e-03 1.30720568e+02] [ 6.98330321e-01 7.15773889e-01 1.58169997e-03 1.70753775e+01] [-2.27978409e-03 1.44549879e-05 9.99997401e-01 -3.81668807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:17.10, Z:-0.38 [[ 7.17363056e-01 -6.96697604e-01 1.64147394e-03 1.30738644e+02] [ 6.96695808e-01 7.17364934e-01 1.58214645e-03 1.70970075e+01] [-2.27981348e-03 8.63459732e-06 9.99997401e-01 -3.80982013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:17.12, Z:-0.38 [[ 7.17996046e-01 -6.96045247e-01 1.64103665e-03 1.30757440e+02] [ 6.96043448e-01 7.17997921e-01 1.58259988e-03 1.71171164e+01] [-2.27982203e-03 5.93234989e-06 9.99997401e-01 -3.81200935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:17.14, Z:-0.38 [[ 7.18627930e-01 -6.95392843e-01 1.64073967e-03 1.30776866e+02] [ 6.95391041e-01 7.18629803e-01 1.58290771e-03 1.71375271e+01] [-2.27982712e-03 3.43397633e-06 9.99997401e-01 -3.80345939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:17.16, Z:-0.38 [[ 7.20323140e-01 -6.93636709e-01 1.64029595e-03 1.30796551e+02] [ 6.93634901e-01 7.20325008e-01 1.58336739e-03 1.71585705e+01] [-2.27982794e-03 -2.76965060e-06 9.99997401e-01 -3.80744012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:17.18, Z:-0.38 [[ 7.21434971e-01 -6.92480244e-01 1.64142437e-03 1.30815764e+02] [ 6.92478437e-01 7.21436838e-01 1.58219877e-03 1.71789563e+01] [-2.27982540e-03 -4.80253761e-06 9.99997401e-01 -3.81190096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:17.20, Z:-0.38 [[ 7.22733263e-01 -6.91125128e-01 1.63970788e-03 1.30834628e+02] [ 6.91123313e-01 7.22735123e-01 1.58397566e-03 1.71987187e+01] [-2.27979985e-03 -1.15515515e-05 9.99997401e-01 -3.82448905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:17.22, Z:-0.38 [[ 7.23836411e-01 -6.89969682e-01 1.63946460e-03 1.30854073e+02] [ 6.89967863e-01 7.23838268e-01 1.58422741e-03 1.72193326e+01] [-2.27977610e-03 -1.55435957e-05 9.99997401e-01 -3.83353910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:17.24, Z:-0.38 [[ 7.23639186e-01 -6.90176530e-01 1.63901214e-03 1.30874589e+02] [ 6.90174711e-01 7.23641042e-01 1.58469538e-03 1.72392647e+01] [-2.27977602e-03 -1.55429439e-05 9.99997401e-01 -3.83418847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:17.26, Z:-0.38 [[ 7.24709675e-01 -6.89052395e-01 1.63855910e-03 1.30893778e+02] [ 6.89050572e-01 7.24711527e-01 1.58516369e-03 1.72592639e+01] [-2.27974350e-03 -1.97333805e-05 9.99997401e-01 -3.84514675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:17.28, Z:-0.39 [[ 7.26757850e-01 -6.86891800e-01 1.63810614e-03 1.30913071e+02] [ 6.86889970e-01 7.26759695e-01 1.58563164e-03 1.72792557e+01] [-2.27966689e-03 -2.71715586e-05 9.99997401e-01 -3.87021957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:17.30, Z:-0.39 [[ 7.27351875e-01 -6.86262754e-01 1.63796597e-03 1.30933499e+02] [ 6.86260922e-01 7.27353719e-01 1.58577642e-03 1.72992278e+01] [-2.27963993e-03 -2.93454175e-05 9.99997401e-01 -3.87557705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:17.32, Z:-0.39 [[ 7.27795297e-01 -6.85792479e-01 1.63756918e-03 1.30954283e+02] [ 6.85790645e-01 7.27797139e-01 1.58618607e-03 1.73188448e+01] [-2.27961264e-03 -3.13891344e-05 9.99997401e-01 -3.87989216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:17.34, Z:-0.39 [[ 7.28106541e-01 -6.85462023e-01 1.63717417e-03 1.30974564e+02] [ 6.85460187e-01 7.28108381e-01 1.58659366e-03 1.73377211e+01] [-2.27958994e-03 -3.29915088e-05 9.99997401e-01 -3.89884022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:17.36, Z:-0.39 [[ 7.28564993e-01 -6.84974720e-01 1.63830550e-03 1.30995334e+02] [ 6.84972886e-01 7.28566834e-01 1.58542668e-03 1.73565854e+01] [-2.27959224e-03 -3.28915309e-05 9.99997401e-01 -3.87438483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:17.38, Z:-0.39 [[ 7.28678851e-01 -6.84853601e-01 1.63655450e-03 1.31015240e+02] [ 6.84851762e-01 7.28680688e-01 1.58723208e-03 1.73752753e+01] [-2.27954726e-03 -3.57852092e-05 9.99997401e-01 -3.87335850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:17.39, Z:-0.39 [[ 7.28540484e-01 -6.85000792e-01 1.63629629e-03 1.31035556e+02] [ 6.84998954e-01 7.28542321e-01 1.58749823e-03 1.73943774e+01] [-2.27954864e-03 -3.56954819e-05 9.99997401e-01 -3.85542046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:17.41, Z:-0.39 [[ 7.26805085e-01 -6.86841825e-01 1.63583278e-03 1.31053400e+02] [ 6.86839990e-01 7.26806926e-01 1.58797571e-03 1.74141698e+01] [-2.27962273e-03 -3.05934478e-05 9.99997401e-01 -3.85571670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:131.08, Y:17.43, Z:-0.39 [[ 7.28017145e-01 -6.85556997e-01 1.62521763e-03 1.31077494e+02] [ 6.85555134e-01 7.28018957e-01 1.59890430e-03 1.74330216e+01] [-2.27932928e-03 -4.98534535e-05 9.99997401e-01 -3.86513361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:17.45, Z:-0.39 [[ 7.26113565e-01 -6.87572844e-01 1.63533078e-03 1.31095095e+02] [ 6.87571010e-01 7.26115406e-01 1.58849296e-03 1.74532572e+01] [-2.27964350e-03 -2.90202526e-05 9.99997401e-01 -3.85524695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:17.47, Z:-0.38 [[ 7.25794114e-01 -6.87910071e-01 1.62415616e-03 1.31116682e+02] [ 6.87908212e-01 7.25795930e-01 1.59998600e-03 1.74710327e+01] [-2.27945241e-03 -4.39900599e-05 9.99997401e-01 -3.84441440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:131.14, Y:17.49, Z:-0.38 [[ 7.27204753e-01 -6.86418677e-01 1.62706653e-03 1.31143860e+02] [ 6.86416821e-01 7.27206571e-01 1.59699698e-03 1.74911130e+01] [-2.27942203e-03 -4.44979577e-05 9.99997401e-01 -3.83668289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:17.51, Z:-0.38 [[ 7.24598010e-01 -6.89169799e-01 1.64692111e-03 1.31159130e+02] [ 6.89167995e-01 7.24599882e-01 1.57660876e-03 1.75103232e+01] [-2.27990999e-03 -7.40224821e-06 9.99997401e-01 -3.84620427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:17.53, Z:-0.38 [[ 7.25821305e-01 -6.87881379e-01 1.62538817e-03 1.31182302e+02] [ 6.87879522e-01 7.25823124e-01 1.59871554e-03 1.75280454e+01] [-2.27947097e-03 -4.23105584e-05 9.99997401e-01 -3.81111281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:17.55, Z:-0.38 [[ 7.22047377e-01 -6.91841686e-01 1.63299235e-03 1.31202280e+02] [ 6.91839857e-01 7.22049223e-01 1.59091022e-03 1.75468597e+01] [-2.27975887e-03 -1.89433556e-05 9.99997401e-01 -3.84757505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:17.57, Z:-0.38 [[ 7.20752725e-01 -6.93190352e-01 1.62620404e-03 1.31223606e+02] [ 6.93188511e-01 7.20754559e-01 1.59787338e-03 1.75656608e+01] [-2.27972439e-03 -2.44056339e-05 9.99997401e-01 -3.84729468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:17.58, Z:-0.39 [[ 7.19041737e-01 -6.94964990e-01 1.62591602e-03 1.31243836e+02] [ 6.94963153e-01 7.19043575e-01 1.59816866e-03 1.75839832e+01] [-2.27977574e-03 -1.91982453e-05 9.99997401e-01 -3.86408589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:131.26, Y:17.60, Z:-0.39 [[ 7.16974978e-01 -6.97097020e-01 1.62069289e-03 1.31264878e+02] [ 6.97095176e-01 7.16976809e-01 1.60352289e-03 1.76021937e+01] [-2.27981024e-03 -1.99085942e-05 9.99997401e-01 -3.88271901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:131.29, Y:17.62, Z:-0.39 [[ 7.16167198e-01 -6.97926869e-01 1.62186417e-03 1.31288245e+02] [ 6.97925030e-01 7.16169034e-01 1.60232238e-03 1.76214251e+01] [-2.27983274e-03 -1.55911281e-05 9.99997401e-01 -3.86827375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:17.64, Z:-0.38 [[ 7.14310642e-01 -6.99826880e-01 1.62617028e-03 1.31310997e+02] [ 6.99825056e-01 7.14312493e-01 1.59790980e-03 1.76388947e+01] [-2.27985398e-03 -3.36926247e-06 9.99997401e-01 -3.84614109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:17.66, Z:-0.38 [[ 7.14781892e-01 -6.99345545e-01 1.62936364e-03 1.31333237e+02] [ 6.99343727e-01 7.14783749e-01 1.59463798e-03 1.76561141e+01] [-2.27984562e-03 -3.33110507e-07 9.99997401e-01 -3.80681411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:17.68, Z:-0.38 [[ 7.11570143e-01 -7.02613173e-01 1.63133893e-03 1.31353305e+02] [ 7.02611368e-01 7.11572012e-01 1.59261465e-03 1.76768288e+01] [-2.27980716e-03 1.29402429e-05 9.99997401e-01 -3.84627650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:17.70, Z:-0.38 [[ 7.10468574e-01 -7.03727042e-01 1.62961881e-03 1.31374358e+02] [ 7.03725236e-01 7.10470443e-01 1.59437601e-03 1.76956632e+01] [-2.27980151e-03 1.40498356e-05 9.99997401e-01 -3.84026110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:131.40, Y:17.72, Z:-0.38 [[ 7.10740434e-01 -7.03452471e-01 1.62977053e-03 1.31400935e+02] [ 7.03450665e-01 7.10742303e-01 1.59422072e-03 1.77152519e+01] [-2.27980536e-03 1.33860372e-05 9.99997401e-01 -3.79258963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.7 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:131.42, Y:17.74, Z:-0.38 [[ 7.10039469e-01 -7.04159944e-01 1.65108688e-03 1.31420313e+02] [ 7.04158190e-01 7.10041387e-01 1.57239438e-03 1.77350818e+01] [-2.27955715e-03 4.61642786e-05 9.99997401e-01 -3.78601540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:17.76, Z:-0.38 [[ 7.08453845e-01 -7.05755223e-01 1.64765380e-03 1.31436983e+02] [ 7.05753465e-01 7.08455760e-01 1.57590504e-03 1.77551615e+01] [-2.27949303e-03 4.63813913e-05 9.99997401e-01 -3.81716678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:17.77, Z:-0.38 [[ 7.08642406e-01 -7.05565918e-01 1.63580164e-03 1.31455454e+02] [ 7.05564132e-01 7.08644293e-01 1.58799716e-03 1.77748807e+01] [-2.27963818e-03 2.88408373e-05 9.99997401e-01 -3.81997841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:17.80, Z:-0.38 [[ 7.09154788e-01 -7.05050932e-01 1.63390857e-03 1.31477449e+02] [ 7.05049140e-01 7.09156670e-01 1.58992758e-03 1.77953003e+01] [-2.27967708e-03 2.44810743e-05 9.99997401e-01 -3.80509131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:131.49, Y:17.81, Z:-0.38 [[ 7.09759584e-01 -7.04442083e-01 1.63834039e-03 1.31494907e+02] [ 7.04440300e-01 7.09761474e-01 1.58540946e-03 1.78132921e+01] [-2.27966004e-03 2.88534344e-05 9.99997401e-01 -3.76570954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:17.83, Z:-0.37 [[ 7.10404392e-01 -7.03791839e-01 1.62692326e-03 1.31514894e+02] [ 7.03790028e-01 7.10406255e-01 1.59704023e-03 1.78329150e+01] [-2.27976034e-03 1.04679701e-05 9.99997401e-01 -3.74575046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:17.85, Z:-0.37 [[ 7.10819756e-01 -7.03372326e-01 1.62647388e-03 1.31534869e+02] [ 7.03370512e-01 7.10821617e-01 1.59749776e-03 1.78527217e+01] [-2.27976851e-03 8.48079864e-06 9.99997401e-01 -3.74019298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:17.87, Z:-0.37 [[ 7.12339951e-01 -7.01832708e-01 1.62602183e-03 1.31553021e+02] [ 7.01830889e-01 7.12341807e-01 1.59795774e-03 1.78726280e+01] [-2.27978234e-03 2.90320873e-06 9.99997401e-01 -3.73651433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:131.57, Y:17.89, Z:-0.38 [[ 7.13030709e-01 -7.01130919e-01 1.62577035e-03 1.31571085e+02] [ 7.01129097e-01 7.13032562e-01 1.59821356e-03 1.78923323e+01] [-2.27978414e-03 2.99551981e-07 9.99997401e-01 -3.76337864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:17.91, Z:-0.37 [[ 7.14539788e-01 -6.99592916e-01 1.62552297e-03 1.31590305e+02] [ 6.99591090e-01 7.14541637e-01 1.59846513e-03 1.79127222e+01] [-2.27977873e-03 -4.96554851e-06 9.99997401e-01 -3.74592212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.0 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:131.61, Y:17.93, Z:-0.38 [[ 7.15138937e-01 -6.98980443e-01 1.62507953e-03 1.31609483e+02] [ 6.98978614e-01 7.15140784e-01 1.59891583e-03 1.79329760e+01] [-2.27977154e-03 -7.55112961e-06 9.99997401e-01 -3.76244702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:17.95, Z:-0.37 [[ 7.16579295e-01 -6.97503745e-01 1.62462287e-03 1.31628381e+02] [ 6.97501912e-01 7.16581136e-01 1.59937969e-03 1.79518706e+01] [-2.27974743e-03 -1.29048088e-05 9.99997401e-01 -3.74995453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:17.97, Z:-0.37 [[ 7.17495320e-01 -6.96561431e-01 1.62437128e-03 1.31647810e+02] [ 6.96559594e-01 7.17497159e-01 1.59963517e-03 1.79720866e+01] [-2.27972594e-03 -1.62593510e-05 9.99997401e-01 -3.74462502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:17.99, Z:-0.37 [[ 7.17623688e-01 -6.96429181e-01 1.62410383e-03 1.31667885e+02] [ 6.96427344e-01 7.17625526e-01 1.59990660e-03 1.79922702e+01] [-2.27972001e-03 -1.70605563e-05 9.99997401e-01 -3.73562428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:18.01, Z:-0.38 [[ 7.17723041e-01 -6.96326788e-01 1.62480903e-03 1.31690072e+02] [ 6.96324952e-01 7.17724880e-01 1.59919127e-03 1.80139351e+01] [-2.27972559e-03 -1.63813503e-05 9.99997401e-01 -3.77771177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:18.03, Z:-0.38 [[ 7.16364430e-01 -6.97724394e-01 1.63522180e-03 1.31704930e+02] [ 6.97722585e-01 7.16366296e-01 1.58862724e-03 1.80326362e+01] [-2.27984177e-03 2.89513336e-06 9.99997401e-01 -3.79607566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:18.05, Z:-0.38 [[ 7.17639053e-01 -6.96413363e-01 1.61809862e-03 1.31726304e+02] [ 6.96411511e-01 7.17640876e-01 1.60598287e-03 1.80536084e+01] [-2.27964164e-03 -2.56535170e-05 9.99997401e-01 -3.78539996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.74, Y:18.07, Z:-0.38 [[ 7.16811498e-01 -6.97265115e-01 1.62341868e-03 1.31744015e+02] [ 6.97263279e-01 7.16813336e-01 1.60059199e-03 1.80731695e+01] [-2.27972512e-03 -1.53725061e-05 9.99997401e-01 -3.81165531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:18.09, Z:-0.38 [[ 7.17735488e-01 -6.96313982e-01 1.61471012e-03 1.31766502e+02] [ 6.96312123e-01 7.17737304e-01 1.60941272e-03 1.80938685e+01] [-2.27959426e-03 -3.07903968e-05 9.99997401e-01 -3.79256902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:18.11, Z:-0.38 [[ 7.16269912e-01 -6.97821456e-01 1.62143567e-03 1.31782272e+02] [ 6.97819616e-01 7.16271747e-01 1.60260029e-03 1.81118878e+01] [-2.27971743e-03 -1.64247504e-05 9.99997401e-01 -3.81152541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:18.13, Z:-0.38 [[ 7.19503511e-01 -6.94486945e-01 1.60638214e-03 1.31808575e+02] [ 6.94485062e-01 7.19505303e-01 1.61786193e-03 1.81304192e+01] [-2.27938446e-03 -4.84489414e-05 9.99997401e-01 -3.75802272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:18.15, Z:-0.38 [[ 7.15431048e-01 -6.98681458e-01 1.62341981e-03 1.31822083e+02] [ 6.98679625e-01 7.15432890e-01 1.60058115e-03 1.81508531e+01] [-2.27974430e-03 -1.08551127e-05 9.99997401e-01 -3.81425914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.85, Y:18.17, Z:-0.38 [[ 7.19344091e-01 -6.94652084e-01 1.60046384e-03 1.31849703e+02] [ 6.94650188e-01 7.19345869e-01 1.62383365e-03 1.81704599e+01] [-2.27928648e-03 -5.63326326e-05 9.99997401e-01 -3.78432414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:18.19, Z:-0.38 [[ 7.19730584e-01 -6.94251577e-01 1.62295544e-03 1.31868828e+02] [ 6.94249732e-01 7.19732413e-01 1.60103409e-03 1.81896820e+01] [-2.27961408e-03 -2.55768260e-05 9.99997401e-01 -3.77793081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.89, Y:18.21, Z:-0.38 [[ 7.19706961e-01 -6.94276067e-01 1.62271113e-03 1.31888364e+02] [ 6.94274221e-01 7.19708790e-01 1.60128167e-03 1.82099457e+01] [-2.27961100e-03 -2.58470605e-05 9.99997401e-01 -3.79400786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:18.23, Z:-0.38 [[ 7.20150686e-01 -6.93815795e-01 1.62225169e-03 1.31907292e+02] [ 6.93813947e-01 7.20152513e-01 1.60174699e-03 1.82286745e+01] [-2.27958599e-03 -2.79583467e-05 9.99997401e-01 -3.79451187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:18.25, Z:-0.38 [[ 7.19910143e-01 -6.94065383e-01 1.62200139e-03 1.31927695e+02] [ 6.94063534e-01 7.19911970e-01 1.60200042e-03 1.82482168e+01] [-2.27959125e-03 -2.75243366e-05 9.99997401e-01 -3.79620942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:18.27, Z:-0.38 [[ 7.19402172e-01 -6.94591885e-01 1.62154757e-03 1.31948176e+02] [ 6.94590037e-01 7.19403999e-01 1.60245965e-03 1.82676071e+01] [-2.27960327e-03 -2.65021665e-05 9.99997401e-01 -3.79768167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:18.29, Z:-0.39 [[ 7.15257539e-01 -6.98859088e-01 1.62108990e-03 1.31963681e+02] [ 6.98857250e-01 7.15259376e-01 1.60292250e-03 1.82875097e+01] [-2.27971671e-03 -1.35919702e-05 9.99997401e-01 -3.85154081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:18.31, Z:-0.39 [[ 7.14605366e-01 -6.99525982e-01 1.60351436e-03 1.31983853e+02] [ 6.99524106e-01 7.14607164e-01 1.62068340e-03 1.83067224e+01] [-2.27959299e-03 -3.64521028e-05 9.99997401e-01 -3.85276494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:18.33, Z:-0.38 [[ 7.13583285e-01 -7.00568574e-01 1.60266773e-03 1.32003966e+02] [ 7.00566698e-01 7.13585084e-01 1.62153878e-03 1.83258181e+01] [-2.27963890e-03 -3.43273248e-05 9.99997401e-01 -3.84912410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:132.03, Y:18.34, Z:-0.38 [[ 7.15380483e-01 -6.98733284e-01 1.60076871e-03 1.32030407e+02] [ 6.98731400e-01 7.15382272e-01 1.62345710e-03 1.83447550e+01] [-2.27952507e-03 -4.28821648e-05 9.99997401e-01 -3.82871023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:18.36, Z:-0.38 [[ 7.14560924e-01 -6.99571339e-01 1.62063165e-03 1.32050905e+02] [ 6.99569502e-01 7.14562762e-01 1.60338045e-03 1.83639005e+01] [-2.27972203e-03 -1.19685420e-05 9.99997401e-01 -3.80240625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:18.38, Z:-0.38 [[ 7.12346158e-01 -7.01826422e-01 1.62017309e-03 1.32071294e+02] [ 7.01824590e-01 7.12348000e-01 1.60384367e-03 1.83819401e+01] [-2.27974693e-03 -5.41456028e-06 9.99997401e-01 -3.80841917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:18.40, Z:-0.38 [[ 7.11326872e-01 -7.02859486e-01 1.61991750e-03 1.32091279e+02] [ 7.02857656e-01 7.11328716e-01 1.60410179e-03 1.84004465e+01] [-2.27975199e-03 -2.46929457e-06 9.99997401e-01 -3.80903809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:18.42, Z:-0.38 [[ 7.07158946e-01 -7.07052758e-01 1.61966811e-03 1.32105573e+02] [ 7.07050938e-01 7.07160800e-01 1.60435356e-03 1.84199814e+01] [-2.27972840e-03 1.06548874e-05 9.99997401e-01 -3.84975229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:18.44, Z:-0.38 [[ 7.09604265e-01 -7.04598630e-01 1.59968752e-03 1.32132782e+02] [ 7.04596757e-01 7.09606067e-01 1.62450123e-03 1.84386709e+01] [-2.27976932e-03 -2.56183631e-05 9.99997401e-01 -3.79708122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:18.46, Z:-0.38 [[ 7.09397496e-01 -7.04806761e-01 1.61916467e-03 1.32153057e+02] [ 7.04804934e-01 7.09399344e-01 1.60485036e-03 1.84588649e+01] [-2.27974374e-03 2.71842330e-06 9.99997401e-01 -3.79785802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:18.48, Z:-0.38 [[ 7.08893436e-01 -7.05313743e-01 1.61869365e-03 1.32172668e+02] [ 7.05311916e-01 7.08895284e-01 1.60532530e-03 1.84772042e+01] [-2.27974230e-03 3.67935030e-06 9.99997401e-01 -3.79230661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:18.50, Z:-0.38 [[ 7.08178214e-01 -7.06031867e-01 1.61842953e-03 1.32192593e+02] [ 7.06030042e-01 7.08180064e-01 1.60559153e-03 1.84955649e+01] [-2.27973832e-03 5.61492674e-06 9.99997401e-01 -3.77453116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:18.52, Z:-0.38 [[ 7.04168617e-01 -7.10030944e-01 1.61817409e-03 1.32205594e+02] [ 7.10029128e-01 7.04170476e-01 1.60584893e-03 1.85161608e+01] [-2.27967286e-03 1.81623179e-05 9.99997401e-01 -3.80085498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:18.54, Z:-0.38 [[ 7.04308624e-01 -7.09892115e-01 1.59598115e-03 1.32225882e+02] [ 7.09890248e-01 7.04310432e-01 1.62819977e-03 1.85363252e+01] [-2.27991235e-03 -1.37836823e-05 9.99997401e-01 -3.79991649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:18.56, Z:-0.38 [[ 7.07911479e-01 -7.06299363e-01 1.59583689e-03 1.32252565e+02] [ 7.06297487e-01 7.07913278e-01 1.62834505e-03 1.85557020e+01] [-2.27981320e-03 -2.55885747e-05 9.99997401e-01 -3.77675785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:18.58, Z:-0.38 [[ 7.06817533e-01 -7.07394060e-01 1.61829335e-03 1.32272531e+02] [ 7.07392238e-01 7.06819385e-01 1.60571265e-03 1.85759229e+01] [-2.27971270e-03 9.82229562e-06 9.99997401e-01 -3.78978387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:18.60, Z:-0.38 [[ 7.02408933e-01 -7.11771784e-01 1.61783401e-03 1.32285533e+02] [ 7.11769973e-01 7.02410796e-01 1.60617532e-03 1.85967256e+01] [-2.27961435e-03 2.33337757e-05 9.99997401e-01 -3.82375106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:18.62, Z:-0.38 [[ 7.05697599e-01 -7.08511368e-01 1.59375062e-03 1.32312888e+02] [ 7.08509493e-01 7.05699398e-01 1.63040652e-03 1.86154758e+01] [-2.27987040e-03 -2.13865238e-05 9.99997401e-01 -3.79417481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:18.64, Z:-0.38 [[ 7.05033318e-01 -7.09172337e-01 1.61764487e-03 1.32332725e+02] [ 7.09170518e-01 7.05035174e-01 1.60634417e-03 1.86360288e+01] [-2.27967138e-03 1.46598897e-05 9.99997401e-01 -3.79790333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:18.66, Z:-0.38 [[ 7.04727587e-01 -7.09476154e-01 1.61718813e-03 1.32351957e+02] [ 7.09474334e-01 7.04729442e-01 1.60680386e-03 1.86563380e+01] [-2.27966911e-03 1.49944665e-05 9.99997401e-01 -3.79978325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.37, Y:18.68, Z:-0.38 [[ 7.04335355e-01 -7.09865546e-01 1.61673495e-03 1.32370875e+02] [ 7.09863727e-01 7.04337211e-01 1.60725971e-03 1.86769492e+01] [-2.27966488e-03 1.56116609e-05 9.99997401e-01 -3.81697770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:18.70, Z:-0.38 [[ 7.04949660e-01 -7.09255501e-01 1.61627683e-03 1.32389439e+02] [ 7.09253679e-01 7.04951512e-01 1.60772028e-03 1.86976144e+01] [-2.27968124e-03 1.29884221e-05 9.99997401e-01 -3.79892180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:18.72, Z:-0.38 [[ 7.01352250e-01 -7.12813026e-01 1.61581919e-03 1.32401188e+02] [ 7.12811213e-01 7.01354111e-01 1.60818009e-03 1.87193272e+01] [-2.27959314e-03 2.38733121e-05 9.99997401e-01 -3.82942590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:18.74, Z:-0.38 [[ 7.05871243e-01 -7.08338382e-01 1.58905902e-03 1.32428465e+02] [ 7.08336495e-01 7.05873031e-01 1.63503922e-03 1.87390368e+01] [-2.27983495e-03 -2.85386702e-05 9.99997401e-01 -3.79149375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:18.76, Z:-0.38 [[ 7.06881223e-01 -7.07330422e-01 1.61563103e-03 1.32446633e+02] [ 7.07328593e-01 7.06883070e-01 1.60834688e-03 1.87603322e+01] [-2.27969490e-03 5.87181634e-06 9.99997401e-01 -3.79816149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:18.78, Z:-0.38 [[ 7.03202930e-01 -7.10987363e-01 1.61517969e-03 1.32456988e+02] [ 7.10985543e-01 7.03204785e-01 1.60880001e-03 1.87821259e+01] [-2.27963856e-03 1.70565251e-05 9.99997401e-01 -3.83816496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:18.80, Z:-0.38 [[ 7.08471413e-01 -7.05737726e-01 1.58709643e-03 1.32485039e+02] [ 7.05735829e-01 7.08473190e-01 1.63695975e-03 1.88022163e+01] [-2.27967952e-03 -3.96683704e-05 9.99997401e-01 -3.80435200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:18.82, Z:-0.38 [[ 7.09005376e-01 -7.05201226e-01 1.61496836e-03 1.32503672e+02] [ 7.05199390e-01 7.09007215e-01 1.60898416e-03 1.88228803e+01] [-2.27968182e-03 -1.90372071e-06 9.99997402e-01 -3.81036220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:18.84, Z:-0.38 [[ 7.09778104e-01 -7.04423478e-01 1.61451284e-03 1.32523322e+02] [ 7.04421640e-01 7.09779940e-01 1.60944112e-03 1.88435584e+01] [-2.27967694e-03 -5.04828469e-06 9.99997402e-01 -3.81610519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:18.86, Z:-0.38 [[ 7.10953710e-01 -7.03236957e-01 1.61406014e-03 1.32541607e+02] [ 7.03235114e-01 7.10955542e-01 1.60989499e-03 1.88639177e+01] [-2.27966266e-03 -9.49705312e-06 9.99997402e-01 -3.83242370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:18.89, Z:-0.39 [[ 7.07615082e-01 -7.06596272e-01 1.61375257e-03 1.32552686e+02] [ 7.06594437e-01 7.07616922e-01 1.61020324e-03 1.88853428e+01] [-2.27968223e-03 8.64496329e-07 9.99997402e-01 -3.89085612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:18.90, Z:-0.39 [[ 7.11920847e-01 -7.02257919e-01 1.58834589e-03 1.32580434e+02] [ 7.02256016e-01 7.11922617e-01 1.63563152e-03 1.89049710e+01] [-2.27941455e-03 -4.90147229e-05 9.99997401e-01 -3.85187274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:18.93, Z:-0.39 [[ 7.12256920e-01 -7.01917002e-01 1.61332916e-03 1.32600141e+02] [ 7.01915154e-01 7.12258747e-01 1.61060601e-03 1.89255546e+01] [-2.27961955e-03 -1.47450864e-05 9.99997402e-01 -3.85822268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:18.95, Z:-0.39 [[ 7.12884972e-01 -7.01279128e-01 1.61287307e-03 1.32619635e+02] [ 7.01277278e-01 7.12886796e-01 1.61106261e-03 1.89460888e+01] [-2.27960050e-03 -1.74310893e-05 9.99997402e-01 -3.86308361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:18.97, Z:-0.39 [[ 7.13137858e-01 -7.01021966e-01 1.61242113e-03 1.32639531e+02] [ 7.01020114e-01 7.13139680e-01 1.61151481e-03 1.89662416e+01] [-2.27958877e-03 -1.88925773e-05 9.99997402e-01 -3.86762569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:18.99, Z:-0.39 [[ 7.13176955e-01 -7.00982192e-01 1.61196950e-03 1.32659291e+02] [ 7.00980338e-01 7.13178776e-01 1.61196644e-03 1.89863801e+01] [-2.27958220e-03 -1.96583892e-05 9.99997402e-01 -3.87177919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:19.01, Z:-0.39 [[ 7.10427427e-01 -7.03768623e-01 1.61152161e-03 1.32671802e+02] [ 7.03766776e-01 7.10429254e-01 1.61241408e-03 1.90064097e+01] [-2.27963853e-03 -1.13678145e-05 9.99997402e-01 -3.94196947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:19.03, Z:-0.39 [[ 7.13606033e-01 -7.00545425e-01 1.59282176e-03 1.32697320e+02] [ 7.00543528e-01 7.13607809e-01 1.63105375e-03 1.90250065e+01] [-2.27927729e-03 -4.80888207e-05 9.99997401e-01 -3.87806918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:19.05, Z:-0.39 [[ 7.13767132e-01 -7.00381251e-01 1.60792895e-03 1.32718079e+02] [ 7.00379387e-01 7.13768942e-01 1.61599188e-03 1.90451881e+01] [-2.27950016e-03 -2.72815961e-05 9.99997402e-01 -3.86955577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:19.07, Z:-0.39 [[ 7.11776118e-01 -7.02404562e-01 1.60928029e-03 1.32734196e+02] [ 7.02402706e-01 7.11777937e-01 1.61464502e-03 1.90658290e+01] [-2.27958423e-03 -1.89029301e-05 9.99997402e-01 -3.89671907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:19.08, Z:-0.39 [[ 7.14865647e-01 -6.99260007e-01 1.59662976e-03 1.32758271e+02] [ 6.99258115e-01 7.14867428e-01 1.62724318e-03 1.90847163e+01] [-2.27924469e-03 -4.68039297e-05 9.99997401e-01 -3.85048073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:19.10, Z:-0.38 [[ 7.15674725e-01 -6.98431886e-01 1.60874917e-03 1.32777548e+02] [ 6.98430019e-01 7.15676533e-01 1.61517196e-03 1.91044793e+01] [-2.27943163e-03 -3.23390349e-05 9.99997402e-01 -3.84343729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:19.12, Z:-0.38 [[ 7.17855452e-01 -6.96190321e-01 1.60831667e-03 1.32796975e+02] [ 6.96188448e-01 7.17857253e-01 1.61560251e-03 1.91245971e+01] [-2.27930862e-03 -4.00775843e-05 9.99997402e-01 -3.83605887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:19.14, Z:-0.38 [[ 7.18992827e-01 -6.95015632e-01 1.60785730e-03 1.32816521e+02] [ 6.95013755e-01 7.18994624e-01 1.61605955e-03 1.91444818e+01] [-2.27922741e-03 -4.44522847e-05 9.99997402e-01 -3.83206423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:19.16, Z:-0.38 [[ 7.20243250e-01 -6.93719739e-01 1.60739752e-03 1.32835377e+02] [ 6.93717857e-01 7.20245042e-01 1.61651674e-03 1.91636592e+01] [-2.27912967e-03 -4.92049041e-05 9.99997402e-01 -3.83561672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:19.18, Z:-0.38 [[ 7.21287843e-01 -6.92633572e-01 1.60714256e-03 1.32854964e+02] [ 6.92631687e-01 7.21289632e-01 1.61677018e-03 1.91839028e+01] [-2.27904457e-03 -5.29988135e-05 9.99997402e-01 -3.84298853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:19.20, Z:-0.39 [[ 7.23445083e-01 -6.90380062e-01 1.60667677e-03 1.32874073e+02] [ 6.90378171e-01 7.23446865e-01 1.61723294e-03 1.92031647e+01] [-2.27885065e-03 -6.07646472e-05 9.99997402e-01 -3.85865689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:19.22, Z:-0.39 [[ 7.24145877e-01 -6.89644959e-01 1.60636095e-03 1.32894129e+02] [ 6.89643065e-01 7.24147655e-01 1.61754658e-03 1.92230931e+01] [-2.27877535e-03 -6.35239977e-05 9.99997402e-01 -3.86484108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:19.24, Z:-0.39 [[ 7.24689441e-01 -6.89073751e-01 1.60589516e-03 1.32913036e+02] [ 6.89071855e-01 7.24691218e-01 1.61800887e-03 1.92420886e+01] [-2.27870556e-03 -6.59767862e-05 9.99997402e-01 -3.87277374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:19.26, Z:-0.39 [[ 7.24834996e-01 -6.88920641e-01 1.60563956e-03 1.32932719e+02] [ 6.88918744e-01 7.24836771e-01 1.61826248e-03 1.92619352e+01] [-2.27868102e-03 -6.68180935e-05 9.99997402e-01 -3.88073849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:19.28, Z:-0.39 [[ 7.23950581e-01 -6.89849969e-01 1.60518237e-03 1.32953307e+02] [ 6.89848073e-01 7.23952358e-01 1.61871585e-03 1.92816581e+01] [-2.27874664e-03 -6.45383142e-05 9.99997402e-01 -3.89184843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.97, Y:19.30, Z:-0.39 [[ 7.21216127e-01 -6.92708252e-01 1.60472285e-03 1.32970417e+02] [ 6.92706362e-01 7.21217910e-01 1.61917126e-03 1.93017175e+01] [-2.27896816e-03 -5.61706984e-05 9.99997402e-01 -3.92107170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:19.32, Z:-0.39 [[ 7.21632155e-01 -6.92274870e-01 1.59288474e-03 1.32994603e+02] [ 6.92272953e-01 7.21633909e-01 1.63089432e-03 1.93206602e+01] [-2.27850680e-03 -7.41947631e-05 9.99997401e-01 -3.87851684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:19.34, Z:-0.39 [[ 7.19410660e-01 -6.94583133e-01 1.60419773e-03 1.33014246e+02] [ 6.94581246e-01 7.19412447e-01 1.61968954e-03 1.93401829e+01] [-2.27908885e-03 -5.09762668e-05 9.99997402e-01 -3.87583738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:19.36, Z:-0.39 [[ 7.14614922e-01 -6.99516220e-01 1.60373468e-03 1.33033250e+02] [ 6.99514344e-01 7.14616720e-01 1.62014790e-03 1.93594243e+01] [-2.27937535e-03 -3.59464484e-05 9.99997402e-01 -3.87802034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:19.38, Z:-0.39 [[ 7.12318451e-01 -7.01854582e-01 1.60347043e-03 1.33053430e+02] [ 7.01852712e-01 7.12320255e-01 1.62040938e-03 1.93785187e+01] [-2.27947622e-03 -2.88474318e-05 9.99997402e-01 -3.86121676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:19.40, Z:-0.38 [[ 7.10263503e-01 -7.03934078e-01 1.60303587e-03 1.33074164e+02] [ 7.03932213e-01 7.10265312e-01 1.62083917e-03 1.93973946e+01] [-2.27954470e-03 -2.27943198e-05 9.99997402e-01 -3.83844769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:19.42, Z:-0.39 [[ 7.04854447e-01 -7.09350153e-01 1.60257688e-03 1.33087792e+02] [ 7.09348301e-01 7.04856269e-01 1.62129286e-03 1.94169501e+01] [-2.27965070e-03 -5.99029422e-06 9.99997402e-01 -3.86049767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:19.44, Z:-0.38 [[ 7.06127227e-01 -7.08083221e-01 1.57847576e-03 1.33115919e+02] [ 7.08081311e-01 7.06128990e-01 1.64509236e-03 1.94359894e+01] [-2.27946979e-03 -4.39553267e-05 9.99997401e-01 -3.82257951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:19.46, Z:-0.39 [[ 7.01000616e-01 -7.13158867e-01 1.60227564e-03 1.33126992e+02] [ 7.13157024e-01 7.01002447e-01 1.62157575e-03 1.94574224e+01] [-2.27964027e-03 5.94852425e-06 9.99997402e-01 -3.87946772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:19.48, Z:-0.39 [[ 7.04569132e-01 -7.09633612e-01 1.57309111e-03 1.33154953e+02] [ 7.09631695e-01 7.04570886e-01 1.65037953e-03 1.94781382e+01] [-2.27951899e-03 -4.64911607e-05 9.99997401e-01 -3.85827408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:19.50, Z:-0.39 [[ 7.04114981e-01 -7.10084169e-01 1.60200798e-03 1.33174349e+02] [ 7.10082317e-01 7.04116803e-01 1.62181584e-03 1.94988872e+01] [-2.27962649e-03 -4.38728688e-06 9.99997402e-01 -3.87174031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:19.52, Z:-0.39 [[ 7.04200502e-01 -7.09999358e-01 1.60155191e-03 1.33194173e+02] [ 7.09997505e-01 7.04202323e-01 1.62226608e-03 1.95187872e+01] [-2.27962446e-03 -5.30272611e-06 9.99997402e-01 -3.88167576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:19.54, Z:-0.39 [[ 7.00058436e-01 -7.14083770e-01 1.59840804e-03 1.33205405e+02] [ 7.14081921e-01 7.00060261e-01 1.62536790e-03 1.95377227e+01] [-2.27963079e-03 3.54177358e-06 9.99997402e-01 -3.94359071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:19.56, Z:-0.39 [[ 7.00528688e-01 -7.13622497e-01 1.57730101e-03 1.33225337e+02] [ 7.13620599e-01 7.00530464e-01 1.64620093e-03 1.95564018e+01] [-2.27971342e-03 -2.76164844e-05 9.99997401e-01 -3.93506856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:19.58, Z:-0.39 [[ 7.00059776e-01 -7.14082506e-01 1.57603298e-03 1.33245279e+02] [ 7.14080607e-01 7.00061550e-01 1.64745216e-03 1.95762646e+01] [-2.27973686e-03 -2.79004041e-05 9.99997401e-01 -3.93762273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:19.60, Z:-0.39 [[ 7.02970159e-01 -7.11217593e-01 1.57816526e-03 1.33271821e+02] [ 7.11215691e-01 7.02971930e-01 1.64534887e-03 1.95959712e+01] [-2.27960694e-03 -3.42152574e-05 9.99997401e-01 -3.88265900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:19.62, Z:-0.39 [[ 7.02354551e-01 -7.11825484e-01 1.60153426e-03 1.33291089e+02] [ 7.11823635e-01 7.02356377e-01 1.62227869e-03 1.96161912e+01] [-2.27962712e-03 5.95115064e-07 9.99997402e-01 -3.88061734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:19.64, Z:-0.39 [[ 7.01717999e-01 -7.12453007e-01 1.60107940e-03 1.33310591e+02] [ 7.12451159e-01 7.01719825e-01 1.62272749e-03 1.96363452e+01] [-2.27962623e-03 1.99378292e-06 9.99997402e-01 -3.87491888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:19.66, Z:-0.39 [[ 7.00903196e-01 -7.13254617e-01 1.60062765e-03 1.33330433e+02] [ 7.13252770e-01 7.00905023e-01 1.62317296e-03 1.96563868e+01] [-2.27962357e-03 3.96499042e-06 9.99997402e-01 -3.85557101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:19.68, Z:-0.38 [[ 7.00322789e-01 -7.13824510e-01 1.60017567e-03 1.33349585e+02] [ 7.13822663e-01 7.00324617e-01 1.62361841e-03 1.96763698e+01] [-2.27962103e-03 5.18468351e-06 9.99997402e-01 -3.84784448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:19.70, Z:-0.38 [[ 7.00003159e-01 -7.14137954e-01 1.59971635e-03 1.33368616e+02] [ 7.14136108e-01 7.00004987e-01 1.62407084e-03 1.96966497e+01] [-2.27962006e-03 5.56048637e-06 9.99997402e-01 -3.84732498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:19.72, Z:-0.39 [[ 6.96235631e-01 -7.17811522e-01 1.60171138e-03 1.33378853e+02] [ 7.17809689e-01 6.96237473e-01 1.62210647e-03 1.97175241e+01] [-2.27953820e-03 2.03556253e-05 9.99997402e-01 -3.86523707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:19.74, Z:-0.39 [[ 6.96347741e-01 -7.17702831e-01 1.57132034e-03 1.33398206e+02] [ 7.17700931e-01 6.96349514e-01 1.65200343e-03 1.97370891e+01] [-2.27983569e-03 -2.26307912e-05 9.99997401e-01 -3.86568029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.43, Y:19.76, Z:-0.38 [[ 7.00494708e-01 -7.13655868e-01 1.57049787e-03 1.33425759e+02] [ 7.13653955e-01 7.00496467e-01 1.65281248e-03 1.97578902e+01] [-2.27966753e-03 -3.69943752e-05 9.99997401e-01 -3.84826758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:19.78, Z:-0.39 [[ 7.01813546e-01 -7.12358891e-01 1.59932373e-03 1.33442655e+02] [ 7.12357039e-01 7.01815368e-01 1.62443217e-03 1.97788320e+01] [-2.27960867e-03 -7.58986146e-07 9.99997402e-01 -3.85141338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:19.80, Z:-0.39 [[ 7.02320278e-01 -7.11859305e-01 1.59907054e-03 1.33461720e+02] [ 7.11857451e-01 7.02322099e-01 1.62468137e-03 1.97999736e+01] [-2.27960713e-03 -2.73639642e-06 9.99997402e-01 -3.86505018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:19.82, Z:-0.39 [[ 7.02867861e-01 -7.11318645e-01 1.59863280e-03 1.33480998e+02] [ 7.11316788e-01 7.02869679e-01 1.62511198e-03 1.98209278e+01] [-2.27960297e-03 -5.10463567e-06 9.99997402e-01 -3.87933906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:19.84, Z:-0.39 [[ 7.03433669e-01 -7.10759115e-01 1.59817491e-03 1.33499532e+02] [ 7.10757256e-01 7.03435484e-01 1.62556215e-03 1.98414236e+01] [-2.27959606e-03 -7.56073607e-06 9.99997402e-01 -3.89336729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:19.86, Z:-0.39 [[ 7.03887312e-01 -7.10309862e-01 1.59770990e-03 1.33517628e+02] [ 7.10308001e-01 7.03889125e-01 1.62601907e-03 1.98615218e+01] [-2.27958800e-03 -9.66806405e-06 9.99997402e-01 -3.90631478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:19.88, Z:-0.40 [[ 7.00535390e-01 -7.13615874e-01 1.59745636e-03 1.33527295e+02] [ 7.13614021e-01 7.00537211e-01 1.62626812e-03 1.98830040e+01] [-2.27960837e-03 7.08885672e-07 9.99997402e-01 -3.95749843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:19.90, Z:-0.39 [[ 7.05291724e-01 -7.08915460e-01 1.56680600e-03 1.33555839e+02] [ 7.08913527e-01 7.05293462e-01 1.65634202e-03 1.99033195e+01] [-2.27926449e-03 -5.74743524e-05 9.99997401e-01 -3.92289238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.57, Y:19.92, Z:-0.39 [[ 7.05456727e-01 -7.08751194e-01 1.59741811e-03 1.33574842e+02] [ 7.08749328e-01 7.05458535e-01 1.62627305e-03 1.99235206e+01] [-2.27953521e-03 -1.50962503e-05 9.99997402e-01 -3.92294737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:19.94, Z:-0.39 [[ 7.05615945e-01 -7.08592681e-01 1.59695302e-03 1.33593936e+02] [ 7.08590814e-01 7.05617752e-01 1.62672964e-03 1.99437862e+01] [-2.27952711e-03 -1.62601320e-05 9.99997402e-01 -3.92438446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:19.96, Z:-0.39 [[ 7.05647980e-01 -7.08560780e-01 1.59649111e-03 1.33612745e+02] [ 7.08558912e-01 7.05649786e-01 1.62718283e-03 1.99632298e+01] [-2.27952155e-03 -1.70102707e-05 9.99997402e-01 -3.92519392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:19.98, Z:-0.39 [[ 7.05547868e-01 -7.08660467e-01 1.59623368e-03 1.33632498e+02] [ 7.08658599e-01 7.05549674e-01 1.62743532e-03 1.99838606e+01] [-2.27952123e-03 -1.70487987e-05 9.99997402e-01 -3.92494821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:20.00, Z:-0.39 [[ 7.05732160e-01 -7.08476938e-01 1.59577379e-03 1.33651729e+02] [ 7.08475068e-01 7.05733964e-01 1.62788614e-03 2.00040271e+01] [-2.27951155e-03 -1.82856606e-05 9.99997402e-01 -3.92570664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:20.02, Z:-0.40 [[ 7.02608755e-01 -7.11574587e-01 1.59531292e-03 1.33660554e+02] [ 7.11572724e-01 7.02610566e-01 1.62833767e-03 2.00246593e+01] [-2.27956742e-03 -8.90313852e-06 9.99997402e-01 -3.99460524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:20.04, Z:-0.40 [[ 7.02673048e-01 -7.11511164e-01 1.56544941e-03 1.33679824e+02] [ 7.11509235e-01 7.02674790e-01 1.65756190e-03 2.00442121e+01] [-2.27937563e-03 -5.08923650e-05 9.99997401e-01 -3.99505637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:20.06, Z:-0.40 [[ 7.03593690e-01 -7.10600772e-01 1.56915905e-03 1.33698953e+02] [ 7.10598849e-01 7.03595438e-01 1.65392108e-03 2.00642278e+01] [-2.27933075e-03 -4.86458178e-05 9.99997401e-01 -3.97568018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:20.08, Z:-0.40 [[ 7.03992363e-01 -7.10205816e-01 1.56599201e-03 1.33718878e+02] [ 7.10203885e-01 7.03994102e-01 1.65702785e-03 2.00843102e+01] [-2.27927996e-03 -5.43613414e-05 9.99997401e-01 -3.98000225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:20.10, Z:-0.39 [[ 7.08676815e-01 -7.05531513e-01 1.56714979e-03 1.33747695e+02] [ 7.05529573e-01 7.08678545e-01 1.65589242e-03 2.01038712e+01] [-2.27888971e-03 -6.78220446e-05 9.99997401e-01 -3.94054701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:20.12, Z:-0.39 [[ 7.09665517e-01 -7.04536943e-01 1.59682770e-03 1.33766428e+02] [ 7.04535066e-01 7.09667313e-01 1.62676059e-03 2.01236583e+01] [-2.27932936e-03 -2.94347810e-05 9.99997402e-01 -3.94872366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:20.14, Z:-0.40 [[ 7.09925595e-01 -7.04274876e-01 1.59651654e-03 1.33785095e+02] [ 7.04272997e-01 7.09927390e-01 1.62706591e-03 2.01434857e+01] [-2.27931246e-03 -3.07122414e-05 9.99997402e-01 -3.96231637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:20.16, Z:-0.40 [[ 7.05848394e-01 -7.08361135e-01 1.59626979e-03 1.33796360e+02] [ 7.08359266e-01 7.05850198e-01 1.62730795e-03 2.01645410e+01] [-2.27944905e-03 -1.79002030e-05 9.99997402e-01 -4.01785461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:20.18, Z:-0.40 [[ 7.09755250e-01 -7.04446608e-01 1.56925660e-03 1.33824362e+02] [ 7.04444670e-01 7.09756981e-01 1.65377430e-03 2.01838344e+01] [-2.27878652e-03 -6.83205487e-05 9.99997401e-01 -3.98442380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:20.20, Z:-0.40 [[ 7.09019112e-01 -7.05187459e-01 1.59598432e-03 1.33844387e+02] [ 7.05185581e-01 7.09020907e-01 1.62756520e-03 2.02038134e+01] [-2.27932482e-03 -2.85097015e-05 9.99997402e-01 -3.99118587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:20.22, Z:-0.40 [[ 7.06976868e-01 -7.07234871e-01 1.59554171e-03 1.33865703e+02] [ 7.07232997e-01 7.06978668e-01 1.62799898e-03 2.02225449e+01] [-2.27939161e-03 -2.25378762e-05 9.99997402e-01 -3.99290959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:20.24, Z:-0.40 [[ 7.05480409e-01 -7.08727626e-01 1.59509057e-03 1.33886664e+02] [ 7.08725755e-01 7.05482212e-01 1.62844089e-03 2.02420230e+01] [-2.27942907e-03 -1.83513748e-05 9.99997402e-01 -3.98633327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:20.26, Z:-0.40 [[ 7.03846955e-01 -7.10349858e-01 1.59463090e-03 1.33906196e+02] [ 7.10347991e-01 7.03848761e-01 1.62889089e-03 2.02603991e+01] [-2.27946140e-03 -1.37470346e-05 9.99997402e-01 -3.98260685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:20.28, Z:-0.40 [[ 7.00344066e-01 -7.13803648e-01 1.59437690e-03 1.33926475e+02] [ 7.13801789e-01 7.00345881e-01 1.62913946e-03 2.02795663e+01] [-2.27950099e-03 -2.88907030e-06 9.99997402e-01 -3.97495336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:20.30, Z:-0.40 [[ 6.98762056e-01 -7.15352395e-01 1.59392255e-03 1.33945695e+02] [ 7.15350538e-01 6.98763874e-01 1.62958388e-03 2.02990551e+01] [-2.27950222e-03 1.52197494e-06 9.99997402e-01 -3.96858415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:20.32, Z:-0.40 [[ 6.97325197e-01 -7.16753117e-01 1.59366596e-03 1.33965628e+02] [ 7.16751263e-01 6.97327018e-01 1.62983477e-03 2.03195545e+01] [-2.27949548e-03 5.73723626e-06 9.99997402e-01 -3.96842144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:20.34, Z:-0.40 [[ 6.95992202e-01 -7.18047573e-01 1.59322010e-03 1.33984473e+02] [ 7.18045722e-01 6.95994025e-01 1.63027050e-03 2.03388128e+01] [-2.27948345e-03 9.34932222e-06 9.99997402e-01 -3.97077562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:20.36, Z:-0.40 [[ 6.94462863e-01 -7.19526785e-01 1.59297317e-03 1.34004420e+02] [ 7.19524937e-01 6.94464690e-01 1.63051174e-03 2.03588084e+01] [-2.27946049e-03 1.38540672e-05 9.99997402e-01 -3.97073639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:20.38, Z:-0.40 [[ 6.93922927e-01 -7.20047523e-01 1.59252452e-03 1.34023301e+02] [ 7.20045676e-01 6.93924755e-01 1.63094983e-03 2.03787580e+01] [-2.27945357e-03 1.49369161e-05 9.99997402e-01 -3.96531196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:20.40, Z:-0.40 [[ 6.93596260e-01 -7.20362195e-01 1.59227626e-03 1.34042731e+02] [ 7.20360349e-01 6.93598088e-01 1.63119216e-03 2.03992987e+01] [-2.27944894e-03 1.56239022e-05 9.99997402e-01 -3.95863749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.06, Y:20.42, Z:-0.40 [[ 6.93520507e-01 -7.20435127e-01 1.59183439e-03 1.34060818e+02] [ 7.20433279e-01 6.93522334e-01 1.63162326e-03 2.04203934e+01] [-2.27945141e-03 1.52462800e-05 9.99997402e-01 -3.96401787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:20.44, Z:-0.40 [[ 6.92083809e-01 -7.21815398e-01 1.59137258e-03 1.34077200e+02] [ 7.21813553e-01 6.92085638e-01 1.63207355e-03 2.04417128e+01] [-2.27942193e-03 1.91426147e-05 9.99997402e-01 -4.00073849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:20.46, Z:-0.40 [[ 6.93909359e-01 -7.20060616e-01 1.58472803e-03 1.34097928e+02] [ 7.20058752e-01 6.93911168e-01 1.63854742e-03 2.04614191e+01] [-2.27951394e-03 4.09389861e-06 9.99997402e-01 -3.97742329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.12, Y:20.48, Z:-0.40 [[ 6.94193317e-01 -7.19786849e-01 1.59073729e-03 1.34116379e+02] [ 7.19784997e-01 6.94195140e-01 1.63269257e-03 2.04812939e+01] [-2.27947274e-03 1.15845657e-05 9.99997402e-01 -3.97927853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:20.50, Z:-0.40 [[ 6.94489508e-01 -7.19501072e-01 1.59048001e-03 1.34135415e+02] [ 7.19499219e-01 6.94491329e-01 1.63294317e-03 2.05018130e+01] [-2.27947894e-03 1.02872283e-05 9.99997402e-01 -3.98125376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.9 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.15, Y:20.52, Z:-0.40 [[ 6.94620997e-01 -7.19374133e-01 1.59001202e-03 1.34153716e+02] [ 7.19372278e-01 6.94622816e-01 1.63339873e-03 2.05222683e+01] [-2.27948342e-03 9.21751380e-06 9.99997402e-01 -3.97954001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:20.54, Z:-0.40 [[ 6.95848864e-01 -7.18186488e-01 1.58975374e-03 1.34171033e+02] [ 7.18184630e-01 6.95850680e-01 1.63365006e-03 2.05441128e+01] [-2.27949662e-03 4.96316205e-06 9.99997402e-01 -3.98645816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:20.57, Z:-0.40 [[ 6.96281988e-01 -7.17766583e-01 1.58929322e-03 1.34189837e+02] [ 7.17764723e-01 6.96283801e-01 1.63409795e-03 2.05657125e+01] [-2.27950003e-03 2.94563893e-06 9.99997402e-01 -3.98614536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:20.59, Z:-0.40 [[ 6.97168177e-01 -7.16905857e-01 1.58882566e-03 1.34207956e+02] [ 7.16903994e-01 6.97169988e-01 1.63455244e-03 2.05861523e+01] [-2.27950178e-03 -5.22487207e-07 9.99997402e-01 -3.98521018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:20.61, Z:-0.40 [[ 6.97964072e-01 -7.16131015e-01 1.58856652e-03 1.34226438e+02] [ 7.16129149e-01 6.97965880e-01 1.63480425e-03 2.06066987e+01] [-2.27949926e-03 -3.41583824e-06 9.99997402e-01 -3.98564955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:20.63, Z:-0.40 [[ 6.99306470e-01 -7.14820215e-01 1.58809642e-03 1.34245266e+02] [ 7.14818344e-01 6.99308273e-01 1.63526079e-03 2.06280766e+01] [-2.27948643e-03 -8.34799818e-06 9.99997402e-01 -3.98201800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:20.65, Z:-0.40 [[ 6.99682148e-01 -7.14452497e-01 1.58762659e-03 1.34263964e+02] [ 7.14450625e-01 6.99683949e-01 1.63571680e-03 2.06488068e+01] [-2.27947880e-03 -1.02010343e-05 9.99997402e-01 -3.97677547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:20.67, Z:-0.40 [[ 6.99923694e-01 -7.14215866e-01 1.58715769e-03 1.34281896e+02] [ 7.14213992e-01 6.99925493e-01 1.63617166e-03 2.06695987e+01] [-2.27947189e-03 -1.16250842e-05 9.99997402e-01 -3.97559698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:20.69, Z:-0.40 [[ 6.99632176e-01 -7.14501434e-01 1.58689828e-03 1.34299599e+02] [ 7.14499560e-01 6.99633976e-01 1.63642322e-03 2.06921931e+01] [-2.27947469e-03 -1.10562112e-05 9.99997402e-01 -3.97542620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:20.71, Z:-0.40 [[ 6.98774488e-01 -7.15340268e-01 1.58643574e-03 1.34318505e+02] [ 7.15338395e-01 6.98776289e-01 1.63687151e-03 2.07134781e+01] [-2.27948378e-03 -8.96565603e-06 9.99997402e-01 -3.97825778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:20.73, Z:-0.40 [[ 6.97442747e-01 -7.16638751e-01 1.58597667e-03 1.34336980e+02] [ 7.16636881e-01 6.97444550e-01 1.63731618e-03 2.07344707e+01] [-2.27949501e-03 -5.36492023e-06 9.99997402e-01 -3.98048987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:20.75, Z:-0.40 [[ 6.96296073e-01 -7.17752927e-01 1.58551033e-03 1.34355374e+02] [ 7.17751059e-01 6.96297879e-01 1.63776764e-03 2.07542767e+01] [-2.27950000e-03 -2.36946247e-06 9.99997402e-01 -3.97960381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:20.78, Z:-0.40 [[ 6.93372911e-01 -7.20577194e-01 1.58525336e-03 1.34374379e+02] [ 7.20575332e-01 6.93374723e-01 1.63801634e-03 2.07751156e+01] [-2.27949183e-03 6.53830580e-06 9.99997402e-01 -3.97535348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:20.79, Z:-0.40 [[ 6.91850810e-01 -7.22038742e-01 1.58478951e-03 1.34392306e+02] [ 7.22036883e-01 6.91852625e-01 1.63846499e-03 2.07947985e+01] [-2.27947598e-03 1.07031434e-05 9.99997402e-01 -3.97613678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:20.82, Z:-0.40 [[ 6.90478773e-01 -7.23350920e-01 1.58453434e-03 1.34410109e+02] [ 7.23349064e-01 6.90480591e-01 1.63871173e-03 2.08150525e+01] [-2.27945384e-03 1.46757650e-05 9.99997402e-01 -3.98021894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:20.84, Z:-0.40 [[ 6.89123646e-01 -7.24642043e-01 1.58422792e-03 1.34428532e+02] [ 7.24640190e-01 6.89125467e-01 1.63900790e-03 2.08364439e+01] [-2.27942584e-03 1.85161198e-05 9.99997402e-01 -3.98406295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:20.86, Z:-0.40 [[ 6.86720395e-01 -7.26919934e-01 1.58376011e-03 1.34445819e+02] [ 7.26918086e-01 6.86722221e-01 1.63945982e-03 2.08581368e+01] [-2.27935928e-03 2.54133737e-05 9.99997402e-01 -4.00116090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:20.88, Z:-0.40 [[ 6.86682286e-01 -7.26955938e-01 1.58195002e-03 1.34464620e+02] [ 7.26954085e-01 6.86684108e-01 1.64120765e-03 2.08782439e+01] [-2.27938558e-03 2.30168137e-05 9.99997402e-01 -3.98919566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.48, Y:20.90, Z:-0.40 [[ 6.85830494e-01 -7.27759595e-01 1.58311887e-03 1.34484075e+02] [ 7.27757747e-01 6.85832320e-01 1.64007940e-03 2.09001676e+01] [-2.27933760e-03 2.73105566e-05 9.99997402e-01 -4.01288298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:134.51, Y:20.92, Z:-0.40 [[ 6.87468575e-01 -7.26212404e-01 1.58194861e-03 1.34506156e+02] [ 7.26210550e-01 6.87470395e-01 1.64120851e-03 2.09225237e+01] [-2.27940882e-03 2.05484940e-05 9.99997402e-01 -4.02054427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:20.94, Z:-0.40 [[ 6.87183575e-01 -7.26482064e-01 1.59562505e-03 1.34522572e+02] [ 7.26480241e-01 6.87185426e-01 1.62800793e-03 2.09433018e+01] [-2.27920884e-03 4.04497606e-05 9.99997402e-01 -4.04043315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:20.96, Z:-0.40 [[ 6.88706812e-01 -7.25038213e-01 1.58641186e-03 1.34540506e+02] [ 7.25036366e-01 6.88708639e-01 1.63689227e-03 2.09634960e+01] [-2.27938500e-03 2.28674312e-05 9.99997402e-01 -4.01821460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:20.99, Z:-0.41 [[ 6.90969427e-01 -7.22882251e-01 1.58176673e-03 1.34559318e+02] [ 7.22880388e-01 6.90971237e-01 1.64136873e-03 2.09860364e+01] [-2.27947164e-03 9.29254133e-06 9.99997402e-01 -4.08273274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:21.01, Z:-0.40 [[ 6.93464702e-01 -7.20488864e-01 1.58262842e-03 1.34578484e+02] [ 7.20486996e-01 6.93466508e-01 1.64053853e-03 2.10055365e+01] [-2.27948955e-03 2.60763489e-06 9.99997402e-01 -4.04842444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:21.03, Z:-0.40 [[ 6.93261801e-01 -7.20684102e-01 1.58112761e-03 1.34598266e+02] [ 7.20682232e-01 6.93263604e-01 1.64198372e-03 2.10261837e+01] [-2.27948979e-03 1.16598728e-06 9.99997402e-01 -4.04906802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:21.05, Z:-0.41 [[ 6.94932054e-01 -7.19073669e-01 1.58066514e-03 1.34618001e+02] [ 7.19071794e-01 6.94933851e-01 1.64242880e-03 2.10467973e+01] [-2.27948501e-03 -4.76469885e-06 9.99997402e-01 -4.05454617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:21.07, Z:-0.41 [[ 6.96711236e-01 -7.17349954e-01 1.58019699e-03 1.34636782e+02] [ 7.17348073e-01 6.96713028e-01 1.64287908e-03 2.10666341e+01] [-2.27946307e-03 -1.10610479e-05 9.99997402e-01 -4.06766842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:21.09, Z:-0.41 [[ 6.98433766e-01 -7.15672955e-01 1.57993991e-03 1.34656231e+02] [ 7.15671069e-01 6.98435553e-01 1.64312628e-03 2.10868727e+01] [-2.27942724e-03 -1.68975959e-05 9.99997402e-01 -4.06467625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:21.11, Z:-0.41 [[ 7.02110820e-01 -7.12065939e-01 1.57946871e-03 1.34675844e+02] [ 7.12064043e-01 7.02112596e-01 1.64357910e-03 2.11065610e+01] [-2.27930157e-03 -2.92917983e-05 9.99997402e-01 -4.06927429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:21.13, Z:-0.41 [[ 7.03574095e-01 -7.10620151e-01 1.57922303e-03 1.34695055e+02] [ 7.10618251e-01 7.03575866e-01 1.64381512e-03 2.11267508e+01] [-2.27923136e-03 -3.43210241e-05 9.99997402e-01 -4.06042754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:21.15, Z:-0.41 [[ 7.04766856e-01 -7.09437232e-01 1.57875738e-03 1.34714980e+02] [ 7.09435327e-01 7.04768623e-01 1.64426223e-03 2.11471775e+01] [-2.27915951e-03 -3.87952654e-05 9.99997402e-01 -4.05611800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:21.17, Z:-0.40 [[ 7.06650047e-01 -7.07561461e-01 1.57828678e-03 1.34734744e+02] [ 7.07559551e-01 7.06651808e-01 1.64471381e-03 2.11654577e+01] [-2.27903532e-03 -4.55052049e-05 9.99997402e-01 -4.04858943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:21.18, Z:-0.40 [[ 7.07398560e-01 -7.06813121e-01 1.57801461e-03 1.34753975e+02] [ 7.06811208e-01 7.07400318e-01 1.64497491e-03 2.11844477e+01] [-2.27897789e-03 -4.82944646e-05 9.99997402e-01 -4.04820229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:21.20, Z:-0.40 [[ 7.07948924e-01 -7.06261872e-01 1.57775513e-03 1.34774148e+02] [ 7.06259958e-01 7.07950680e-01 1.64522375e-03 2.12046869e+01] [-2.27893162e-03 -5.04291140e-05 9.99997402e-01 -4.04417924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:21.22, Z:-0.40 [[ 7.08483048e-01 -7.05726068e-01 1.57727410e-03 1.34793942e+02] [ 7.05724152e-01 7.08484801e-01 1.64568478e-03 2.12247164e+01] [-2.27887738e-03 -5.28193367e-05 9.99997402e-01 -4.04475498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:21.25, Z:-0.41 [[ 7.06405996e-01 -7.07805117e-01 1.57679416e-03 1.34810411e+02] [ 7.07803204e-01 7.06407754e-01 1.64614450e-03 2.12458044e+01] [-2.27900912e-03 -4.67863812e-05 9.99997402e-01 -4.10000082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:21.26, Z:-0.41 [[ 7.09867990e-01 -7.04333003e-01 1.56746167e-03 1.34834310e+02] [ 7.04331062e-01 7.09869717e-01 1.65507607e-03 2.12641074e+01] [-2.27841827e-03 -7.08735808e-05 9.99997402e-01 -4.06440174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:21.28, Z:-0.41 [[ 7.09800812e-01 -7.04400684e-01 1.57621810e-03 1.34853734e+02] [ 7.04398762e-01 7.09802559e-01 1.64669441e-03 2.12827350e+01] [-2.27873631e-03 -5.85389527e-05 9.99997402e-01 -4.06945400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:21.30, Z:-0.41 [[ 7.09493136e-01 -7.04710583e-01 1.57595669e-03 1.34874525e+02] [ 7.04708661e-01 7.09494884e-01 1.64694455e-03 2.13020732e+01] [-2.27875246e-03 -5.79055241e-05 9.99997402e-01 -4.07152678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:21.32, Z:-0.41 [[ 7.08462485e-01 -7.05746715e-01 1.57548545e-03 1.34896827e+02] [ 7.05744795e-01 7.08464234e-01 1.64739522e-03 2.13199639e+01] [-2.27881886e-03 -5.52270557e-05 9.99997402e-01 -4.07102786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:21.34, Z:-0.41 [[ 7.07686834e-01 -7.06524496e-01 1.57500863e-03 1.34916657e+02] [ 7.06522577e-01 7.07688585e-01 1.64785096e-03 2.13380678e+01] [-2.27886270e-03 -5.33832756e-05 9.99997402e-01 -4.07541334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:21.36, Z:-0.41 [[ 7.06460598e-01 -7.07750623e-01 1.57468281e-03 1.34937316e+02] [ 7.07748706e-01 7.06462351e-01 1.64816225e-03 2.13571748e+01] [-2.27894198e-03 -4.98819697e-05 9.99997402e-01 -4.08520077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:21.38, Z:-0.41 [[ 7.05218849e-01 -7.08987938e-01 1.57420391e-03 1.34957603e+02] [ 7.08986023e-01 7.05220605e-01 1.64861954e-03 2.13753651e+01] [-2.27901240e-03 -4.65490114e-05 9.99997402e-01 -4.09453263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:21.39, Z:-0.41 [[ 7.01674994e-01 -7.12495421e-01 1.57387793e-03 1.34980096e+02] [ 7.12493514e-01 7.01676758e-01 1.64893068e-03 2.13917441e+01] [-2.27920913e-03 -3.56356025e-05 9.99997402e-01 -4.11035136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:21.41, Z:-0.41 [[ 6.99712750e-01 -7.14422558e-01 1.57355790e-03 1.35001662e+02] [ 7.14420655e-01 6.99714518e-01 1.64923603e-03 2.14100257e+01] [-2.27929273e-03 -2.98092131e-05 9.99997402e-01 -4.10902949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:21.43, Z:-0.41 [[ 6.97623212e-01 -7.16463104e-01 1.57308740e-03 1.35022932e+02] [ 7.16461205e-01 6.97624985e-01 1.64968468e-03 2.14277915e+01] [-2.27936328e-03 -2.38022244e-05 9.99997402e-01 -4.11686133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:21.44, Z:-0.41 [[ 6.93854360e-01 -7.20113639e-01 1.57282914e-03 1.35046950e+02] [ 7.20111749e-01 6.93856143e-01 1.64993087e-03 2.14434063e+01] [-2.27945488e-03 -1.21989876e-05 9.99997402e-01 -4.11275835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:21.46, Z:-0.41 [[ 6.92090729e-01 -7.21808805e-01 1.57236415e-03 1.35068716e+02] [ 7.21806918e-01 6.92092515e-01 1.65037388e-03 2.14621233e+01] [-2.27947586e-03 -7.26514250e-06 9.99997402e-01 -4.10669104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:21.48, Z:-0.41 [[ 6.90424950e-01 -7.23402321e-01 1.57189128e-03 1.35089397e+02] [ 7.23400437e-01 6.90426739e-01 1.65082414e-03 2.14801929e+01] [-2.27948579e-03 -2.66333364e-06 9.99997402e-01 -4.10488892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:21.50, Z:-0.41 [[ 6.89391059e-01 -7.24387671e-01 1.57162416e-03 1.35109951e+02] [ 7.24385789e-01 6.89392850e-01 1.65107841e-03 2.14991780e+01] [-2.27948730e-03 2.23515526e-07 9.99997402e-01 -4.10168527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:21.52, Z:-0.41 [[ 6.89963081e-01 -7.23842854e-01 1.57115546e-03 1.35129474e+02] [ 7.23840970e-01 6.89964870e-01 1.65152430e-03 2.15198982e+01] [-2.27948614e-03 -2.22409939e-06 9.99997402e-01 -4.09917268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:21.54, Z:-0.41 [[ 6.90845272e-01 -7.23000929e-01 1.57068432e-03 1.35147930e+02] [ 7.22999042e-01 6.90847057e-01 1.65197226e-03 2.15394493e+01] [-2.27948012e-03 -5.65396812e-06 9.99997402e-01 -4.09550343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:21.56, Z:-0.41 [[ 6.88070056e-01 -7.25642565e-01 1.57042109e-03 1.35158351e+02] [ 7.25640684e-01 6.88071848e-01 1.65222245e-03 2.15592778e+01] [-2.27948548e-03 2.71663999e-06 9.99997402e-01 -4.13642554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:21.58, Z:-0.41 [[ 6.93893250e-01 -7.20076235e-01 1.54068974e-03 1.35186015e+02] [ 7.20074277e-01 6.93894958e-01 1.68044504e-03 2.15797748e+01] [-2.27912537e-03 -5.66384182e-05 9.99997401e-01 -4.11011921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:21.60, Z:-0.41 [[ 6.94679837e-01 -7.19317356e-01 1.57003454e-03 1.35205340e+02] [ 7.19315458e-01 6.94681611e-01 1.65256575e-03 2.16002745e+01] [-2.27939335e-03 -1.86539849e-05 9.99997402e-01 -4.11531883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:21.62, Z:-0.41 [[ 6.95177107e-01 -7.18836787e-01 1.56958689e-03 1.35224756e+02] [ 7.18834887e-01 6.95178878e-01 1.65299082e-03 2.16211433e+01] [-2.27937426e-03 -2.08475637e-05 9.99997402e-01 -4.11246334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:21.64, Z:-0.41 [[ 6.96208293e-01 -7.17838109e-01 1.56911303e-03 1.35242742e+02] [ 7.17836206e-01 6.96210060e-01 1.65344051e-03 2.16419604e+01] [-2.27933488e-03 -2.47728470e-05 9.99997402e-01 -4.12589520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:21.66, Z:-0.41 [[ 6.96556554e-01 -7.17500178e-01 1.56884890e-03 1.35261622e+02] [ 7.17498273e-01 6.96558320e-01 1.65369109e-03 2.16628166e+01] [-2.27931840e-03 -2.62429867e-05 9.99997402e-01 -4.11311435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:21.68, Z:-0.41 [[ 6.96928981e-01 -7.17138436e-01 1.56808160e-03 1.35280425e+02] [ 7.17136528e-01 6.96930745e-01 1.65441865e-03 2.16837863e+01] [-2.27929148e-03 -2.84837144e-05 9.99997402e-01 -4.12448176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:21.70, Z:-0.42 [[ 6.93589608e-01 -7.20368653e-01 1.56825023e-03 1.35290154e+02] [ 7.20366753e-01 6.93591381e-01 1.65425879e-03 2.17039387e+01] [-2.27940102e-03 -1.76613789e-05 9.99997402e-01 -4.16014901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:21.72, Z:-0.41 [[ 6.98091037e-01 -7.16007361e-01 1.53753501e-03 1.35318177e+02] [ 7.16005386e-01 6.98092726e-01 1.68334040e-03 2.17245413e+01] [-2.27862612e-03 -7.42414967e-05 9.99997401e-01 -4.12094557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:21.74, Z:-0.41 [[ 6.99478432e-01 -7.14651988e-01 1.56809115e-03 1.35336916e+02] [ 7.14650074e-01 6.99480189e-01 1.65437797e-03 2.17445031e+01] [-2.27915320e-03 -3.65652500e-05 9.99997402e-01 -4.12283379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:21.76, Z:-0.41 [[ 7.00028297e-01 -7.14113384e-01 1.56783370e-03 1.35355814e+02] [ 7.14111468e-01 7.00030051e-01 1.65462191e-03 2.17647308e+01] [-2.27911836e-03 -3.86741349e-05 9.99997402e-01 -4.13002797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:21.79, Z:-0.41 [[ 7.00357234e-01 -7.13790787e-01 1.56736989e-03 1.35374693e+02] [ 7.13788870e-01 7.00358987e-01 1.65506115e-03 2.17850213e+01] [-2.27908899e-03 -4.03628736e-05 9.99997402e-01 -4.13715758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:21.81, Z:-0.41 [[ 7.00937489e-01 -7.13220990e-01 1.56690730e-03 1.35394611e+02] [ 7.13219070e-01 7.00939239e-01 1.65549899e-03 2.18052794e+01] [-2.27904344e-03 -4.28531348e-05 9.99997402e-01 -4.13681154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:21.83, Z:-0.42 [[ 6.97167678e-01 -7.16906392e-01 1.56643243e-03 1.35405718e+02] [ 7.16904480e-01 6.97169437e-01 1.65594818e-03 2.18254301e+01] [-2.27922865e-03 -3.14911174e-05 9.99997402e-01 -4.17471359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:21.85, Z:-0.42 [[ 6.97537961e-01 -7.16546183e-01 1.53619091e-03 1.35426057e+02] [ 7.16544207e-01 6.97539649e-01 1.68452947e-03 2.18454317e+01] [-2.27859723e-03 -7.42745535e-05 9.99997401e-01 -4.17358073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:21.87, Z:-0.41 [[ 7.00734001e-01 -7.13420978e-01 1.53917395e-03 1.35453467e+02] [ 7.13419000e-01 7.00735686e-01 1.68171032e-03 2.18658812e+01] [-2.27832153e-03 -8.03556623e-05 9.99997401e-01 -4.14216129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:21.89, Z:-0.42 [[ 7.00387403e-01 -7.13761187e-01 1.56626097e-03 1.35471978e+02] [ 7.13759267e-01 7.00389154e-01 1.65609258e-03 2.18857871e+01] [-2.27904680e-03 -4.19730981e-05 9.99997402e-01 -4.15625851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:21.91, Z:-0.42 [[ 7.00143673e-01 -7.14000269e-01 1.56601360e-03 1.35491617e+02] [ 7.13998349e-01 7.00145423e-01 1.65632646e-03 2.19064073e+01] [-2.27905480e-03 -4.15353643e-05 9.99997402e-01 -4.15895992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:21.93, Z:-0.42 [[ 6.99816166e-01 -7.14321274e-01 1.56554056e-03 1.35510655e+02] [ 7.14319354e-01 6.99817916e-01 1.65677345e-03 2.19265809e+01] [-2.27906186e-03 -4.11409210e-05 9.99997402e-01 -4.15426519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:21.95, Z:-0.42 [[ 6.99405236e-01 -7.14723630e-01 1.56506675e-03 1.35529467e+02] [ 7.14721710e-01 6.99406985e-01 1.65722092e-03 2.19465691e+01] [-2.27907357e-03 -4.04818042e-05 9.99997402e-01 -4.15742043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:21.97, Z:-0.42 [[ 6.99004683e-01 -7.15115378e-01 1.56480142e-03 1.35548993e+02] [ 7.15113459e-01 6.99006434e-01 1.65747142e-03 2.19670084e+01] [-2.27908956e-03 -3.95697285e-05 9.99997402e-01 -4.15075630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:21.99, Z:-0.42 [[ 6.98754596e-01 -7.15359747e-01 1.56432899e-03 1.35567485e+02] [ 7.15357827e-01 6.98756346e-01 1.65791718e-03 2.19866595e+01] [-2.27909202e-03 -3.94222656e-05 9.99997402e-01 -4.15415100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:22.01, Z:-0.42 [[ 6.98588936e-01 -7.15521524e-01 1.56406403e-03 1.35586378e+02] [ 7.15519604e-01 6.98590686e-01 1.65816711e-03 2.20075701e+01] [-2.27909482e-03 -3.92587218e-05 9.99997402e-01 -4.16064227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:22.03, Z:-0.42 [[ 6.99018222e-01 -7.15102147e-01 1.56360074e-03 1.35605308e+02] [ 7.15100225e-01 6.99019969e-01 1.65860386e-03 2.20283702e+01] [-2.27905932e-03 -4.12630792e-05 9.99997402e-01 -4.17171246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:22.05, Z:-0.42 [[ 6.99426775e-01 -7.14702556e-01 1.56312681e-03 1.35623678e+02] [ 7.14700632e-01 6.99428520e-01 1.65905038e-03 2.20481350e+01] [-2.27902302e-03 -4.32165399e-05 9.99997402e-01 -4.18255698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:22.07, Z:-0.42 [[ 6.99668162e-01 -7.14466249e-01 1.56288277e-03 1.35643235e+02] [ 7.14464323e-01 6.99669906e-01 1.65928025e-03 2.20699590e+01] [-2.27900177e-03 -4.43215788e-05 9.99997402e-01 -4.19569688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:22.09, Z:-0.42 [[ 7.00340075e-01 -7.13807634e-01 1.56247009e-03 1.35661839e+02] [ 7.13805706e-01 7.00341816e-01 1.65966875e-03 2.20905092e+01] [-2.27894737e-03 -4.70324717e-05 9.99997402e-01 -4.21490437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:22.11, Z:-0.42 [[ 7.01593451e-01 -7.12575742e-01 1.56222586e-03 1.35680799e+02] [ 7.12573811e-01 7.01595189e-01 1.65989861e-03 2.21118255e+01] [-2.27885363e-03 -5.13727627e-05 9.99997402e-01 -4.24432590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:22.13, Z:-0.43 [[ 7.02044517e-01 -7.12131348e-01 1.56182077e-03 1.35700589e+02] [ 7.12129415e-01 7.02046252e-01 1.66027969e-03 2.21327028e+01] [-2.27880763e-03 -5.33717423e-05 9.99997402e-01 -4.25424271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:22.15, Z:-0.43 [[ 7.02043146e-01 -7.12132700e-01 1.56141644e-03 1.35720527e+02] [ 7.12130766e-01 7.02044880e-01 1.66065985e-03 2.21536641e+01] [-2.27879460e-03 -5.39221815e-05 9.99997402e-01 -4.25170597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:22.17, Z:-0.43 [[ 7.01861816e-01 -7.12311416e-01 1.56098996e-03 1.35739370e+02] [ 7.12309482e-01 7.01863550e-01 1.66106064e-03 2.21737552e+01] [-2.27879441e-03 -5.39270915e-05 9.99997402e-01 -4.25728963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:22.19, Z:-0.42 [[ 7.00809694e-01 -7.13346576e-01 1.56073069e-03 1.35758889e+02] [ 7.13344643e-01 7.00811430e-01 1.66130421e-03 2.21945354e+01] [-2.27886358e-03 -5.09192121e-05 9.99997402e-01 -4.23077488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:22.22, Z:-0.42 [[ 6.99800367e-01 -7.14336763e-01 1.56032199e-03 1.35778960e+02] [ 7.14334832e-01 6.99802105e-01 1.66168798e-03 2.22158843e+01] [-2.27892143e-03 -4.82575118e-05 9.99997402e-01 -4.21848612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:22.24, Z:-0.42 [[ 6.98571643e-01 -7.15538417e-01 1.55990791e-03 1.35798532e+02] [ 7.15536488e-01 6.98573383e-01 1.66207660e-03 2.22362449e+01] [-2.27898981e-03 -4.49085548e-05 9.99997402e-01 -4.21860813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:22.26, Z:-0.42 [[ 6.96980434e-01 -7.17088448e-01 1.55969594e-03 1.35818389e+02] [ 7.17086523e-01 6.96982178e-01 1.66227550e-03 2.22567235e+01] [-2.27907883e-03 -4.01365606e-05 9.99997402e-01 -4.20216903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:22.28, Z:-0.42 [[ 6.93814354e-01 -7.20152214e-01 1.55928945e-03 1.35839626e+02] [ 7.20150295e-01 6.93816105e-01 1.66265671e-03 2.22763168e+01] [-2.27922605e-03 -3.06523329e-05 9.99997402e-01 -4.17010751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:22.30, Z:-0.42 [[ 6.93609547e-01 -7.20349475e-01 1.55887513e-03 1.35859136e+02] [ 7.20347556e-01 6.93611298e-01 1.66304508e-03 2.22972385e+01] [-2.27922705e-03 -3.05720513e-05 9.99997402e-01 -4.17075710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:22.32, Z:-0.42 [[ 6.92012084e-01 -7.21884234e-01 1.55840211e-03 1.35879470e+02] [ 7.21882318e-01 6.92013838e-01 1.66348822e-03 2.23170618e+01] [-2.27928174e-03 -2.61710220e-05 9.99997402e-01 -4.15506149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:22.34, Z:-0.41 [[ 6.90343454e-01 -7.23480123e-01 1.55819167e-03 1.35899152e+02] [ 7.23478210e-01 6.90345212e-01 1.66368531e-03 2.23362566e+01] [-2.27933341e-03 -2.11965391e-05 9.99997402e-01 -4.13521798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:22.36, Z:-0.41 [[ 6.88963100e-01 -7.24794743e-01 1.55794450e-03 1.35918773e+02] [ 7.24792833e-01 6.88964862e-01 1.66391674e-03 2.23558613e+01] [-2.27936712e-03 -1.71902278e-05 9.99997402e-01 -4.12525950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:22.38, Z:-0.41 [[ 6.86700862e-01 -7.26938443e-01 1.55748045e-03 1.35937498e+02] [ 7.26936538e-01 6.86702628e-01 1.66435099e-03 2.23764997e+01] [-2.27940664e-03 -1.07218119e-05 9.99997402e-01 -4.12889160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:22.40, Z:-0.41 [[ 6.85641403e-01 -7.27937801e-01 1.55701054e-03 1.35956040e+02] [ 7.27935897e-01 6.85643171e-01 1.66479048e-03 2.23976237e+01] [-2.27941757e-03 -8.04542065e-06 9.99997402e-01 -4.13683601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:22.42, Z:-0.41 [[ 6.84749567e-01 -7.28776788e-01 1.55654211e-03 1.35973862e+02] [ 7.28774886e-01 6.84751337e-01 1.66522834e-03 2.24176008e+01] [-2.27942405e-03 -5.89558865e-06 9.99997402e-01 -4.14059583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:22.44, Z:-0.41 [[ 6.84433485e-01 -7.29073647e-01 1.55628263e-03 1.35992270e+02] [ 7.29071745e-01 6.84435254e-01 1.66547081e-03 2.24380856e+01] [-2.27942557e-03 -5.26230002e-06 9.99997402e-01 -4.14386213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:22.46, Z:-0.42 [[ 6.82210401e-01 -7.31154266e-01 1.55157791e-03 1.36011889e+02] [ 7.31152359e-01 6.82212166e-01 1.66986540e-03 2.24603352e+01] [-2.27943453e-03 -4.75969618e-06 9.99997402e-01 -4.15926597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:22.48, Z:-0.42 [[ 6.76589141e-01 -7.36359093e-01 1.55580183e-03 1.36021069e+02] [ 7.36357209e-01 6.76590929e-01 1.66592067e-03 2.24811598e+01] [-2.27935725e-03 1.84820585e-05 9.99997402e-01 -4.21651391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.05, Y:22.50, Z:-0.42 [[ 6.79298690e-01 -7.33860320e-01 1.52322268e-03 1.36049090e+02] [ 7.33858360e-01 6.79300397e-01 1.69630448e-03 2.25024231e+01] [-2.27957632e-03 -3.44677167e-05 9.99997401e-01 -4.18336748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:22.52, Z:-0.42 [[ 6.75183517e-01 -7.37648153e-01 1.55545230e-03 1.36068043e+02] [ 7.37646272e-01 6.75185309e-01 1.66621738e-03 2.25230897e+01] [-2.27930072e-03 2.23710787e-05 9.99997402e-01 -4.18831298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:22.54, Z:-0.42 [[ 6.72670370e-01 -7.39940643e-01 1.55498364e-03 1.36087079e+02] [ 7.39938766e-01 6.72672167e-01 1.66665465e-03 2.25435426e+01] [-2.27921973e-03 2.94834797e-05 9.99997402e-01 -4.18033712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:22.56, Z:-0.42 [[ 6.70279284e-01 -7.42107314e-01 1.55451088e-03 1.36106180e+02] [ 7.42105442e-01 6.70281086e-01 1.66709548e-03 2.25639254e+01] [-2.27912299e-03 3.61914143e-05 9.99997402e-01 -4.17332797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:22.58, Z:-0.41 [[ 6.65379021e-01 -7.46504081e-01 1.55430164e-03 1.36125597e+02] [ 7.46502221e-01 6.65380834e-01 1.66729054e-03 2.25849845e+01] [-2.27884171e-03 5.09094825e-05 9.99997402e-01 -4.14915676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:22.61, Z:-0.42 [[ 6.58780469e-01 -7.52333622e-01 1.55389672e-03 1.36135570e+02] [ 7.52331777e-01 6.58782298e-01 1.66766783e-03 2.26053656e+01] [-2.27832223e-03 7.04188842e-05 9.99997402e-01 -4.18280770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:22.63, Z:-0.42 [[ 6.57294225e-01 -7.53632524e-01 1.52315169e-03 1.36154130e+02] [ 7.53630616e-01 6.57295989e-01 1.69628927e-03 2.26258884e+01] [-2.27954026e-03 3.29326071e-05 9.99997401e-01 -4.17209656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:22.65, Z:-0.41 [[ 6.61297307e-01 -7.50122361e-01 1.52155009e-03 1.36181335e+02] [ 7.50120440e-01 6.61299057e-01 1.69777972e-03 2.26483721e+01] [-2.27974217e-03 1.86086675e-05 9.99997401e-01 -4.13269228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:22.67, Z:-0.42 [[ 6.57404377e-01 -7.53536377e-01 1.55367913e-03 1.36190030e+02] [ 7.53534535e-01 6.57406209e-01 1.66785003e-03 2.26695922e+01] [-2.27818398e-03 7.42989688e-05 9.99997402e-01 -4.18549464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:22.69, Z:-0.41 [[ 6.63539308e-01 -7.48139874e-01 1.52179001e-03 1.36218045e+02] [ 7.48137948e-01 6.63541053e-01 1.69751153e-03 2.26916174e+01] [-2.27974620e-03 1.21432283e-05 9.99997401e-01 -4.13790325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:22.71, Z:-0.41 [[ 6.65583285e-01 -7.46321967e-01 1.55326084e-03 1.36234601e+02] [ 7.46320104e-01 6.65585095e-01 1.66820920e-03 2.27125407e+01] [-2.27884844e-03 4.88976315e-05 9.99997402e-01 -4.14441868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:22.74, Z:-0.42 [[ 6.66900114e-01 -7.45145507e-01 1.55300252e-03 1.36242915e+02] [ 7.45143640e-01 6.66901920e-01 1.66844964e-03 2.27359895e+01] [-2.27893812e-03 4.45206964e-05 9.99997402e-01 -4.19957751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:22.76, Z:-0.42 [[ 6.73006517e-01 -7.39634972e-01 1.52826824e-03 1.36268132e+02] [ 7.39633038e-01 6.73008252e-01 1.69144670e-03 2.27579123e+01] [-2.27959027e-03 -7.99696633e-06 9.99997402e-01 -4.15950524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:22.78, Z:-0.42 [[ 6.77538234e-01 -7.35485915e-01 1.55253012e-03 1.36284363e+02] [ 7.35484022e-01 6.77540012e-01 1.66887625e-03 2.27802137e+01] [-2.27933625e-03 1.11336255e-05 9.99997402e-01 -4.17395332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:22.80, Z:-0.42 [[ 6.79237215e-01 -7.33917159e-01 1.55228105e-03 1.36302828e+02] [ 7.33915261e-01 6.79238989e-01 1.66910788e-03 2.28017409e+01] [-2.27935673e-03 5.52256306e-06 9.99997402e-01 -4.17604241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:22.82, Z:-0.42 [[ 6.80679688e-01 -7.32579521e-01 1.55181595e-03 1.36321450e+02] [ 7.32577618e-01 6.80681457e-01 1.66954019e-03 2.28229816e+01] [-2.27936329e-03 4.03536887e-07 9.99997402e-01 -4.17998435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:22.84, Z:-0.42 [[ 6.81783710e-01 -7.31552162e-01 1.55135180e-03 1.36340446e+02] [ 7.31550256e-01 6.81785475e-01 1.66997137e-03 2.28440419e+01] [-2.27936029e-03 -3.66747359e-06 9.99997402e-01 -4.18226267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:22.86, Z:-0.42 [[ 6.82826947e-01 -7.30578508e-01 1.55088668e-03 1.36359889e+02] [ 7.30576598e-01 6.82828708e-01 1.67040321e-03 2.28649426e+01] [-2.27935063e-03 -7.55480809e-06 9.99997402e-01 -4.18072037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:22.88, Z:-0.42 [[ 6.83853352e-01 -7.29617838e-01 1.55042229e-03 1.36378649e+02] [ 7.29615925e-01 6.83855109e-01 1.67083413e-03 2.28847729e+01] [-2.27933459e-03 -1.13927323e-05 9.99997402e-01 -4.18016197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.40, Y:22.91, Z:-0.42 [[ 6.85588338e-01 -7.27987794e-01 1.55010689e-03 1.36398456e+02] [ 7.27985876e-01 6.85590090e-01 1.67112669e-03 2.29050518e+01] [-2.27929776e-03 -1.72490474e-05 9.99997402e-01 -4.17530483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:22.93, Z:-0.42 [[ 6.86495251e-01 -7.27132635e-01 1.54965174e-03 1.36418168e+02] [ 7.27130714e-01 6.86497000e-01 1.67154865e-03 2.29255767e+01] [-2.27926885e-03 -2.07108308e-05 9.99997402e-01 -4.17439191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:22.95, Z:-0.42 [[ 6.87193841e-01 -7.26472453e-01 1.54919847e-03 1.36437368e+02] [ 7.26470529e-01 6.87195587e-01 1.67196864e-03 2.29461085e+01] [-2.27924151e-03 -2.35195248e-05 9.99997402e-01 -4.17127740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:22.97, Z:-0.42 [[ 6.88133309e-01 -7.25582629e-01 1.54872125e-03 1.36455618e+02] [ 7.25580702e-01 6.88135051e-01 1.67241056e-03 2.29657429e+01] [-2.27920143e-03 -2.71191592e-05 9.99997402e-01 -4.18315045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:22.99, Z:-0.42 [[ 6.90384143e-01 -7.23441315e-01 1.54845694e-03 1.36475324e+02] [ 7.23439383e-01 6.90385879e-01 1.67265525e-03 2.29858436e+01] [-2.27910072e-03 -3.45599268e-05 9.99997402e-01 -4.18208262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:23.01, Z:-0.42 [[ 6.91415365e-01 -7.22455810e-01 1.54800644e-03 1.36495174e+02] [ 7.22453873e-01 6.91417097e-01 1.67307208e-03 2.30063195e+01] [-2.27903876e-03 -3.84244948e-05 9.99997402e-01 -4.17483971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:23.03, Z:-0.42 [[ 6.92437474e-01 -7.21476230e-01 1.54752879e-03 1.36514806e+02] [ 7.21474290e-01 6.92439202e-01 1.67351376e-03 2.30265566e+01] [-2.27897000e-03 -4.23014097e-05 9.99997402e-01 -4.17808801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:23.05, Z:-0.42 [[ 6.89308918e-01 -7.24465888e-01 1.54705344e-03 1.36526486e+02] [ 7.24463954e-01 6.89310653e-01 1.67395308e-03 2.30471347e+01] [-2.27912232e-03 -3.30863375e-05 9.99997402e-01 -4.24203000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:23.07, Z:-0.42 [[ 6.94724793e-01 -7.19274046e-01 1.51933989e-03 1.36555305e+02] [ 7.19272044e-01 6.94726449e-01 1.69953649e-03 2.30671277e+01] [-2.27795809e-03 -8.78914296e-05 9.99997402e-01 -4.19875385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:23.09, Z:-0.42 [[ 6.93838090e-01 -7.20129372e-01 1.54671687e-03 1.36575128e+02] [ 7.20127428e-01 6.93839812e-01 1.67424483e-03 2.30877468e+01] [-2.27884662e-03 -4.78215978e-05 9.99997402e-01 -4.20044270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:23.11, Z:-0.42 [[ 6.92645931e-01 -7.21276108e-01 1.54626533e-03 1.36595126e+02] [ 7.21274165e-01 6.92647655e-01 1.67466175e-03 2.31080344e+01] [-2.27891056e-03 -4.46664119e-05 9.99997402e-01 -4.20582714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:23.13, Z:-0.42 [[ 6.90396665e-01 -7.23429372e-01 1.54578539e-03 1.36615408e+02] [ 7.23427433e-01 6.90398394e-01 1.67510464e-03 2.31256915e+01] [-2.27902765e-03 -3.82231027e-05 9.99997402e-01 -4.21340420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:23.15, Z:-0.42 [[ 6.88834207e-01 -7.24917269e-01 1.54555965e-03 1.36635803e+02] [ 7.24915334e-01 6.88835940e-01 1.67531289e-03 2.31455388e+01] [-2.27910028e-03 -3.36129316e-05 9.99997402e-01 -4.21434279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:23.16, Z:-0.42 [[ 6.87095849e-01 -7.26565143e-01 1.54508688e-03 1.36655435e+02] [ 7.26563211e-01 6.87097585e-01 1.67574880e-03 2.31648900e+01] [-2.27916613e-03 -2.87967600e-05 9.99997402e-01 -4.23162869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:23.18, Z:-0.42 [[ 6.85495404e-01 -7.28075315e-01 1.54482573e-03 1.36675715e+02] [ 7.28073386e-01 6.85497145e-01 1.67598952e-03 2.31845392e+01] [-2.27922022e-03 -2.41366151e-05 9.99997402e-01 -4.20827839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:23.20, Z:-0.43 [[ 6.78042287e-01 -7.35021273e-01 1.54434902e-03 1.36688179e+02] [ 7.35019361e-01 6.78044046e-01 1.67642866e-03 2.32028627e+01] [-2.27934739e-03 -1.56309460e-06 9.99997402e-01 -4.26026642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:23.22, Z:-0.42 [[ 6.81372252e-01 -7.31935493e-01 1.51277564e-03 1.36717693e+02] [ 7.31933508e-01 6.81373929e-01 1.70547144e-03 2.32226569e+01] [-2.27906096e-03 -5.48097355e-05 9.99997401e-01 -4.18496930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:23.24, Z:-0.42 [[ 6.80148615e-01 -7.33072628e-01 1.54398157e-03 1.36736578e+02] [ 7.33070710e-01 6.80150367e-01 1.67673623e-03 2.32414567e+01] [-2.27930906e-03 -8.58216064e-06 9.99997402e-01 -4.18268826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:23.26, Z:-0.42 [[ 6.79158623e-01 -7.33989906e-01 1.54370569e-03 1.36755966e+02] [ 7.33987990e-01 6.79160377e-01 1.67699018e-03 2.32608528e+01] [-2.27931760e-03 -5.88090941e-06 9.99997402e-01 -4.19091933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:23.28, Z:-0.42 [[ 6.78041328e-01 -7.35022160e-01 1.54345755e-03 1.36775509e+02] [ 7.35020246e-01 6.78043085e-01 1.67721853e-03 2.32813487e+01] [-2.27932351e-03 -2.75093621e-06 9.99997402e-01 -4.16813558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:23.30, Z:-0.42 [[ 6.76927716e-01 -7.36047884e-01 1.54297961e-03 1.36794753e+02] [ 7.36045972e-01 6.76929474e-01 1.67765811e-03 2.33016377e+01] [-2.27932507e-03 5.06559939e-08 9.99997402e-01 -4.15559357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:23.32, Z:-0.42 [[ 6.76312447e-01 -7.36613259e-01 1.54276888e-03 1.36813249e+02] [ 7.36611348e-01 6.76314207e-01 1.67785187e-03 2.33222144e+01] [-2.27932444e-03 1.66895851e-06 9.99997402e-01 -4.15231667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:23.34, Z:-0.42 [[ 6.76160531e-01 -7.36752712e-01 1.54229206e-03 1.36830898e+02] [ 7.36750800e-01 6.76162290e-01 1.67829005e-03 2.33421919e+01] [-2.27932448e-03 1.49141344e-06 9.99997402e-01 -4.15160499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:23.36, Z:-0.42 [[ 6.76181502e-01 -7.36733465e-01 1.54202104e-03 1.36849413e+02] [ 7.36731553e-01 6.76183260e-01 1.67853903e-03 2.33629442e+01] [-2.27932469e-03 1.05851448e-06 9.99997402e-01 -4.15031455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:23.38, Z:-0.42 [[ 6.76783053e-01 -7.36180904e-01 1.54154660e-03 1.36867266e+02] [ 7.36178989e-01 6.76784808e-01 1.67897463e-03 2.33847066e+01] [-2.27932438e-03 -1.44736224e-06 9.99997402e-01 -4.15852251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:23.41, Z:-0.42 [[ 6.77368737e-01 -7.35642045e-01 1.54107573e-03 1.36885777e+02] [ 7.35640128e-01 6.77370490e-01 1.67940672e-03 2.34064790e+01] [-2.27932142e-03 -3.90045947e-06 9.99997402e-01 -4.16196553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:23.43, Z:-0.42 [[ 6.78028819e-01 -7.35033705e-01 1.54059758e-03 1.36903896e+02] [ 7.35031785e-01 6.78030569e-01 1.67984523e-03 2.34279690e+01] [-2.27931512e-03 -6.59528935e-06 9.99997402e-01 -4.16660917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:23.45, Z:-0.42 [[ 6.75345943e-01 -7.37499482e-01 1.54012031e-03 1.36914616e+02] [ 7.37497568e-01 6.75347699e-01 1.68028269e-03 2.34489518e+01] [-2.27932432e-03 1.06288587e-06 9.99997402e-01 -4.20614355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:23.47, Z:-0.42 [[ 6.80315391e-01 -7.32917917e-01 1.51520405e-03 1.36939707e+02] [ 7.32915940e-01 6.80317076e-01 1.70309333e-03 2.34702476e+01] [-2.27904680e-03 -4.81234039e-05 9.99997402e-01 -4.16359357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:23.49, Z:-0.42 [[ 6.79316353e-01 -7.33843936e-01 1.53976819e-03 1.36948883e+02] [ 7.33842011e-01 6.79318098e-01 1.68058746e-03 2.34920906e+01] [-2.27928131e-03 -1.17039519e-05 9.99997402e-01 -4.20006581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:23.51, Z:-0.42 [[ 6.81584671e-01 -7.31737687e-01 1.51447036e-03 1.36967744e+02] [ 7.31735705e-01 6.81586352e-01 1.70377553e-03 2.35131042e+01] [-2.27895909e-03 -5.30752464e-05 9.99997402e-01 -4.18934802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:23.53, Z:-0.42 [[ 6.82707451e-01 -7.30690244e-01 1.51800732e-03 1.36985098e+02] [ 7.30688267e-01 6.82709137e-01 1.70053190e-03 2.35346722e+01] [-2.27891954e-03 -5.17756614e-05 9.99997402e-01 -4.18790123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:23.56, Z:-0.42 [[ 6.83858973e-01 -7.29612647e-01 1.51340472e-03 1.37002457e+02] [ 7.29610658e-01 6.83860645e-01 1.70475173e-03 2.35554514e+01] [-2.27876635e-03 -6.16135519e-05 9.99997402e-01 -4.19119537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:23.58, Z:-0.42 [[ 6.89994819e-01 -7.23812725e-01 1.51282594e-03 1.37027956e+02] [ 7.23810721e-01 6.89996473e-01 1.70528215e-03 2.35778646e+01] [-2.27814948e-03 -8.16362128e-05 9.99997402e-01 -4.16277361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:23.60, Z:-0.42 [[ 6.89789754e-01 -7.24008095e-01 1.54059452e-03 1.37047221e+02] [ 7.24006147e-01 6.89791474e-01 1.67981499e-03 2.35990078e+01] [-2.27888861e-03 -4.33192600e-05 9.99997402e-01 -4.16358630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:23.62, Z:-0.42 [[ 6.90740461e-01 -7.23101130e-01 1.54011856e-03 1.37064716e+02] [ 7.23099179e-01 6.90742176e-01 1.68025126e-03 2.36194513e+01] [-2.27881643e-03 -4.69590657e-05 9.99997402e-01 -4.17074127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:23.64, Z:-0.42 [[ 6.91428000e-01 -7.22443734e-01 1.53985961e-03 1.37083414e+02] [ 7.22441782e-01 6.91429713e-01 1.68048854e-03 2.36410099e+01] [-2.27876310e-03 -4.94779088e-05 9.99997402e-01 -4.17443786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:23.66, Z:-0.42 [[ 6.91706286e-01 -7.22177295e-01 1.53937967e-03 1.37101688e+02] [ 7.22175340e-01 6.91707997e-01 1.68092806e-03 2.36619161e+01] [-2.27872931e-03 -5.10064655e-05 9.99997402e-01 -4.17626335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:23.68, Z:-0.42 [[ 6.91522570e-01 -7.22353214e-01 1.53889565e-03 1.37119411e+02] [ 7.22351259e-01 6.91524281e-01 1.68137107e-03 2.36832566e+01] [-2.27872750e-03 -5.10828308e-05 9.99997402e-01 -4.18972960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:23.70, Z:-0.42 [[ 6.91021661e-01 -7.22832413e-01 1.53841575e-03 1.37137220e+02] [ 7.22830459e-01 6.91023371e-01 1.68181004e-03 2.37032902e+01] [-2.27874805e-03 -5.01534032e-05 9.99997402e-01 -4.19388022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:23.72, Z:-0.42 [[ 6.90559144e-01 -7.23274293e-01 1.53815043e-03 1.37156207e+02] [ 7.23272339e-01 6.90560855e-01 1.68205267e-03 2.37237906e+01] [-2.27877193e-03 -4.90551948e-05 9.99997402e-01 -4.19457206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:23.74, Z:-0.42 [[ 6.90158289e-01 -7.23656806e-01 1.53767795e-03 1.37175343e+02] [ 7.23654851e-01 6.90160000e-01 1.68248449e-03 2.37444584e+01] [-2.27878516e-03 -4.84325055e-05 9.99997402e-01 -4.19747492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.19, Y:23.77, Z:-0.42 [[ 6.89893676e-01 -7.23909078e-01 1.53720787e-03 1.37194437e+02] [ 7.23907123e-01 6.89895387e-01 1.68291386e-03 2.37654682e+01] [-2.27878924e-03 -4.82359066e-05 9.99997402e-01 -4.19872556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:23.79, Z:-0.42 [[ 6.89588730e-01 -7.24199573e-01 1.53673231e-03 1.37212998e+02] [ 7.24197618e-01 6.89590441e-01 1.68334800e-03 2.37863987e+01] [-2.27879582e-03 -4.79199337e-05 9.99997402e-01 -4.20054639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:23.81, Z:-0.43 [[ 6.85223739e-01 -7.28331015e-01 1.53625546e-03 1.37223683e+02] [ 7.28329070e-01 6.85225460e-01 1.68378308e-03 2.38075534e+01] [-2.27903279e-03 -3.48686261e-05 9.99997402e-01 -4.25165589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:23.83, Z:-0.42 [[ 6.88944784e-01 -7.24812262e-01 1.50615148e-03 1.37251532e+02] [ 7.24810248e-01 6.88946425e-01 1.71121308e-03 2.38284368e+01] [-2.27796590e-03 -8.72572933e-05 9.99997402e-01 -4.21197554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:23.85, Z:-0.42 [[ 6.88243664e-01 -7.25477981e-01 1.53588947e-03 1.37270113e+02] [ 7.25476027e-01 6.88245376e-01 1.68409208e-03 2.38490193e+01] [-2.27884055e-03 -4.48147180e-05 9.99997402e-01 -4.21208693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:23.87, Z:-0.42 [[ 6.87528304e-01 -7.26155957e-01 1.53540891e-03 1.37289221e+02] [ 7.26154004e-01 6.87530017e-01 1.68453009e-03 2.38698873e+01] [-2.27887128e-03 -4.32187862e-05 9.99997402e-01 -4.22090107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:23.89, Z:-0.42 [[ 6.86662493e-01 -7.26974734e-01 1.53492978e-03 1.37308138e+02] [ 7.26972783e-01 6.86664208e-01 1.68496656e-03 2.38902705e+01] [-2.27890946e-03 -4.11511619e-05 9.99997402e-01 -4.23219721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:23.91, Z:-0.42 [[ 6.86222439e-01 -7.27390136e-01 1.53444845e-03 1.37326269e+02] [ 7.27388184e-01 6.86224153e-01 1.68540478e-03 2.39098953e+01] [-2.27892240e-03 -4.04229096e-05 9.99997402e-01 -4.23913283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:23.93, Z:-0.43 [[ 6.82299398e-01 -7.31071253e-01 1.53412174e-03 1.37338653e+02] [ 7.31069311e-01 6.82301122e-01 1.68570212e-03 2.39307742e+01] [-2.27910134e-03 -2.86042221e-05 9.99997402e-01 -4.29326645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:23.95, Z:-0.43 [[ 6.81989536e-01 -7.31360370e-01 1.51064568e-03 1.37358255e+02] [ 7.31358380e-01 6.81991207e-01 1.70705339e-03 2.39513846e+01] [-2.27871827e-03 -5.93691727e-05 9.99997402e-01 -4.29077729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:23.97, Z:-0.43 [[ 6.79109269e-01 -7.34035635e-01 1.51217122e-03 1.37376951e+02] [ 7.34033655e-01 6.79110951e-01 1.70566626e-03 2.39714163e+01] [-2.27895186e-03 -4.83491984e-05 9.99997402e-01 -4.30662281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:23.99, Z:-0.43 [[ 6.76582433e-01 -7.36365353e-01 1.50948203e-03 1.37399442e+02] [ 7.36363373e-01 6.76584115e-01 1.70811078e-03 2.39908412e+01] [-2.27908517e-03 -4.41504672e-05 9.99997402e-01 -4.29146156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:24.01, Z:-0.42 [[ 6.78220638e-01 -7.34856770e-01 1.51456283e-03 1.37425372e+02] [ 7.34854797e-01 6.78222328e-01 1.70349423e-03 2.40105915e+01] [-2.27903459e-03 -4.23611859e-05 9.99997402e-01 -4.23924213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:24.03, Z:-0.43 [[ 6.73565731e-01 -7.39125737e-01 1.53307727e-03 1.37438802e+02] [ 7.39123813e-01 6.73567476e-01 1.68666572e-03 2.40311858e+01] [-2.27928903e-03 -2.94631719e-06 9.99997402e-01 -4.27989631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:24.05, Z:-0.43 [[ 6.73304370e-01 -7.39363877e-01 1.51059470e-03 1.37459075e+02] [ 7.39361907e-01 6.73306064e-01 1.70708391e-03 2.40513657e+01] [-2.27924875e-03 -3.25108726e-05 9.99997402e-01 -4.26709004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.48, Y:24.07, Z:-0.43 [[ 6.72740607e-01 -7.39876870e-01 1.51398192e-03 1.37478754e+02] [ 7.39874908e-01 6.72742310e-01 1.70400700e-03 2.40727347e+01] [-2.27927506e-03 -2.61974703e-05 9.99997402e-01 -4.25844213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:24.09, Z:-0.43 [[ 6.72766716e-01 -7.39853127e-01 1.51523504e-03 1.37497231e+02] [ 7.39851168e-01 6.72768422e-01 1.70286857e-03 2.40930726e+01] [-2.27927492e-03 -2.45848803e-05 9.99997402e-01 -4.25907565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:24.11, Z:-0.42 [[ 6.75915281e-01 -7.36977773e-01 1.51500085e-03 1.37521793e+02] [ 7.36975806e-01 6.75916978e-01 1.70308129e-03 2.41141083e+01] [-2.27914786e-03 -3.46196992e-05 9.99997402e-01 -4.21710838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:24.14, Z:-0.43 [[ 6.73107515e-01 -7.39543050e-01 1.53291544e-03 1.37534850e+02] [ 7.39541126e-01 6.73109261e-01 1.68680104e-03 2.41353724e+01] [-2.27928157e-03 -1.74444187e-06 9.99997402e-01 -4.25614502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:24.16, Z:-0.42 [[ 6.73704915e-01 -7.38998909e-01 1.51644569e-03 1.37554853e+02] [ 7.38996950e-01 6.73706621e-01 1.70175922e-03 2.41570375e+01] [-2.27923770e-03 -2.58348094e-05 9.99997402e-01 -4.24279124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:24.18, Z:-0.42 [[ 6.73769978e-01 -7.38939584e-01 1.51932465e-03 1.37572450e+02] [ 7.38937630e-01 6.73771691e-01 1.69914338e-03 2.41780059e+01] [-2.27924224e-03 -2.21456430e-05 9.99997402e-01 -4.24713891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:24.20, Z:-0.42 [[ 6.76705908e-01 -7.36251875e-01 1.51317243e-03 1.37596986e+02] [ 7.36249903e-01 6.76707599e-01 1.70472929e-03 2.41985296e+01] [-2.27908541e-03 -3.95273294e-05 9.99997402e-01 -4.20783945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:24.22, Z:-0.42 [[ 6.76398944e-01 -7.36533856e-01 1.53243766e-03 1.37616001e+02] [ 7.36531923e-01 6.76400679e-01 1.68723153e-03 2.42188068e+01] [-2.27924502e-03 -1.25523627e-05 9.99997402e-01 -4.20103149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:24.24, Z:-0.42 [[ 6.75347493e-01 -7.37498079e-01 1.53196460e-03 1.37634151e+02] [ 7.37496148e-01 6.75349231e-01 1.68766095e-03 2.42386019e+01] [-2.27925782e-03 -9.93960311e-06 9.99997402e-01 -4.19229921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:24.26, Z:-0.42 [[ 6.74518802e-01 -7.38256080e-01 1.53169281e-03 1.37653141e+02] [ 7.38254150e-01 6.74520541e-01 1.68790758e-03 2.42599115e+01] [-2.27926630e-03 -7.74682608e-06 9.99997402e-01 -4.19249534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:24.28, Z:-0.42 [[ 6.73639974e-01 -7.39058077e-01 1.53122270e-03 1.37670659e+02] [ 7.39056149e-01 6.73641714e-01 1.68833394e-03 2.42799810e+01] [-2.27927232e-03 -5.66968028e-06 9.99997402e-01 -4.20414287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:24.30, Z:-0.42 [[ 6.72373364e-01 -7.40210589e-01 1.53096211e-03 1.37688958e+02] [ 7.40208663e-01 6.72375106e-01 1.68857021e-03 2.43008208e+01] [-2.27927836e-03 -2.11821200e-06 9.99997402e-01 -4.20218114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:24.32, Z:-0.42 [[ 6.71035008e-01 -7.41424086e-01 1.53049860e-03 1.37707492e+02] [ 7.41422162e-01 6.71036754e-01 1.68899023e-03 2.43216638e+01] [-2.27927885e-03 1.37401123e-06 9.99997402e-01 -4.20271341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:24.34, Z:-0.42 [[ 6.68510633e-01 -7.43701011e-01 1.53002209e-03 1.37726498e+02] [ 7.43699092e-01 6.68512383e-01 1.68942178e-03 2.43428938e+01] [-2.27926340e-03 8.47961139e-06 9.99997402e-01 -4.20628140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:24.36, Z:-0.42 [[ 6.67283049e-01 -7.44802654e-01 1.52954650e-03 1.37745063e+02] [ 7.44800737e-01 6.67284802e-01 1.68985226e-03 2.43637432e+01] [-2.27924958e-03 1.15975911e-05 9.99997402e-01 -4.20784173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:24.38, Z:-0.42 [[ 6.66017226e-01 -7.45934794e-01 1.52907436e-03 1.37763914e+02] [ 7.45932879e-01 6.66018981e-01 1.69027936e-03 2.43845995e+01] [-2.27923074e-03 1.48316674e-05 9.99997402e-01 -4.21331463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:24.40, Z:-0.42 [[ 6.64463016e-01 -7.47319586e-01 1.52859073e-03 1.37782462e+02] [ 7.47317674e-01 6.64464774e-01 1.69071662e-03 2.44046517e+01] [-2.27920034e-03 1.89242018e-05 9.99997402e-01 -4.22477321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:24.43, Z:-0.42 [[ 6.63884663e-01 -7.47833416e-01 1.52826258e-03 1.37801274e+02] [ 7.47831505e-01 6.63886422e-01 1.69101318e-03 2.44254634e+01] [-2.27918894e-03 2.02451897e-05 9.99997402e-01 -4.22097132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:24.45, Z:-0.42 [[ 6.63840952e-01 -7.47872220e-01 1.52778244e-03 1.37819086e+02] [ 7.47870307e-01 6.63842709e-01 1.69144687e-03 2.44458233e+01] [-2.27919336e-03 1.97314187e-05 9.99997402e-01 -4.22538972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:24.47, Z:-0.42 [[ 6.64020269e-01 -7.47713012e-01 1.52752188e-03 1.37837727e+02] [ 7.47711099e-01 6.64022026e-01 1.69168214e-03 2.44670676e+01] [-2.27920092e-03 1.88338309e-05 9.99997402e-01 -4.22802195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:24.49, Z:-0.42 [[ 6.64506822e-01 -7.47280637e-01 1.52704757e-03 1.37856007e+02] [ 7.47278722e-01 6.64508577e-01 1.69211019e-03 2.44886200e+01] [-2.27921738e-03 1.67113897e-05 9.99997402e-01 -4.22974652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:24.51, Z:-0.43 [[ 6.66538943e-01 -7.45468649e-01 1.52656693e-03 1.37873712e+02] [ 7.45466728e-01 6.66540692e-01 1.69254369e-03 2.45106709e+01] [-2.27925724e-03 9.85857556e-06 9.99997402e-01 -4.25272397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:24.53, Z:-0.43 [[ 6.67761100e-01 -7.44374088e-01 1.52641825e-03 1.37892073e+02] [ 7.44372164e-01 6.67762845e-01 1.69267776e-03 2.45322208e+01] [-2.27927086e-03 5.91889204e-06 9.99997402e-01 -4.26232379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:24.55, Z:-0.43 [[ 6.68782614e-01 -7.43456446e-01 1.52593929e-03 1.37909461e+02] [ 7.43454518e-01 6.68784355e-01 1.69310944e-03 2.45525333e+01] [-2.27927745e-03 2.14430357e-06 9.99997402e-01 -4.27162333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:24.57, Z:-0.43 [[ 6.67671171e-01 -7.44454753e-01 1.52567473e-03 1.37919722e+02] [ 7.44452827e-01 6.67672915e-01 1.69334780e-03 2.45733091e+01] [-2.27927251e-03 5.19335099e-06 9.99997402e-01 -4.29373327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:24.59, Z:-0.43 [[ 6.72436270e-01 -7.40153512e-01 1.49700115e-03 1.37946379e+02] [ 7.40151517e-01 6.72437935e-01 1.71915557e-03 2.45944823e+01] [-2.27907939e-03 -4.80148873e-05 9.99997402e-01 -4.25490975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:24.62, Z:-0.43 [[ 6.72226138e-01 -7.40344307e-01 1.52557309e-03 1.37965458e+02] [ 7.40342370e-01 6.72227869e-01 1.69341552e-03 2.46157925e+01] [-2.27924329e-03 -8.91177599e-06 9.99997402e-01 -4.25572479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:24.64, Z:-0.43 [[ 6.70830728e-01 -7.41608932e-01 1.52509226e-03 1.37977353e+02] [ 7.41606998e-01 6.70832461e-01 1.69384845e-03 2.46375049e+01] [-2.27925454e-03 -5.26648938e-06 9.99997402e-01 -4.28744148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:24.66, Z:-0.43 [[ 6.74559196e-01 -7.38219234e-01 1.50134777e-03 1.38002869e+02] [ 7.38217243e-01 6.74560865e-01 1.71520389e-03 2.46586493e+01] [-2.27894695e-03 -4.86857501e-05 9.99997402e-01 -4.26746846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:24.68, Z:-0.43 [[ 6.75102927e-01 -7.37721976e-01 1.52468999e-03 1.38021320e+02] [ 7.37720030e-01 6.75104648e-01 1.69419710e-03 2.46791989e+01] [-2.27917173e-03 -1.89630729e-05 9.99997403e-01 -4.26019106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:24.70, Z:-0.42 [[ 6.76085184e-01 -7.36821892e-01 1.52421474e-03 1.38041348e+02] [ 7.36819944e-01 6.76086902e-01 1.69462456e-03 2.47006294e+01] [-2.27913810e-03 -2.26387378e-05 9.99997403e-01 -4.23843190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:24.72, Z:-0.42 [[ 6.76140312e-01 -7.36771306e-01 1.52379465e-03 1.38059419e+02] [ 7.36769356e-01 6.76142029e-01 1.69500222e-03 2.47205175e+01] [-2.27913060e-03 -2.33741257e-05 9.99997403e-01 -4.23325809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:24.74, Z:-0.42 [[ 6.76032578e-01 -7.36870160e-01 1.52346807e-03 1.38077785e+02] [ 7.36868210e-01 6.76034295e-01 1.69529569e-03 2.47406730e+01] [-2.27912947e-03 -2.34799268e-05 9.99997403e-01 -4.23509108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:24.76, Z:-0.43 [[ 6.72204877e-01 -7.40363616e-01 1.52320513e-03 1.38089348e+02] [ 7.40361674e-01 6.72206603e-01 1.69553191e-03 2.47615006e+01] [-2.27921868e-03 -1.20221231e-05 9.99997403e-01 -4.26067051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:24.78, Z:-0.42 [[ 6.74205584e-01 -7.38542207e-01 1.49623197e-03 1.38116149e+02] [ 7.38540207e-01 6.74207242e-01 1.71973140e-03 2.47819577e+01] [-2.27886466e-03 -5.44250461e-05 9.99997402e-01 -4.23048822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:24.80, Z:-0.42 [[ 6.73228213e-01 -7.39433198e-01 1.52270989e-03 1.38135552e+02] [ 7.39431253e-01 6.73229935e-01 1.69595830e-03 2.48027417e+01] [-2.27918175e-03 -1.58276939e-05 9.99997403e-01 -4.23497793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:24.82, Z:-0.42 [[ 6.72434193e-01 -7.40155348e-01 1.52222976e-03 1.38154326e+02] [ 7.40153404e-01 6.72435916e-01 1.69638914e-03 2.48224405e+01] [-2.27919346e-03 -1.40265212e-05 9.99997403e-01 -4.23691322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:24.84, Z:-0.42 [[ 6.71245148e-01 -7.41233860e-01 1.52197262e-03 1.38173613e+02] [ 7.41231918e-01 6.71246873e-01 1.69661982e-03 2.48432305e+01] [-2.27921141e-03 -1.07131388e-05 9.99997403e-01 -4.23968647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:24.86, Z:-0.42 [[ 6.69136918e-01 -7.43137585e-01 1.52149330e-03 1.38193001e+02] [ 7.43135647e-01 6.69138648e-01 1.69704955e-03 2.48629925e+01] [-2.27923127e-03 -4.88259151e-06 9.99997403e-01 -4.23963872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:24.88, Z:-0.43 [[ 6.64296514e-01 -7.47467610e-01 1.52101363e-03 1.38204391e+02] [ 7.47465683e-01 6.64298255e-01 1.69747935e-03 2.48836244e+01] [-2.27921754e-03 9.27587801e-06 9.99997403e-01 -4.27936231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:24.90, Z:-0.43 [[ 6.63527595e-01 -7.48150317e-01 1.49454593e-03 1.38222786e+02] [ 7.48148337e-01 6.63529278e-01 1.72117368e-03 2.49045444e+01] [-2.27937162e-03 -2.39041772e-05 9.99997402e-01 -4.28865777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:24.92, Z:-0.43 [[ 6.63630255e-01 -7.48059260e-01 1.49264467e-03 1.38241120e+02] [ 7.48057277e-01 6.63631933e-01 1.72287585e-03 2.49249546e+01] [-2.27937990e-03 -2.67688308e-05 9.99997402e-01 -4.28927228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:24.95, Z:-0.43 [[ 6.66789427e-01 -7.45244680e-01 1.49235416e-03 1.38268071e+02] [ 7.45242689e-01 6.66791096e-01 1.72313592e-03 2.49458373e+01] [-2.27924634e-03 -3.68027865e-05 9.99997402e-01 -4.25802978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:24.97, Z:-0.43 [[ 6.64206556e-01 -7.47547549e-01 1.52101019e-03 1.38281561e+02] [ 7.47545622e-01 6.64208297e-01 1.69745865e-03 2.49673655e+01] [-2.27919864e-03 9.56134512e-06 9.99997403e-01 -4.29212589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:24.99, Z:-0.43 [[ 6.67223980e-01 -7.44855628e-01 1.50118791e-03 1.38307018e+02] [ 7.44853654e-01 6.67225668e-01 1.71520393e-03 2.49889264e+01] [-2.27921040e-03 -2.62598959e-05 9.99997402e-01 -4.25483895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:25.01, Z:-0.43 [[ 6.68592285e-01 -7.43627624e-01 1.52073364e-03 1.38325020e+02] [ 7.43625686e-01 6.68594015e-01 1.69769557e-03 2.50095682e+01] [-2.27920674e-03 -4.20956453e-06 9.99997403e-01 -4.25405602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:25.03, Z:-0.42 [[ 6.69325160e-01 -7.42968047e-01 1.52040414e-03 1.38343261e+02] [ 7.42966106e-01 6.69326887e-01 1.69799061e-03 2.50303954e+01] [-2.27920014e-03 -6.89909100e-06 9.99997403e-01 -4.24915984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:25.05, Z:-0.42 [[ 6.69117430e-01 -7.43155135e-01 1.51992957e-03 1.38362278e+02] [ 7.43153194e-01 6.69119156e-01 1.69841532e-03 2.50517593e+01] [-2.27920005e-03 -6.89877909e-06 9.99997403e-01 -4.24980900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:25.07, Z:-0.42 [[ 6.70701204e-01 -7.41726086e-01 1.51945464e-03 1.38380054e+02] [ 7.41724140e-01 6.70702925e-01 1.69884010e-03 2.50742357e+01] [-2.27917668e-03 -1.23979131e-05 9.99997403e-01 -4.23913665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:25.10, Z:-0.42 [[ 6.71802692e-01 -7.40728585e-01 1.51903810e-03 1.38398232e+02] [ 7.40726636e-01 6.71804409e-01 1.69921246e-03 2.50954616e+01] [-2.27915174e-03 -1.63435222e-05 9.99997403e-01 -4.23412707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:25.12, Z:-0.42 [[ 6.72749652e-01 -7.39868637e-01 1.51882428e-03 1.38415848e+02] [ 7.39866685e-01 6.72751366e-01 1.69940356e-03 2.51160347e+01] [-2.27912651e-03 -1.95456699e-05 9.99997403e-01 -4.22321397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:25.14, Z:-0.42 [[ 6.74738070e-01 -7.38055710e-01 1.51855605e-03 1.38434298e+02] [ 7.38053753e-01 6.74739778e-01 1.69964321e-03 2.51381686e+01] [-2.27906155e-03 -2.60379856e-05 9.99997403e-01 -4.20191205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:25.16, Z:-0.42 [[ 6.75571345e-01 -7.37293058e-01 1.51812726e-03 1.38452509e+02] [ 7.37291099e-01 6.75573050e-01 1.70002613e-03 2.51598695e+01] [-2.27902333e-03 -2.91872188e-05 9.99997403e-01 -4.20113942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:25.18, Z:-0.42 [[ 6.76458305e-01 -7.36479368e-01 1.51765073e-03 1.38471029e+02] [ 7.36477405e-01 6.76460006e-01 1.70045143e-03 2.51816278e+01] [-2.27897742e-03 -3.25690235e-05 9.99997403e-01 -4.19731769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:25.20, Z:-0.42 [[ 6.78083643e-01 -7.34983178e-01 1.51716328e-03 1.38488548e+02] [ 7.34981211e-01 6.78085339e-01 1.70088623e-03 2.52024776e+01] [-2.27888894e-03 -3.82566307e-05 9.99997403e-01 -4.19688834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:25.22, Z:-0.42 [[ 6.78515083e-01 -7.34584904e-01 1.51683235e-03 1.38506978e+02] [ 7.34582935e-01 6.78516778e-01 1.70118130e-03 2.52239913e+01] [-2.27885830e-03 -4.00380132e-05 9.99997403e-01 -4.19872970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:25.25, Z:-0.42 [[ 6.78798042e-01 -7.34323443e-01 1.51635409e-03 1.38525343e+02] [ 7.34321473e-01 6.78799734e-01 1.70160749e-03 2.52457444e+01] [-2.27883102e-03 -4.15564615e-05 9.99997403e-01 -4.20463370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:25.27, Z:-0.42 [[ 6.78727502e-01 -7.34388644e-01 1.51587902e-03 1.38543862e+02] [ 7.34386673e-01 6.78729193e-01 1.70203060e-03 2.52673419e+01] [-2.27882329e-03 -4.19736259e-05 9.99997403e-01 -4.21107595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:25.29, Z:-0.42 [[ 6.77630392e-01 -7.35401084e-01 1.51539947e-03 1.38562485e+02] [ 7.35399115e-01 6.77632086e-01 1.70245745e-03 2.52880867e+01] [-2.27887237e-03 -3.92134803e-05 9.99997403e-01 -4.22045520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:25.31, Z:-0.42 [[ 6.76389168e-01 -7.36542869e-01 1.51491721e-03 1.38581705e+02] [ 7.36540902e-01 6.76390863e-01 1.70288648e-03 2.53091397e+01] [-2.27892506e-03 -3.60154807e-05 9.99997403e-01 -4.22477593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:25.33, Z:-0.42 [[ 6.74661598e-01 -7.38125622e-01 1.51443601e-03 1.38599919e+02] [ 7.38123658e-01 6.74663297e-01 1.70331432e-03 2.53290831e+01] [-2.27899434e-03 -3.13197142e-05 9.99997403e-01 -4.22900511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:25.35, Z:-0.42 [[ 6.72729566e-01 -7.39886909e-01 1.51410824e-03 1.38619132e+02] [ 7.39884948e-01 6.72731269e-01 1.70360564e-03 2.53500347e+01] [-2.27906347e-03 -2.57999909e-05 9.99997403e-01 -4.22048466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:25.37, Z:-0.42 [[ 6.68585399e-01 -7.43633830e-01 1.51362594e-03 1.38638667e+02] [ 7.43631878e-01 6.68587112e-01 1.70403404e-03 2.53706464e+01] [-2.27916816e-03 -1.37117800e-05 9.99997403e-01 -4.21544168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:25.39, Z:-0.42 [[ 6.65933245e-01 -7.46009801e-01 1.51314406e-03 1.38657633e+02] [ 7.46007854e-01 6.65934964e-01 1.70446184e-03 2.53917049e+01] [-2.27920077e-03 -6.24044955e-06 9.99997403e-01 -4.21167326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:25.41, Z:-0.42 [[ 6.63176063e-01 -7.48461903e-01 1.51266359e-03 1.38677466e+02] [ 7.48459962e-01 6.63177789e-01 1.70488813e-03 2.54133305e+01] [-2.27920871e-03 1.52713443e-06 9.99997403e-01 -4.20547120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:25.43, Z:-0.42 [[ 6.60581112e-01 -7.50753160e-01 1.51224168e-03 1.38695782e+02] [ 7.50751223e-01 6.60582843e-01 1.70526229e-03 2.54329187e+01] [-2.27919196e-03 8.85323135e-06 9.99997403e-01 -4.20406165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:25.45, Z:-0.42 [[ 6.55287160e-01 -7.55378350e-01 1.51196978e-03 1.38714728e+02] [ 7.55376425e-01 6.55288904e-01 1.70550333e-03 2.54532396e+01] [-2.27907731e-03 2.45118917e-05 9.99997403e-01 -4.19600651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:25.47, Z:-0.42 [[ 6.52901051e-01 -7.57441703e-01 1.51149564e-03 1.38733417e+02] [ 7.57439783e-01 6.52902800e-01 1.70592344e-03 2.54741569e+01] [-2.27899729e-03 3.10677194e-05 9.99997403e-01 -4.19491398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:25.50, Z:-0.42 [[ 6.50604096e-01 -7.59415583e-01 1.51101006e-03 1.38751982e+02] [ 7.59413667e-01 6.50605849e-01 1.70635342e-03 2.54953588e+01] [-2.27890336e-03 3.73211638e-05 9.99997403e-01 -4.19556674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:25.52, Z:-0.42 [[ 6.46441413e-01 -7.62962134e-01 1.51052037e-03 1.38766753e+02] [ 7.62960226e-01 6.46443176e-01 1.70678680e-03 2.55167603e+01] [-2.27867929e-03 4.91292905e-05 9.99997403e-01 -4.23833818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:25.54, Z:-0.42 [[ 6.45976587e-01 -7.63355750e-01 1.49918370e-03 1.38788573e+02] [ 7.63353820e-01 6.45978326e-01 1.71681364e-03 2.55376313e+01] [-2.27897974e-03 3.53861884e-05 9.99997402e-01 -4.20518309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:25.56, Z:-0.42 [[ 6.45119061e-01 -7.64080569e-01 1.51010400e-03 1.38805773e+02] [ 7.64078664e-01 6.45120826e-01 1.70715382e-03 2.55580433e+01] [-2.27860261e-03 5.25207795e-05 9.99997403e-01 -4.21278050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:25.58, Z:-0.42 [[ 6.45311077e-01 -7.63918408e-01 1.50977469e-03 1.38823029e+02] [ 7.63916502e-01 6.45312841e-01 1.70744501e-03 2.55814640e+01] [-2.27862567e-03 5.15086174e-05 9.99997403e-01 -4.22353814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:25.60, Z:-0.42 [[ 6.45694778e-01 -7.63594117e-01 1.50934878e-03 1.38841119e+02] [ 7.63592209e-01 6.45696540e-01 1.70782142e-03 2.56031325e+01] [-2.27866368e-03 4.97956007e-05 9.99997403e-01 -4.22884396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:25.62, Z:-0.42 [[ 6.46564673e-01 -7.62857685e-01 1.50885947e-03 1.38858373e+02] [ 7.62855773e-01 6.46566432e-01 1.70825362e-03 2.56236736e+01] [-2.27873228e-03 4.65457127e-05 9.99997403e-01 -4.23812143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:25.65, Z:-0.43 [[ 6.44345323e-01 -7.64733175e-01 1.50859749e-03 1.38871139e+02] [ 7.64731269e-01 6.44347087e-01 1.70848495e-03 2.56451651e+01] [-2.27859552e-03 5.28173886e-05 9.99997403e-01 -4.28399422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:25.67, Z:-0.42 [[ 6.49205935e-01 -7.60611226e-01 1.48889212e-03 1.38895203e+02] [ 7.60609268e-01 6.49207642e-01 1.72587083e-03 2.56669479e+01] [-2.27931687e-03 1.20195554e-05 9.99997402e-01 -4.23698515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:25.69, Z:-0.42 [[ 6.52685189e-01 -7.57627724e-01 1.50838202e-03 1.38911628e+02] [ 7.57625798e-01 6.52686931e-01 1.70866546e-03 2.56890478e+01] [-2.27903356e-03 2.75684951e-05 9.99997403e-01 -4.23064656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:25.71, Z:-0.42 [[ 6.54598900e-01 -7.55974871e-01 1.50813538e-03 1.38928620e+02] [ 7.55972939e-01 6.54600637e-01 1.70888314e-03 2.57109445e+01] [-2.27909909e-03 2.14765112e-05 9.99997403e-01 -4.22504052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:25.73, Z:-0.43 [[ 6.53472602e-01 -7.56948668e-01 1.50765712e-03 1.38940512e+02] [ 7.56946738e-01 6.53474341e-01 1.70930497e-03 2.57330169e+01] [-2.27907136e-03 2.42321683e-05 9.99997403e-01 -4.26132018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:25.76, Z:-0.42 [[ 6.58705123e-01 -7.52399723e-01 1.48922913e-03 1.38962972e+02] [ 7.52397745e-01 6.58706806e-01 1.72554095e-03 2.57557743e+01] [-2.27926190e-03 -1.61300230e-05 9.99997402e-01 -4.20809076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:25.78, Z:-0.42 [[ 6.60720531e-01 -7.50630474e-01 1.50711765e-03 1.38980585e+02] [ 7.50628527e-01 6.60722249e-01 1.70977272e-03 2.57783732e+01] [-2.27919367e-03 1.60356417e-06 9.99997403e-01 -4.19583391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:25.80, Z:-0.42 [[ 6.64245148e-01 -7.47513286e-01 1.50669232e-03 1.38997607e+02] [ 7.47511330e-01 6.64246857e-01 1.71014744e-03 2.58024064e+01] [-2.27917357e-03 -9.68755691e-06 9.99997403e-01 -4.17851264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.02, Y:25.82, Z:-0.42 [[ 6.65670841e-01 -7.46243970e-01 1.50626691e-03 1.39015224e+02] [ 7.46242009e-01 6.65672545e-01 1.71052206e-03 2.58246646e+01] [-2.27914730e-03 -1.46050142e-05 9.99997403e-01 -4.17416440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:25.85, Z:-0.42 [[ 6.67310965e-01 -7.44777691e-01 1.50577736e-03 1.39030793e+02] [ 7.44775726e-01 6.67312663e-01 1.71095290e-03 2.58475508e+01] [-2.27910385e-03 -2.02711991e-05 9.99997403e-01 -4.17807123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:25.87, Z:-0.42 [[ 6.64855512e-01 -7.46970469e-01 1.50550339e-03 1.39043839e+02] [ 7.46968509e-01 6.64857217e-01 1.71119394e-03 2.58698541e+01] [-2.27915613e-03 -1.31331045e-05 9.99997403e-01 -4.21723810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:25.89, Z:-0.42 [[ 6.67010212e-01 -7.45047085e-01 1.48922260e-03 1.39065320e+02] [ 7.45045088e-01 6.67011874e-01 1.72550370e-03 2.58923224e+01] [-2.27891065e-03 -4.13906085e-05 9.99997402e-01 -4.19732851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:25.91, Z:-0.42 [[ 6.66022615e-01 -7.45930032e-01 1.50492336e-03 1.39081908e+02] [ 7.45928068e-01 6.66024315e-01 1.71169961e-03 2.59134590e+01] [-2.27912370e-03 -1.74660768e-05 9.99997403e-01 -4.21131339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:25.94, Z:-0.42 [[ 6.64645762e-01 -7.47157110e-01 1.50465508e-03 1.39099474e+02] [ 7.47155149e-01 6.64647465e-01 1.71193541e-03 2.59351346e+01] [-2.27914990e-03 -1.36198299e-05 9.99997403e-01 -4.22228678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:25.96, Z:-0.42 [[ 6.61648622e-01 -7.49812536e-01 1.50417724e-03 1.39117357e+02] [ 7.49810580e-01 6.61650332e-01 1.71235516e-03 2.59570748e+01] [-2.27918473e-03 -5.12942006e-06 9.99997403e-01 -4.23467690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:25.98, Z:-0.42 [[ 6.59816148e-01 -7.51425572e-01 1.50369402e-03 1.39135522e+02] [ 7.51423620e-01 6.59817861e-01 1.71277939e-03 2.59781040e+01] [-2.27919040e-03 -2.08297857e-07 9.99997403e-01 -4.23902921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:26.00, Z:-0.42 [[ 6.58270916e-01 -7.52779610e-01 1.50321367e-03 1.39153052e+02] [ 7.52777661e-01 6.58272632e-01 1.71320086e-03 2.59983441e+01] [-2.27918710e-03 3.83537655e-06 9.99997403e-01 -4.24535068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.17, Y:26.02, Z:-0.42 [[ 6.55041735e-01 -7.55591204e-01 1.50288717e-03 1.39169255e+02] [ 7.55589261e-01 6.55043459e-01 1.71348723e-03 2.60203704e+01] [-2.27915229e-03 1.31597550e-05 9.99997403e-01 -4.22997617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:26.04, Z:-0.42 [[ 6.54647951e-01 -7.55932423e-01 1.49424971e-03 1.39188968e+02] [ 7.55930464e-01 6.54649656e-01 1.72105940e-03 2.60422171e+01] [-2.27921466e-03 2.86087175e-06 9.99997403e-01 -4.24301747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:26.06, Z:-0.42 [[ 6.52185430e-01 -7.58057984e-01 1.50231085e-03 1.39205979e+02] [ 7.58056047e-01 6.52187160e-01 1.71399384e-03 2.60644183e+01] [-2.27909456e-03 2.09940135e-05 9.99997403e-01 -4.22779852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:26.09, Z:-0.42 [[ 6.53171860e-01 -7.57208217e-01 1.49607540e-03 1.39225601e+02] [ 7.57206264e-01 6.53173573e-01 1.71945499e-03 2.60851784e+01] [-2.27918236e-03 9.73805087e-06 9.99997403e-01 -4.23758395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:26.11, Z:-0.42 [[ 6.52585531e-01 -7.57713580e-01 1.50170115e-03 1.39243754e+02] [ 7.57711641e-01 6.52587258e-01 1.71452757e-03 2.61062359e+01] [-2.27911186e-03 1.89805580e-05 9.99997403e-01 -4.22881947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:26.13, Z:-0.42 [[ 6.52214804e-01 -7.58032714e-01 1.50121979e-03 1.39262130e+02] [ 7.58030775e-01 6.52216531e-01 1.71494894e-03 2.61277355e+01] [-2.27910776e-03 1.94557141e-05 9.99997403e-01 -4.22911976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:26.15, Z:-0.42 [[ 6.51953696e-01 -7.58257296e-01 1.50074012e-03 1.39280421e+02] [ 7.58255356e-01 6.51955423e-01 1.71536859e-03 2.61496456e+01] [-2.27910641e-03 1.96033444e-05 9.99997403e-01 -4.23051360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:26.17, Z:-0.42 [[ 6.51782307e-01 -7.58404624e-01 1.50026197e-03 1.39298093e+02] [ 7.58402683e-01 6.51784033e-01 1.71578668e-03 2.61714380e+01] [-2.27910735e-03 1.94832999e-05 9.99997403e-01 -4.23689672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:26.19, Z:-0.43 [[ 6.51312877e-01 -7.58807806e-01 1.49978433e-03 1.39315585e+02] [ 7.58805865e-01 6.51314604e-01 1.71620409e-03 2.61944989e+01] [-2.27910049e-03 2.02593254e-05 9.99997403e-01 -4.25354907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:26.22, Z:-0.43 [[ 6.50808429e-01 -7.59240502e-01 1.49935783e-03 1.39333989e+02] [ 7.59238562e-01 6.50810156e-01 1.71657661e-03 2.62167051e+01] [-2.27909180e-03 2.12077573e-05 9.99997403e-01 -4.26529742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.35, Y:26.24, Z:-0.43 [[ 6.50205410e-01 -7.59756986e-01 1.49893301e-03 1.39352177e+02] [ 7.59755047e-01 6.50207137e-01 1.71694750e-03 2.62381030e+01] [-2.27907979e-03 2.24533686e-05 9.99997403e-01 -4.26450105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:26.26, Z:-0.43 [[ 6.47492071e-01 -7.62070714e-01 1.49843726e-03 1.39368256e+02] [ 7.62068779e-01 6.47493804e-01 1.71738004e-03 2.62598832e+01] [-2.27899388e-03 2.99222885e-05 9.99997403e-01 -4.29238447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:26.28, Z:-0.43 [[ 6.47337332e-01 -7.62202179e-01 1.48871936e-03 1.39386992e+02] [ 7.62200226e-01 6.47339044e-01 1.72585225e-03 2.62814418e+01] [-2.27915452e-03 1.74936407e-05 9.99997403e-01 -4.29298573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:26.30, Z:-0.43 [[ 6.48443919e-01 -7.61260973e-01 1.48813829e-03 1.39407831e+02] [ 7.61259016e-01 6.48445627e-01 1.72635857e-03 2.63024810e+01] [-2.27918617e-03 1.34119703e-05 9.99997403e-01 -4.26109922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:26.32, Z:-0.43 [[ 6.47741658e-01 -7.61858584e-01 1.49742863e-03 1.39425732e+02] [ 7.61856647e-01 6.47743388e-01 1.71826224e-03 2.63243810e+01] [-2.27902233e-03 2.78359167e-05 9.99997403e-01 -4.26891165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:26.35, Z:-0.43 [[ 6.45285913e-01 -7.63939690e-01 1.49717378e-03 1.39440836e+02] [ 7.63937758e-01 6.45287648e-01 1.71848427e-03 2.63472554e+01] [-2.27892609e-03 3.48338940e-05 9.99997403e-01 -4.28629693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:26.37, Z:-0.43 [[ 6.46748114e-01 -7.62702216e-01 1.48555500e-03 1.39461922e+02] [ 7.62700257e-01 6.46749820e-01 1.72859918e-03 2.63689397e+01] [-2.27918886e-03 1.50649244e-05 9.99997403e-01 -4.26139462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:26.39, Z:-0.43 [[ 6.43378928e-01 -7.65546416e-01 1.49654004e-03 1.39474859e+02] [ 7.65544487e-01 6.43380668e-01 1.71903594e-03 2.63905743e+01] [-2.27884674e-03 3.96764762e-05 9.99997403e-01 -4.27825550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:26.41, Z:-0.42 [[ 6.46962320e-01 -7.62520542e-01 1.47639605e-03 1.39499366e+02] [ 7.62518564e-01 6.46964005e-01 1.73655692e-03 2.64117042e+01] [-2.27933542e-03 2.29250874e-06 9.99997402e-01 -4.21763283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:26.43, Z:-0.42 [[ 6.47574704e-01 -7.62000502e-01 1.49608770e-03 1.39517806e+02] [ 7.61998562e-01 6.47576432e-01 1.71942302e-03 2.64330350e+01] [-2.27903233e-03 2.65618234e-05 9.99997403e-01 -4.20857599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:26.45, Z:-0.43 [[ 6.44865757e-01 -7.64294393e-01 1.49559640e-03 1.39529125e+02] [ 7.64292458e-01 6.44867490e-01 1.71985025e-03 2.64545761e+01] [-2.27893340e-03 3.40005173e-05 9.99997403e-01 -4.25514585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:26.48, Z:-0.43 [[ 6.48726336e-01 -7.61020350e-01 1.47231624e-03 1.39548368e+02] [ 7.61018361e-01 6.48728007e-01 1.74008677e-03 2.64770438e+01] [-2.27937423e-03 -8.38042361e-06 9.99997402e-01 -4.25388304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:26.50, Z:-0.43 [[ 6.50222583e-01 -7.59742330e-01 1.47779346e-03 1.39566221e+02] [ 7.59740348e-01 6.50224263e-01 1.73533163e-03 2.64993766e+01] [-2.27930206e-03 -5.61249468e-06 9.99997402e-01 -4.26172098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:26.52, Z:-0.43 [[ 6.50538541e-01 -7.59471807e-01 1.47668617e-03 1.39581216e+02] [ 7.59469822e-01 6.50540217e-01 1.73629243e-03 2.65200004e+01] [-2.27930889e-03 -8.02656239e-06 9.99997402e-01 -4.28136590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:26.54, Z:-0.43 [[ 6.52995558e-01 -7.57360320e-01 1.46529753e-03 1.39601355e+02] [ 7.57358307e-01 6.52997202e-01 1.74617782e-03 2.65419982e+01] [-2.27932098e-03 -3.04910970e-05 9.99997402e-01 -4.27838923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:26.56, Z:-0.43 [[ 6.56477416e-01 -7.54344242e-01 1.47220776e-03 1.39624657e+02] [ 7.54342235e-01 6.56479066e-01 1.74018533e-03 2.65649281e+01] [-2.27917236e-03 -3.18438715e-05 9.99997402e-01 -4.26941688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:26.59, Z:-0.42 [[ 6.60418718e-01 -7.50896061e-01 1.49107307e-03 1.39643244e+02] [ 7.50894082e-01 6.60420401e-01 1.72382134e-03 2.65863759e+01] [-2.27914573e-03 -1.88059341e-05 9.99997403e-01 -4.24954737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:26.61, Z:-0.43 [[ 6.59602075e-01 -7.51613513e-01 1.49307588e-03 1.39658256e+02] [ 7.51611541e-01 6.59603765e-01 1.72208488e-03 2.66082237e+01] [-2.27918074e-03 -1.36777022e-05 9.99997403e-01 -4.29541155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:26.63, Z:-0.43 [[ 6.62376909e-01 -7.49169296e-01 1.48168233e-03 1.39678967e+02] [ 7.49167295e-01 6.62378565e-01 1.73195409e-03 2.66300419e+01] [-2.27896144e-03 -3.71784484e-05 9.99997402e-01 -4.25704927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:26.65, Z:-0.43 [[ 6.62154911e-01 -7.49365496e-01 1.49237343e-03 1.39696276e+02] [ 7.49363516e-01 6.62156592e-01 1.72269236e-03 2.66506744e+01] [-2.27911112e-03 -2.23590100e-05 9.99997403e-01 -4.25864522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:26.67, Z:-0.43 [[ 6.58794194e-01 -7.52321729e-01 1.49208986e-03 1.39709354e+02] [ 7.52319756e-01 6.58795883e-01 1.72293794e-03 2.66721587e+01] [-2.27918630e-03 -1.25328286e-05 9.99997403e-01 -4.30798420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:26.69, Z:-0.42 [[ 6.60861971e-01 -7.50506022e-01 1.47178303e-03 1.39734584e+02] [ 7.50504006e-01 6.60863608e-01 1.74050796e-03 2.66938017e+01] [-2.27890955e-03 -4.56564621e-05 9.99997402e-01 -4.24418413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:26.71, Z:-0.42 [[ 6.58825236e-01 -7.52294545e-01 1.49167110e-03 1.39753429e+02] [ 7.52292572e-01 6.58826925e-01 1.72329298e-03 2.67135402e+01] [-2.27917699e-03 -1.31758197e-05 9.99997403e-01 -4.23990694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.77, Y:26.73, Z:-0.43 [[ 6.56953154e-01 -7.53929923e-01 1.49138377e-03 1.39772704e+02] [ 7.53927953e-01 6.56954847e-01 1.72354160e-03 2.67345965e+01] [-2.27920139e-03 -7.89017873e-06 9.99997403e-01 -4.25045799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:26.75, Z:-0.43 [[ 6.56142386e-01 -7.54635639e-01 1.49089331e-03 1.39790745e+02] [ 7.54633670e-01 6.56144079e-01 1.72396576e-03 2.67544675e+01] [-2.27920682e-03 -6.08871871e-06 9.99997403e-01 -4.25260602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:26.77, Z:-0.42 [[ 6.55440761e-01 -7.55245117e-01 1.49061437e-03 1.39809167e+02] [ 7.55243149e-01 6.55442456e-01 1.72420691e-03 2.67743161e+01] [-2.27921079e-03 -4.33919572e-06 9.99997403e-01 -4.24917918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:26.80, Z:-0.43 [[ 6.52581811e-01 -7.57716806e-01 1.49034712e-03 1.39824674e+02] [ 7.57714844e-01 6.52583513e-01 1.72443788e-03 2.67955231e+01] [-2.27921152e-03 3.92134537e-06 9.99997403e-01 -4.26799213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:26.82, Z:-0.42 [[ 6.54751828e-01 -7.55842489e-01 1.47483058e-03 1.39848366e+02] [ 7.55840492e-01 6.54753489e-01 1.73783585e-03 2.68164345e+01] [-2.27918064e-03 -2.31145331e-05 9.99997402e-01 -4.24471973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:26.84, Z:-0.43 [[ 6.54506648e-01 -7.56054779e-01 1.48985605e-03 1.39867316e+02] [ 7.56052811e-01 6.54508343e-01 1.72485751e-03 2.68369756e+01] [-2.27920998e-03 -2.52085615e-06 9.99997403e-01 -4.25172410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:26.86, Z:-0.43 [[ 6.54637992e-01 -7.55941057e-01 1.48937440e-03 1.39887929e+02] [ 7.55939088e-01 6.54639686e-01 1.72527330e-03 2.68571610e+01] [-2.27920852e-03 -3.55312113e-06 9.99997403e-01 -4.26178731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:26.88, Z:-0.43 [[ 6.54802935e-01 -7.55798187e-01 1.48893926e-03 1.39906540e+02] [ 7.55796217e-01 6.54804628e-01 1.72564876e-03 2.68771375e+01] [-2.27920652e-03 -4.62520912e-06 9.99997403e-01 -4.27243361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:26.90, Z:-0.43 [[ 6.54758679e-01 -7.55836528e-01 1.48870332e-03 1.39925463e+02] [ 7.55834557e-01 6.54760371e-01 1.72585228e-03 2.68974309e+01] [-2.27920613e-03 -4.80334001e-06 9.99997403e-01 -4.27672788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:26.92, Z:-0.43 [[ 6.54540942e-01 -7.56025092e-01 1.48821086e-03 1.39944855e+02] [ 7.56023121e-01 6.54542634e-01 1.72627682e-03 2.69182165e+01] [-2.27920605e-03 -4.79703652e-06 9.99997403e-01 -4.27668274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:26.94, Z:-0.43 [[ 6.53416756e-01 -7.56996915e-01 1.48771736e-03 1.39965111e+02] [ 7.56994946e-01 6.53418450e-01 1.72670202e-03 2.69373679e+01] [-2.27921007e-03 -2.06150817e-06 9.99997403e-01 -4.27265920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:26.96, Z:-0.43 [[ 6.52543543e-01 -7.57749769e-01 1.48749887e-03 1.39985228e+02] [ 7.57747801e-01 6.52545238e-01 1.72689022e-03 2.69576154e+01] [-2.27921097e-03 2.77938993e-07 9.99997403e-01 -4.26445393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:26.98, Z:-0.43 [[ 6.51360746e-01 -7.58766741e-01 1.48707546e-03 1.40005304e+02] [ 7.58764775e-01 6.51362444e-01 1.72725475e-03 2.69780259e+01] [-2.27920857e-03 3.27453580e-06 9.99997403e-01 -4.25292455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:27.00, Z:-0.42 [[ 6.49513123e-01 -7.60348929e-01 1.48664898e-03 1.40026663e+02] [ 7.60346966e-01 6.49514824e-01 1.72762175e-03 2.69974960e+01] [-2.27919590e-03 8.25603980e-06 9.99997403e-01 -4.23655915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:27.02, Z:-0.42 [[ 6.48772303e-01 -7.60981136e-01 1.48622090e-03 1.40045443e+02] [ 7.60979174e-01 6.48774005e-01 1.72798993e-03 2.70171715e+01] [-2.27918923e-03 9.91114511e-06 9.99997403e-01 -4.23848177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:27.04, Z:-0.42 [[ 6.48228729e-01 -7.61444224e-01 1.48588838e-03 1.40065237e+02] [ 7.61442263e-01 6.48230432e-01 1.72827582e-03 2.70377590e+01] [-2.27918371e-03 1.11001678e-05 9.99997403e-01 -4.23647697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:27.06, Z:-0.43 [[ 6.44748288e-01 -7.64393510e-01 1.48540132e-03 1.40078015e+02] [ 7.64391556e-01 6.44749999e-01 1.72869433e-03 2.70577337e+01] [-2.27911523e-03 2.08555142e-05 9.99997403e-01 -4.25986219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:27.08, Z:-0.43 [[ 6.47901742e-01 -7.61722518e-01 1.46222781e-03 1.40104322e+02] [ 7.61720511e-01 6.47903392e-01 1.74858754e-03 2.70781443e+01] [-2.27932086e-03 -1.91040012e-05 9.99997402e-01 -4.25111622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:27.10, Z:-0.43 [[ 6.48508306e-01 -7.61206130e-01 1.48494676e-03 1.40123229e+02] [ 7.61204166e-01 6.48510006e-01 1.72907630e-03 2.70983412e+01] [-2.27918631e-03 9.02731886e-06 9.99997403e-01 -4.25989941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:27.12, Z:-0.43 [[ 6.46575489e-01 -7.62848565e-01 1.48447388e-03 1.40137570e+02] [ 7.62846605e-01 6.46577193e-01 1.72948218e-03 2.71189727e+01] [-2.27915996e-03 1.41850681e-05 9.99997403e-01 -4.27677031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:27.14, Z:-0.43 [[ 6.50748782e-01 -7.59291695e-01 1.46437660e-03 1.40162573e+02] [ 7.59289687e-01 6.50750429e-01 1.74671792e-03 2.71399748e+01] [-2.27921211e-03 -2.47885085e-05 9.99997402e-01 -4.26650726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:27.16, Z:-0.43 [[ 6.50401606e-01 -7.59589065e-01 1.48417413e-03 1.40177404e+02] [ 7.59587096e-01 6.50403299e-01 1.72973089e-03 2.71597302e+01] [-2.27919642e-03 2.33976768e-06 9.99997403e-01 -4.29207133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:27.18, Z:-0.43 [[ 6.54282863e-01 -7.56248498e-01 1.46396606e-03 1.40202773e+02] [ 7.56246481e-01 6.54284500e-01 1.74705318e-03 2.71807660e+01] [-2.27905664e-03 -3.59477710e-05 9.99997402e-01 -4.28337912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:27.20, Z:-0.43 [[ 6.52932365e-01 -7.57414765e-01 1.48361821e-03 1.40218625e+02] [ 7.57412789e-01 6.52934050e-01 1.73020180e-03 2.72000984e+01] [-2.27918524e-03 -5.99334775e-06 9.99997403e-01 -4.29311922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:27.22, Z:-0.43 [[ 6.56220237e-01 -7.54567995e-01 1.46337422e-03 1.40244227e+02] [ 7.54565973e-01 6.56221867e-01 1.74754051e-03 2.72204287e+01] [-2.27893630e-03 -4.25590581e-05 9.99997402e-01 -4.28030739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:27.24, Z:-0.43 [[ 6.56279844e-01 -7.54516114e-01 1.48314662e-03 1.40264385e+02] [ 7.54514130e-01 6.56281520e-01 1.73059525e-03 2.72409112e+01] [-2.27912373e-03 -1.66996988e-05 9.99997403e-01 -4.27163617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:27.26, Z:-0.43 [[ 6.56427561e-01 -7.54387605e-01 1.48271906e-03 1.40284514e+02] [ 7.54385620e-01 6.56429235e-01 1.73096150e-03 2.72609592e+01] [-2.27911604e-03 -1.77088926e-05 9.99997403e-01 -4.26757222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:27.28, Z:-0.43 [[ 6.56210095e-01 -7.54576778e-01 1.48223286e-03 1.40305271e+02] [ 7.54574792e-01 6.56211768e-01 1.73137774e-03 2.72795573e+01] [-2.27911608e-03 -1.76920023e-05 9.99997403e-01 -4.27074181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:27.30, Z:-0.43 [[ 6.56005055e-01 -7.54755041e-01 1.48174534e-03 1.40324974e+02] [ 7.54753055e-01 6.56006728e-01 1.73179486e-03 2.72999506e+01] [-2.27911582e-03 -1.77143626e-05 9.99997403e-01 -4.27020373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:27.32, Z:-0.43 [[ 6.52211421e-01 -7.58035664e-01 1.48126032e-03 1.40336962e+02] [ 7.58033685e-01 6.52213103e-01 1.73220962e-03 2.73191187e+01] [-2.27917406e-03 -6.92168199e-06 9.99997403e-01 -4.29254891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:27.34, Z:-0.43 [[ 6.55869457e-01 -7.54872934e-01 1.45247689e-03 1.40364557e+02] [ 7.54870892e-01 6.55871063e-01 1.75679550e-03 2.73393860e+01] [-2.27879493e-03 -5.57959792e-05 9.99997402e-01 -4.26038335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:27.36, Z:-0.42 [[ 6.55256692e-01 -7.55404841e-01 1.48113427e-03 1.40385512e+02] [ 7.55402855e-01 6.55258366e-01 1.73229304e-03 2.73598957e+01] [-2.27910818e-03 -1.62435507e-05 9.99997403e-01 -4.24936078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:27.38, Z:-0.43 [[ 6.54245034e-01 -7.56281193e-01 1.48070726e-03 1.40403727e+02] [ 7.56279209e-01 6.54246709e-01 1.73265797e-03 2.73806853e+01] [-2.27912449e-03 -1.37547598e-05 9.99997403e-01 -4.25418315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:27.40, Z:-0.43 [[ 6.48898058e-01 -7.60873918e-01 1.48021843e-03 1.40412551e+02] [ 7.60871945e-01 6.48899746e-01 1.73307548e-03 2.74012606e+01] [-2.27916529e-03 1.66736327e-06 9.99997403e-01 -4.30014163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:27.42, Z:-0.43 [[ 6.53593627e-01 -7.56844295e-01 1.44353739e-03 1.40440140e+02] [ 7.56842241e-01 6.53595218e-01 1.76435528e-03 2.74234641e+01] [-2.27883137e-03 -6.06412955e-05 9.99997402e-01 -4.25049573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:27.44, Z:-0.43 [[ 6.53994813e-01 -7.56497584e-01 1.47979857e-03 1.40456831e+02] [ 7.56495598e-01 6.53996487e-01 1.73339921e-03 2.74447167e+01] [-2.27909538e-03 -1.41729915e-05 9.99997403e-01 -4.25764036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:27.47, Z:-0.43 [[ 6.54703328e-01 -7.55884491e-01 1.47952799e-03 1.40474540e+02] [ 7.55882503e-01 6.54704999e-01 1.73363013e-03 2.74667302e+01] [-2.27907850e-03 -1.66640979e-05 9.99997403e-01 -4.25590031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:27.49, Z:-0.43 [[ 6.50027160e-01 -7.59909536e-01 1.47903004e-03 1.40480283e+02] [ 7.59907558e-01 6.50028843e-01 1.73405484e-03 2.74878688e+01] [-2.27913700e-03 -3.25663895e-06 9.99997403e-01 -4.32846234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:27.51, Z:-0.43 [[ 6.56194151e-01 -7.54590732e-01 1.43642435e-03 1.40510097e+02] [ 7.54588659e-01 6.56195719e-01 1.77033155e-03 2.75104014e+01] [-2.27845129e-03 -7.77716833e-05 9.99997401e-01 -4.28016832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:27.53, Z:-0.43 [[ 6.51302953e-01 -7.58816366e-01 1.47880675e-03 1.40515313e+02] [ 7.58814384e-01 6.51304632e-01 1.73419055e-03 2.75315137e+01] [-2.27908586e-03 -7.34359252e-06 9.99997403e-01 -4.34593768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:27.55, Z:-0.43 [[ 6.55755489e-01 -7.54971967e-01 1.43791010e-03 1.40545242e+02] [ 7.54969898e-01 6.55757061e-01 1.76900917e-03 2.75538786e+01] [-2.27847204e-03 -7.44586372e-05 9.99997402e-01 -4.29651513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:27.57, Z:-0.44 [[ 6.49283112e-01 -7.60545367e-01 1.47853047e-03 1.40552626e+02] [ 7.60543389e-01 6.49284795e-01 1.73438100e-03 2.75743944e+01] [-2.27906279e-03 -1.61771899e-06 9.99997403e-01 -4.35002414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:27.60, Z:-0.43 [[ 6.50054447e-01 -7.59886275e-01 1.43722644e-03 1.40583475e+02] [ 7.59884217e-01 6.50056033e-01 1.76953168e-03 2.75955046e+01] [-2.27892056e-03 -5.81662514e-05 9.99997402e-01 -4.28589686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:27.62, Z:-0.43 [[ 6.49836702e-01 -7.60072415e-01 1.47823749e-03 1.40601961e+02] [ 7.60070436e-01 6.49838383e-01 1.73458143e-03 2.76173343e+01] [-2.27902296e-03 -3.63006652e-06 9.99997403e-01 -4.28678394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:27.64, Z:-0.43 [[ 6.41366403e-01 -7.67233311e-01 1.47774038e-03 1.40609548e+02] [ 7.67231350e-01 6.41368105e-01 1.73500483e-03 2.76372651e+01] [-2.27892905e-03 2.09949420e-05 9.99997403e-01 -4.33816810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:27.66, Z:-0.43 [[ 6.43672097e-01 -7.65300055e-01 1.43451238e-03 1.40641318e+02] [ 7.65298005e-01 6.43673694e-01 1.77176034e-03 2.76591588e+01] [-2.27928616e-03 -4.26032282e-05 9.99997402e-01 -4.26867201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:27.68, Z:-0.43 [[ 6.37405242e-01 -7.70527335e-01 1.47759159e-03 1.40660674e+02] [ 7.70525382e-01 6.37406954e-01 1.73507402e-03 2.76797553e+01] [-2.27874912e-03 3.25765534e-05 9.99997403e-01 -4.25447254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:27.70, Z:-0.42 [[ 6.34626213e-01 -7.72817823e-01 1.47735134e-03 1.40678638e+02] [ 7.72815876e-01 6.34627931e-01 1.73527856e-03 2.77006640e+01] [-2.27862262e-03 4.04673101e-05 9.99997403e-01 -4.24730515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:27.72, Z:-0.42 [[ 6.32596355e-01 -7.74480258e-01 1.47713635e-03 1.40697376e+02] [ 7.74478315e-01 6.32598077e-01 1.73546155e-03 2.77228067e+01] [-2.27851432e-03 4.61634236e-05 9.99997403e-01 -4.23906396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:27.74, Z:-0.42 [[ 6.31383050e-01 -7.75469705e-01 1.47671094e-03 1.40715157e+02] [ 7.75467764e-01 6.31384775e-01 1.73582346e-03 2.77443003e+01] [-2.27845131e-03 4.91722187e-05 9.99997403e-01 -4.23590654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:27.77, Z:-0.43 [[ 6.24852928e-01 -7.80741084e-01 1.47623140e-03 1.40719598e+02] [ 7.80739156e-01 6.24854668e-01 1.73623119e-03 2.77652230e+01] [-2.27797710e-03 6.76625190e-05 9.99997403e-01 -4.29556484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:27.79, Z:-0.42 [[ 6.31929706e-01 -7.75024390e-01 1.42897424e-03 1.40750797e+02] [ 7.75022354e-01 6.31931321e-01 1.77633859e-03 2.77882624e+01] [-2.27971931e-03 -1.50341409e-05 9.99997401e-01 -4.23583422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:27.81, Z:-0.42 [[ 6.32829500e-01 -7.74289768e-01 1.47599688e-03 1.40768281e+02] [ 7.74287823e-01 6.32831220e-01 1.73636705e-03 2.78107281e+01] [-2.27850815e-03 4.40221232e-05 9.99997403e-01 -4.23555727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:27.83, Z:-0.43 [[ 6.31043881e-01 -7.75745733e-01 1.47553016e-03 1.40773628e+02] [ 7.75743791e-01 6.31045604e-01 1.73676357e-03 2.78337518e+01] [-2.27841375e-03 4.86593342e-05 9.99997403e-01 -4.29601644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:27.86, Z:-0.42 [[ 6.38004547e-01 -7.70031253e-01 1.43761936e-03 1.40801484e+02] [ 7.70029222e-01 6.38006167e-01 1.76892291e-03 2.78567640e+01] [-2.27933595e-03 -2.15719439e-05 9.99997402e-01 -4.24378873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:27.88, Z:-0.43 [[ 6.40115551e-01 -7.68277232e-01 1.47525611e-03 1.40817220e+02] [ 7.68275269e-01 6.40117250e-01 1.73695675e-03 2.78784206e+01] [-2.27880121e-03 2.15497592e-05 9.99997403e-01 -4.25262432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:27.90, Z:-0.43 [[ 6.42293576e-01 -7.66457296e-01 1.47498888e-03 1.40834047e+02] [ 7.66455327e-01 6.42295270e-01 1.73718365e-03 2.79009451e+01] [-2.27885546e-03 1.47311909e-05 9.99997403e-01 -4.25797568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:27.92, Z:-0.43 [[ 6.46481997e-01 -7.62927817e-01 1.47450206e-03 1.40849440e+02] [ 7.62925838e-01 6.46483678e-01 1.73759676e-03 2.79232168e+01] [-2.27890242e-03 1.61069650e-06 9.99997403e-01 -4.27756657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:27.95, Z:-0.43 [[ 6.48345972e-01 -7.61344421e-01 1.47427553e-03 1.40867103e+02] [ 7.61342438e-01 6.48347648e-01 1.73778894e-03 2.79455400e+01] [-2.27889899e-03 -4.25993803e-06 9.99997403e-01 -4.27605385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:27.97, Z:-0.43 [[ 6.45343415e-01 -7.63891160e-01 1.47378435e-03 1.40874718e+02] [ 7.63889183e-01 6.45345098e-01 1.73820540e-03 2.79675637e+01] [-2.27889925e-03 4.06851010e-06 9.99997403e-01 -4.33762558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:27.99, Z:-0.43 [[ 6.52907288e-01 -7.57436470e-01 1.43791689e-03 1.40902439e+02] [ 7.57434408e-01 6.52908868e-01 1.76856413e-03 2.79898699e+01] [-2.27840366e-03 -6.55806801e-05 9.99997402e-01 -4.29390974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:28.01, Z:-0.43 [[ 6.53434748e-01 -7.56981413e-01 1.47333200e-03 1.40919994e+02] [ 7.56979417e-01 6.53436409e-01 1.73855167e-03 2.80110537e+01] [-2.27878007e-03 -2.07480765e-05 9.99997403e-01 -4.30160154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:28.03, Z:-0.43 [[ 6.53700293e-01 -7.56752111e-01 1.47304985e-03 1.40938115e+02] [ 7.56750114e-01 6.53701952e-01 1.73879070e-03 2.80320041e+01] [-2.27876910e-03 -2.19173507e-05 9.99997403e-01 -4.28294386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:28.05, Z:-0.43 [[ 6.53613831e-01 -7.56826791e-01 1.47254110e-03 1.40956217e+02] [ 7.56824793e-01 6.53615489e-01 1.73922145e-03 2.80529553e+01] [-2.27876506e-03 -2.23235826e-05 9.99997403e-01 -4.27734806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:28.07, Z:-0.43 [[ 6.52489489e-01 -7.57796344e-01 1.47227792e-03 1.40975653e+02] [ 7.57794348e-01 6.52491150e-01 1.73944421e-03 2.80735230e+01] [-2.27879277e-03 -1.92851780e-05 9.99997403e-01 -4.25619670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:28.09, Z:-0.43 [[ 6.51213397e-01 -7.58893236e-01 1.47212471e-03 1.40994235e+02] [ 7.58891243e-01 6.51215061e-01 1.73957386e-03 2.80938739e+01] [-2.27882062e-03 -1.56512573e-05 9.99997403e-01 -4.25357465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:28.11, Z:-0.43 [[ 6.44728882e-01 -7.64409905e-01 1.47184538e-03 1.41003362e+02] [ 7.64407925e-01 6.44730562e-01 1.73981017e-03 2.81135933e+01] [-2.27887182e-03 3.38440588e-06 9.99997403e-01 -4.28589055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:28.13, Z:-0.42 [[ 6.48002482e-01 -7.61636873e-01 1.43429589e-03 1.41033061e+02] [ 7.61634814e-01 6.48004067e-01 1.77153169e-03 2.81346718e+01] [-2.27869342e-03 -5.55472445e-05 9.99997402e-01 -4.22997482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:28.16, Z:-0.42 [[ 6.43875219e-01 -7.65129102e-01 1.46960589e-03 1.41053956e+02] [ 7.65127120e-01 6.43876896e-01 1.74167320e-03 2.81555295e+01] [-2.27885013e-03 3.01511372e-06 9.99997403e-01 -4.24471835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:28.18, Z:-0.42 [[ 6.42066630e-01 -7.66647428e-01 1.47116967e-03 1.41072789e+02] [ 7.66645452e-01 6.42068315e-01 1.74035129e-03 2.81759594e+01] [-2.27882727e-03 1.04440435e-05 9.99997403e-01 -4.24767112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:28.20, Z:-0.43 [[ 6.34370863e-01 -7.73027454e-01 1.47068484e-03 1.41082927e+02] [ 7.73025495e-01 6.34372567e-01 1.74076090e-03 2.81951446e+01] [-2.27861808e-03 3.25888813e-05 9.99997403e-01 -4.29829950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:28.22, Z:-0.43 [[ 6.32594777e-01 -7.74481629e-01 1.43370126e-03 1.41101680e+02] [ 7.74479602e-01 6.32596401e-01 1.77196557e-03 2.82168480e+01] [-2.27930903e-03 -1.05637839e-05 9.99997402e-01 -4.32130404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:28.24, Z:-0.43 [[ 6.36958058e-01 -7.70897134e-01 1.42856821e-03 1.41132758e+02] [ 7.70895088e-01 6.36959660e-01 1.77628318e-03 2.82389074e+01] [-2.27927193e-03 -3.01416750e-05 9.99997402e-01 -4.27355523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:28.26, Z:-0.43 [[ 6.38175618e-01 -7.69889424e-01 1.46806517e-03 1.41151942e+02] [ 7.69887451e-01 6.38177306e-01 1.74301666e-03 2.82604726e+01] [-2.27881597e-03 1.78942126e-05 9.99997403e-01 -4.27405677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:28.28, Z:-0.43 [[ 6.33820143e-01 -7.73479070e-01 1.46762571e-03 1.41158256e+02] [ 7.73477106e-01 6.33821842e-01 1.74338661e-03 2.82809391e+01] [-2.27868628e-03 3.01813366e-05 9.99997403e-01 -4.33834032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:28.30, Z:-0.43 [[ 6.35032771e-01 -7.72483881e-01 1.42621448e-03 1.41176020e+02] [ 7.72481834e-01 6.35034372e-01 1.77820301e-03 2.83026980e+01] [-2.27932838e-03 -2.74924111e-05 9.99997402e-01 -4.34725147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:28.32, Z:-0.44 [[ 6.35983746e-01 -7.71701139e-01 1.42384486e-03 1.41193469e+02] [ 7.71699086e-01 6.35985339e-01 1.78019635e-03 2.83243068e+01] [-2.27932400e-03 -3.33961667e-05 9.99997402e-01 -4.35462774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:28.35, Z:-0.44 [[ 6.37747656e-01 -7.70244057e-01 1.42105307e-03 1.41213217e+02] [ 7.70241996e-01 6.37749238e-01 1.78254547e-03 2.83466842e+01] [-2.27927056e-03 -4.22594418e-05 9.99997402e-01 -4.35328780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:28.37, Z:-0.44 [[ 6.38586640e-01 -7.69548614e-01 1.42607148e-03 1.41228694e+02] [ 7.69546560e-01 6.38588232e-01 1.77832256e-03 2.83673696e+01] [-2.27917813e-03 -3.81846326e-05 9.99997402e-01 -4.38025209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:28.39, Z:-0.43 [[ 6.44938472e-01 -7.64233178e-01 1.41989813e-03 1.41260098e+02] [ 7.64231100e-01 6.44940032e-01 1.78351437e-03 2.83900057e+01] [-2.27877000e-03 -6.51267237e-05 9.99997401e-01 -4.30831970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:28.41, Z:-0.44 [[ 6.39623772e-01 -7.68686721e-01 1.46813092e-03 1.41266892e+02] [ 7.68684745e-01 6.39625456e-01 1.74288516e-03 2.84110167e+01] [-2.27878659e-03 1.37390577e-05 9.99997403e-01 -4.35275790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:28.43, Z:-0.43 [[ 6.39669465e-01 -7.68648769e-01 1.42973535e-03 1.41285711e+02] [ 7.68646720e-01 6.39671062e-01 1.77520385e-03 2.84327326e+01] [-2.27906858e-03 -3.65823075e-05 9.99997402e-01 -4.34414944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:28.45, Z:-0.43 [[ 6.38659480e-01 -7.69488152e-01 1.43262773e-03 1.41303356e+02] [ 7.69486111e-01 6.38661086e-01 1.77276816e-03 2.84547045e+01] [-2.27908768e-03 -2.98080528e-05 9.99997402e-01 -4.34150528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:28.48, Z:-0.43 [[ 6.41669108e-01 -7.66980253e-01 1.43073214e-03 1.41331891e+02] [ 7.66978201e-01 6.41670702e-01 1.77436408e-03 2.84771350e+01] [-2.27896111e-03 -4.12142560e-05 9.99997402e-01 -4.26413342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:28.50, Z:-0.43 [[ 6.35384811e-01 -7.72194266e-01 1.46870239e-03 1.41340044e+02] [ 7.72192301e-01 6.35386508e-01 1.74235746e-03 2.84975292e+01] [-2.27863212e-03 2.70532104e-05 9.99997404e-01 -4.31240510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:28.52, Z:-0.43 [[ 6.34315848e-01 -7.73072668e-01 1.43372000e-03 1.41359105e+02] [ 7.73070637e-01 6.34317468e-01 1.77182775e-03 2.85188334e+01] [-2.27918525e-03 -1.55315858e-05 9.99997403e-01 -4.30329999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:141.38, Y:28.54, Z:-0.43 [[ 6.33133116e-01 -7.74041602e-01 1.43351344e-03 1.41378848e+02] [ 7.74039574e-01 6.33134739e-01 1.77200182e-03 2.85395568e+01] [-2.27921028e-03 -1.23168975e-05 9.99997403e-01 -4.29706155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:28.56, Z:-0.42 [[ 6.37683992e-01 -7.70296739e-01 1.43499619e-03 1.41406883e+02] [ 7.70294704e-01 6.37685606e-01 1.77075262e-03 2.85615529e+01] [-2.27908139e-03 -2.38106296e-05 9.99997403e-01 -4.24261180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:28.58, Z:-0.42 [[ 6.37662657e-01 -7.70314336e-01 1.46924601e-03 1.41424115e+02] [ 7.70312367e-01 6.37664350e-01 1.74186321e-03 2.85826808e+01] [-2.27866800e-03 2.10572506e-05 9.99997404e-01 -4.24695110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:28.60, Z:-0.43 [[ 6.37862810e-01 -7.70148608e-01 1.46881449e-03 1.41441054e+02] [ 7.70146637e-01 6.37864501e-01 1.74222701e-03 2.86039952e+01] [-2.27867833e-03 1.99007292e-05 9.99997404e-01 -4.26325544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:28.63, Z:-0.43 [[ 6.38327540e-01 -7.69763467e-01 1.46848796e-03 1.41458478e+02] [ 7.69761495e-01 6.38329229e-01 1.74250219e-03 2.86263374e+01] [-2.27869331e-03 1.80983483e-05 9.99997404e-01 -4.26157861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:28.65, Z:-0.43 [[ 6.39119650e-01 -7.69105922e-01 1.46799797e-03 1.41476215e+02] [ 7.69103947e-01 6.39121335e-01 1.74291489e-03 2.86486913e+01] [-2.27871499e-03 1.51118808e-05 9.99997404e-01 -4.26487156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:28.67, Z:-0.43 [[ 6.36945827e-01 -7.70907167e-01 1.46750108e-03 1.41486286e+02] [ 7.70905196e-01 6.36947517e-01 1.74333317e-03 2.86705886e+01] [-2.27866920e-03 2.08954182e-05 9.99997404e-01 -4.32262933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:28.69, Z:-0.43 [[ 6.42373857e-01 -7.66390079e-01 1.44042885e-03 1.41512015e+02] [ 7.66388045e-01 6.42375471e-01 1.76608974e-03 2.86920891e+01] [-2.27880982e-03 -3.05624302e-05 9.99997403e-01 -4.26298138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:28.71, Z:-0.43 [[ 6.39827360e-01 -7.68517272e-01 1.46703091e-03 1.41524038e+02] [ 7.68515294e-01 6.39829042e-01 1.74370869e-03 2.87142259e+01] [-2.27871922e-03 1.17631624e-05 9.99997404e-01 -4.30615722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:28.74, Z:-0.43 [[ 6.45477761e-01 -7.63777697e-01 1.44537310e-03 1.41547563e+02] [ 7.63775666e-01 6.45479379e-01 1.76191002e-03 2.87361230e+01] [-2.27866611e-03 -3.33329359e-05 9.99997403e-01 -4.26461343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:28.76, Z:-0.43 [[ 6.46291192e-01 -7.63089473e-01 1.46658562e-03 1.41565725e+02] [ 7.63087480e-01 6.46292856e-01 1.74407247e-03 2.87582237e+01] [-2.27872715e-03 -8.04555483e-06 9.99997404e-01 -4.26434672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:28.78, Z:-0.43 [[ 6.46921240e-01 -7.62555414e-01 1.46612435e-03 1.41583525e+02] [ 7.62553419e-01 6.46922902e-01 1.74446014e-03 2.87798216e+01] [-2.27871694e-03 -1.05301843e-05 9.99997404e-01 -4.26261326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:28.80, Z:-0.43 [[ 6.47641382e-01 -7.61943890e-01 1.46563074e-03 1.41600516e+02] [ 7.61941893e-01 6.47643040e-01 1.74487475e-03 2.88004594e+01] [-2.27870221e-03 -1.33276361e-05 9.99997404e-01 -4.26181730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:28.82, Z:-0.43 [[ 6.48121597e-01 -7.61535454e-01 1.46535054e-03 1.41618203e+02] [ 7.61533455e-01 6.48123254e-01 1.74511004e-03 2.88221953e+01] [-2.27869092e-03 -1.51300511e-05 9.99997404e-01 -4.25886039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:28.84, Z:-0.43 [[ 6.48532219e-01 -7.61185795e-01 1.46486333e-03 1.41635691e+02] [ 7.61183794e-01 6.48533873e-01 1.74551891e-03 2.88436485e+01] [-2.27867769e-03 -1.69950295e-05 9.99997404e-01 -4.25927091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:28.87, Z:-0.43 [[ 6.44840748e-01 -7.64315553e-01 1.46460936e-03 1.41647176e+02] [ 7.64313559e-01 6.44842411e-01 1.74573198e-03 2.88653282e+01] [-2.27873234e-03 -6.29831894e-06 9.99997404e-01 -4.30937995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:28.89, Z:-0.43 [[ 6.44772250e-01 -7.64373382e-01 1.44150637e-03 1.41665957e+02] [ 7.64371345e-01 6.44773861e-01 1.76509776e-03 2.88868658e+01] [-2.27863937e-03 -3.62398857e-05 9.99997403e-01 -4.30652769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:28.91, Z:-0.43 [[ 6.42026421e-01 -7.66681152e-01 1.44422962e-03 1.41680823e+02] [ 7.66679126e-01 6.42028045e-01 1.76281141e-03 2.89068224e+01] [-2.27875020e-03 -2.45108018e-05 9.99997403e-01 -4.32175723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:28.93, Z:-0.43 [[ 6.46625906e-01 -7.62805942e-01 1.42592720e-03 1.41710446e+02] [ 7.62803872e-01 6.46627475e-01 1.77816445e-03 2.89283601e+01] [-2.27843812e-03 -6.21044109e-05 9.99997402e-01 -4.26059834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:28.95, Z:-0.43 [[ 6.45383699e-01 -7.63857142e-01 1.46557397e-03 1.41728460e+02] [ 7.63855149e-01 6.45385363e-01 1.74486371e-03 2.89486244e+01] [-2.27868659e-03 -6.62036788e-06 9.99997404e-01 -4.26231951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:28.97, Z:-0.43 [[ 6.45177392e-01 -7.64031404e-01 1.46514114e-03 1.41746781e+02] [ 7.64029411e-01 6.45179056e-01 1.74522707e-03 2.89705860e+01] [-2.27868667e-03 -6.57012882e-06 9.99997404e-01 -4.26296875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:28.99, Z:-0.43 [[ 6.38108913e-01 -7.69944719e-01 1.46466973e-03 1.41756868e+02] [ 7.69942740e-01 6.38110594e-01 1.74562261e-03 2.89905490e+01] [-2.27865418e-03 1.38144726e-05 9.99997404e-01 -4.31058126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:29.01, Z:-0.43 [[ 6.37945570e-01 -7.70080126e-01 1.43154025e-03 1.41777849e+02] [ 7.70078084e-01 6.37947176e-01 1.77340407e-03 2.90122551e+01] [-2.27891029e-03 -2.89375029e-05 9.99997403e-01 -4.30465471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:29.03, Z:-0.43 [[ 6.35857555e-01 -7.71805098e-01 1.43558940e-03 1.41793733e+02] [ 7.71803068e-01 6.35859175e-01 1.77000891e-03 2.90326519e+01] [-2.27893460e-03 -1.74812346e-05 9.99997403e-01 -4.31548240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:29.05, Z:-0.43 [[ 6.36236155e-01 -7.71493042e-01 1.42904380e-03 1.41813910e+02] [ 7.71490999e-01 6.36237759e-01 1.77549659e-03 2.90536608e+01] [-2.27899489e-03 -2.71406907e-05 9.99997403e-01 -4.31399759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:29.08, Z:-0.43 [[ 6.40503908e-01 -7.67953574e-01 1.43223407e-03 1.41842024e+02] [ 7.67951529e-01 6.40505508e-01 1.77282072e-03 2.90754383e+01] [-2.27879782e-03 -3.56122602e-05 9.99997403e-01 -4.26535580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:29.10, Z:-0.43 [[ 6.40292372e-01 -7.68129892e-01 1.46532158e-03 1.41860041e+02] [ 7.68127910e-01 6.40294049e-01 1.74503687e-03 2.90968201e+01] [-2.27865167e-03 8.22061028e-06 9.99997404e-01 -4.26386884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:29.12, Z:-0.43 [[ 6.40387225e-01 -7.68050816e-01 1.46482902e-03 1.41878358e+02] [ 7.68048833e-01 6.40388901e-01 1.74545024e-03 2.91180442e+01] [-2.27865473e-03 7.29618620e-06 9.99997404e-01 -4.25545865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:29.14, Z:-0.43 [[ 6.40852228e-01 -7.67662867e-01 1.46433489e-03 1.41895606e+02] [ 7.67660882e-01 6.40853901e-01 1.74586469e-03 2.91382724e+01] [-2.27866022e-03 5.27133778e-06 9.99997404e-01 -4.25028011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:29.16, Z:-0.42 [[ 6.41287752e-01 -7.67299079e-01 1.46395111e-03 1.41913232e+02] [ 7.67297092e-01 6.41289423e-01 1.74618644e-03 2.91598701e+01] [-2.27866361e-03 3.47745263e-06 9.99997404e-01 -4.24442761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:29.18, Z:-0.42 [[ 6.42003740e-01 -7.66700108e-01 1.46345408e-03 1.41931072e+02] [ 7.66698118e-01 6.42005408e-01 1.74660289e-03 2.91822385e+01] [-2.27866606e-03 7.01899969e-07 9.99997404e-01 -4.24977066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:29.20, Z:-0.43 [[ 6.43576990e-01 -7.65379983e-01 1.46299079e-03 1.41947937e+02] [ 7.65377989e-01 6.43578653e-01 1.74699087e-03 2.92042203e+01] [-2.27866148e-03 -4.58217862e-06 9.99997404e-01 -4.25273766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:29.23, Z:-0.43 [[ 6.44028759e-01 -7.64999881e-01 1.46249780e-03 1.41965500e+02] [ 7.64997886e-01 6.44030420e-01 1.74740348e-03 2.92255686e+01] [-2.27865653e-03 -6.57037335e-06 9.99997404e-01 -4.25421647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:29.25, Z:-0.43 [[ 6.44256303e-01 -7.64808263e-01 1.46200775e-03 1.41983468e+02] [ 7.64806266e-01 6.44257962e-01 1.74781340e-03 2.92472688e+01] [-2.27865226e-03 -7.88710945e-06 9.99997404e-01 -4.25192281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:29.27, Z:-0.42 [[ 6.44277910e-01 -7.64790062e-01 1.46151914e-03 1.42001134e+02] [ 7.64788064e-01 6.44279568e-01 1.74822188e-03 2.92685611e+01] [-2.27864964e-03 -8.58835017e-06 9.99997404e-01 -4.23920139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:29.29, Z:-0.42 [[ 6.44104217e-01 -7.64936352e-01 1.46102085e-03 1.42018985e+02] [ 7.64934353e-01 6.44105874e-01 1.74863821e-03 2.92904765e+01] [-2.27864904e-03 -8.72020273e-06 9.99997404e-01 -4.22950547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:29.31, Z:-0.43 [[ 6.39328642e-01 -7.68932217e-01 1.46076228e-03 1.42027538e+02] [ 7.68930228e-01 6.39330311e-01 1.74885418e-03 2.93115143e+01] [-2.27865992e-03 5.13170146e-06 9.99997404e-01 -4.27250873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:29.33, Z:-0.42 [[ 6.43477562e-01 -7.65463643e-01 1.42801418e-03 1.42054314e+02] [ 7.65461584e-01 6.43479144e-01 1.77617479e-03 2.93342675e+01] [-2.27849456e-03 -4.98386273e-05 9.99997403e-01 -4.22518249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:29.36, Z:-0.42 [[ 6.42051987e-01 -7.66659711e-01 1.46066793e-03 1.42072212e+02] [ 7.66657716e-01 6.42053649e-01 1.74890267e-03 2.93563058e+01] [-2.27864039e-03 -3.05409718e-06 9.99997404e-01 -4.21763097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:29.38, Z:-0.42 [[ 6.41249291e-01 -7.67331229e-01 1.46017172e-03 1.42090075e+02] [ 7.67329235e-01 6.41250953e-01 1.74931685e-03 2.93774502e+01] [-2.27864196e-03 -1.31574218e-06 9.99997404e-01 -4.21181968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:29.40, Z:-0.42 [[ 6.40356599e-01 -7.68076360e-01 1.45967108e-03 1.42107347e+02] [ 7.68074367e-01 6.40358263e-01 1.74973450e-03 2.93978819e+01] [-2.27864215e-03 6.81907925e-07 9.99997404e-01 -4.21174997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:29.42, Z:-0.43 [[ 6.33849090e-01 -7.73455365e-01 1.45933107e-03 1.42113529e+02] [ 7.73453385e-01 6.33850770e-01 1.75001803e-03 2.94178703e+01] [-2.27855896e-03 1.94772174e-05 9.99997404e-01 -4.27688123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:29.44, Z:-0.42 [[ 6.37318325e-01 -7.70599339e-01 1.41794796e-03 1.42143774e+02] [ 7.70597274e-01 6.37319901e-01 1.78447227e-03 2.94400098e+01] [-2.27879961e-03 -4.46100513e-05 9.99997403e-01 -4.21729628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:29.46, Z:-0.42 [[ 6.36043215e-01 -7.71652059e-01 1.45907127e-03 1.42162042e+02] [ 7.71650074e-01 6.36044889e-01 1.75018921e-03 2.94620116e+01] [-2.27857193e-03 1.26964836e-05 9.99997404e-01 -4.21823464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:29.48, Z:-0.42 [[ 6.35024516e-01 -7.72490606e-01 1.45860249e-03 1.42179294e+02] [ 7.72488623e-01 6.35026191e-01 1.75057981e-03 2.94829550e+01] [-2.27855724e-03 1.50927301e-05 9.99997404e-01 -4.23105927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:29.50, Z:-0.42 [[ 6.34018916e-01 -7.73316162e-01 1.45833395e-03 1.42196887e+02] [ 7.73314181e-01 6.34020593e-01 1.75080349e-03 2.95046302e+01] [-2.27853839e-03 1.77077936e-05 9.99997404e-01 -4.23535577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:29.53, Z:-0.42 [[ 6.33101325e-01 -7.74067560e-01 1.45784055e-03 1.42214768e+02] [ 7.74065579e-01 6.33103003e-01 1.75121423e-03 2.95267579e+01] [-2.27852136e-03 1.97681393e-05 9.99997404e-01 -4.24012343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:29.55, Z:-0.42 [[ 6.31976497e-01 -7.74986182e-01 1.45741318e-03 1.42232334e+02] [ 7.74984203e-01 6.31978177e-01 1.75156983e-03 2.95483583e+01] [-2.27849574e-03 2.25212262e-05 9.99997404e-01 -4.24107701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:29.57, Z:-0.43 [[ 6.27313650e-01 -7.78765345e-01 1.45693532e-03 1.42240434e+02] [ 7.78763375e-01 6.27315341e-01 1.75196722e-03 2.95696007e+01] [-2.27832923e-03 3.55749132e-05 9.99997404e-01 -4.29341595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:29.59, Z:-0.42 [[ 6.31449212e-01 -7.75415929e-01 1.42479044e-03 1.42267749e+02] [ 7.75413889e-01 6.31450819e-01 1.77867012e-03 2.95922024e+01] [-2.27889423e-03 -1.83375507e-05 9.99997403e-01 -4.22915496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:29.61, Z:-0.43 [[ 6.27590657e-01 -7.78542128e-01 1.45684979e-03 1.42275693e+02] [ 7.78540158e-01 6.27592347e-01 1.75201182e-03 2.96149865e+01] [-2.27832279e-03 3.46698175e-05 9.99997404e-01 -4.27793736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:29.64, Z:-0.42 [[ 6.32507681e-01 -7.74552774e-01 1.42594072e-03 1.42301935e+02] [ 7.74550734e-01 6.32509288e-01 1.77768310e-03 2.96376610e+01] [-2.27883012e-03 -1.99347842e-05 9.99997403e-01 -4.23010107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:29.66, Z:-0.43 [[ 6.29770628e-01 -7.76779785e-01 1.45655873e-03 1.42309997e+02] [ 7.76777809e-01 6.29772312e-01 1.75223160e-03 2.96606691e+01] [-2.27839844e-03 2.79185048e-05 9.99997404e-01 -4.28419792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:29.68, Z:-0.43 [[ 6.29717989e-01 -7.76822516e-01 1.42568254e-03 1.42324634e+02] [ 7.76820482e-01 6.29719603e-01 1.77786368e-03 2.96821197e+01] [-2.27886477e-03 -1.20533444e-05 9.99997403e-01 -4.30056810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:29.70, Z:-0.43 [[ 6.31588867e-01 -7.75302198e-01 1.41548557e-03 1.42342603e+02] [ 7.75300141e-01 6.31590453e-01 1.78632494e-03 2.97042531e+01] [-2.27894883e-03 -3.07967849e-05 9.99997403e-01 -4.29109102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:29.73, Z:-0.43 [[ 6.33869978e-01 -7.73438318e-01 1.42099561e-03 1.42361142e+02] [ 7.73436266e-01 6.33871571e-01 1.78174658e-03 2.97268109e+01] [-2.27879980e-03 -3.03461297e-05 9.99997403e-01 -4.27499378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:29.75, Z:-0.43 [[ 6.37250169e-01 -7.70655688e-01 1.42553995e-03 1.42378093e+02] [ 7.70653638e-01 6.37251763e-01 1.77796969e-03 2.97499273e+01] [-2.27863030e-03 -3.44139386e-05 9.99997403e-01 -4.26775917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:29.77, Z:-0.43 [[ 6.37845055e-01 -7.70163389e-01 1.42814072e-03 1.42393513e+02] [ 7.70161342e-01 6.37846653e-01 1.77580765e-03 2.97722907e+01] [-2.27859681e-03 -3.27913537e-05 9.99997403e-01 -4.27591370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:29.79, Z:-0.43 [[ 6.39344227e-01 -7.68919332e-01 1.42130568e-03 1.42410055e+02] [ 7.68917269e-01 6.39345806e-01 1.78148963e-03 2.97943163e+01] [-2.27852764e-03 -4.61186226e-05 9.99997403e-01 -4.28434004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:29.82, Z:-0.42 [[ 6.46591726e-01 -7.62834927e-01 1.41899573e-03 1.42438365e+02] [ 7.62832846e-01 6.46593279e-01 1.78340946e-03 2.98166921e+01] [-2.27796013e-03 -7.06812453e-05 9.99997403e-01 -4.19769260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:29.84, Z:-0.42 [[ 6.47868751e-01 -7.61750588e-01 1.45736179e-03 1.42455471e+02] [ 7.61748575e-01 6.47870389e-01 1.75148615e-03 2.98390153e+01] [-2.27837716e-03 -2.45898776e-05 9.99997404e-01 -4.19891669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:29.86, Z:-0.42 [[ 6.49278210e-01 -7.60549593e-01 1.45686528e-03 1.42472065e+02] [ 7.60547576e-01 6.49279843e-01 1.75189905e-03 2.98604063e+01] [-2.27831937e-03 -2.94545180e-05 9.99997404e-01 -4.19855644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:29.88, Z:-0.42 [[ 6.51430827e-01 -7.58706634e-01 1.45658405e-03 1.42488229e+02] [ 7.58704612e-01 6.51432454e-01 1.75213285e-03 2.98824878e+01] [-2.27822093e-03 -3.62763139e-05 9.99997404e-01 -4.19884266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:29.90, Z:-0.43 [[ 6.46599305e-01 -7.62828433e-01 1.45630392e-03 1.42495423e+02] [ 7.62826421e-01 6.46600944e-01 1.75236565e-03 2.99044842e+01] [-2.27840183e-03 -2.21713017e-05 9.99997404e-01 -4.27561336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:29.93, Z:-0.43 [[ 6.48409186e-01 -7.61290685e-01 1.42097843e-03 1.42514835e+02] [ 7.61288604e-01 6.48410739e-01 1.78168984e-03 2.99272441e+01] [-2.27776156e-03 -7.34893742e-05 9.99997403e-01 -4.26901032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:29.95, Z:-0.43 [[ 6.49391167e-01 -7.60453203e-01 1.42770579e-03 1.42534376e+02] [ 7.60451132e-01 6.49392733e-01 1.77610326e-03 2.99497401e+01] [-2.27778518e-03 -6.76852851e-05 9.99997404e-01 -4.26197790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:29.97, Z:-0.42 [[ 6.53200632e-01 -7.57183517e-01 1.43354940e-03 1.42558530e+02] [ 7.57181449e-01 6.53202201e-01 1.77125146e-03 2.99709608e+01] [-2.27756004e-03 -7.15255563e-05 9.99997404e-01 -4.21071824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:29.99, Z:-0.42 [[ 6.53087267e-01 -7.57281257e-01 1.45611357e-03 1.42576074e+02] [ 7.57279230e-01 6.53088889e-01 1.75250342e-03 2.99935008e+01] [-2.27810959e-03 -4.18531055e-05 9.99997404e-01 -4.21567637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:30.01, Z:-0.42 [[ 6.53083604e-01 -7.57284416e-01 1.45563997e-03 1.42592230e+02] [ 7.57282389e-01 6.53085225e-01 1.75289671e-03 3.00146666e+01] [-2.27809832e-03 -4.24575901e-05 9.99997404e-01 -4.22622665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:30.04, Z:-0.42 [[ 6.52153475e-01 -7.58085567e-01 1.45522611e-03 1.42608083e+02] [ 7.58083541e-01 6.52155098e-01 1.75324022e-03 3.00366497e+01] [-2.27813924e-03 -4.01987424e-05 9.99997404e-01 -4.24692717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:30.06, Z:-0.43 [[ 6.51038436e-01 -7.59043371e-01 1.45483709e-03 1.42625597e+02] [ 7.59041346e-01 6.51040060e-01 1.75356297e-03 3.00582940e+01] [-2.27818758e-03 -3.73553911e-05 9.99997404e-01 -4.25338307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:30.08, Z:-0.43 [[ 6.46214234e-01 -7.63154668e-01 1.45437502e-03 1.42637959e+02] [ 7.63152653e-01 6.46215871e-01 1.75394613e-03 3.00800230e+01] [-2.27837239e-03 -2.35147994e-05 9.99997404e-01 -4.27474547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:30.10, Z:-0.42 [[ 6.47569998e-01 -7.62004623e-01 1.43244232e-03 1.42662030e+02] [ 7.62002564e-01 6.47571580e-01 1.77210580e-03 3.01011375e+01] [-2.27796175e-03 -5.60378273e-05 9.99997404e-01 -4.24870131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:30.12, Z:-0.42 [[ 6.43273817e-01 -7.65634824e-01 1.45353228e-03 1.42680630e+02] [ 7.65632814e-01 6.43275459e-01 1.75463497e-03 3.01222985e+01] [-2.27843128e-03 -1.58387216e-05 9.99997404e-01 -4.20775707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:30.14, Z:-0.42 [[ 6.40636663e-01 -7.67842793e-01 1.45303408e-03 1.42698447e+02] [ 7.67840788e-01 6.40638310e-01 1.75504743e-03 3.01435057e+01] [-2.27846982e-03 -8.64890000e-06 9.99997404e-01 -4.20737805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.7 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.72, Y:30.16, Z:-0.42 [[ 6.38033587e-01 -7.70007163e-01 1.45253815e-03 1.42715964e+02] [ 7.70005162e-01 6.38035241e-01 1.75545779e-03 3.01644197e+01] [-2.27848560e-03 -1.57915905e-06 9.99997404e-01 -4.20804179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:30.19, Z:-0.42 [[ 6.32302571e-01 -7.74720175e-01 1.45226757e-03 1.42733952e+02] [ 7.74718186e-01 6.32304239e-01 1.75568161e-03 3.01857578e+01] [-2.27843690e-03 1.49761001e-05 9.99997404e-01 -4.20592217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:30.21, Z:-0.42 [[ 6.29270065e-01 -7.77185356e-01 1.45177770e-03 1.42752213e+02] [ 7.77183373e-01 6.29271739e-01 1.75608658e-03 3.02074873e+01] [-2.27836746e-03 2.32447730e-05 9.99997404e-01 -4.19159363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:30.23, Z:-0.42 [[ 6.26033700e-01 -7.79794652e-01 1.45151546e-03 1.42771181e+02] [ 7.79792675e-01 6.26035382e-01 1.75630332e-03 3.02296847e+01] [-2.27825597e-03 3.23760622e-05 9.99997404e-01 -4.18231957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:30.25, Z:-0.42 [[ 6.19487138e-01 -7.85005465e-01 1.45107663e-03 1.42784326e+02] [ 7.85003502e-01 6.19488835e-01 1.75666581e-03 3.02513969e+01] [-2.27791803e-03 5.08683560e-05 9.99997404e-01 -4.23591990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:30.27, Z:-0.42 [[ 6.19184154e-01 -7.85244506e-01 1.43119609e-03 1.42808840e+02] [ 7.85242505e-01 6.19185808e-01 1.77307518e-03 3.02731377e+01] [-2.27847385e-03 2.59759460e-05 9.99997404e-01 -4.18518432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:30.30, Z:-0.42 [[ 6.15388349e-01 -7.88222732e-01 1.45067527e-03 1.42827258e+02] [ 7.88220777e-01 6.15390055e-01 1.75699203e-03 3.02950036e+01] [-2.27763219e-03 6.22199643e-05 9.99997404e-01 -4.18965824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:30.32, Z:-0.42 [[ 6.08247858e-01 -7.93745828e-01 1.45020361e-03 1.42844907e+02] [ 7.93743887e-01 6.08249582e-01 1.75738124e-03 3.03166231e+01] [-2.27699977e-03 8.21668692e-05 9.99997404e-01 -4.18447283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:30.34, Z:-0.42 [[ 6.04898414e-01 -7.96301329e-01 1.44973371e-03 1.42863079e+02] [ 7.96299395e-01 6.04900144e-01 1.75776879e-03 3.03384449e+01] [-2.27665776e-03 9.11505233e-05 9.99997404e-01 -4.18013321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:30.36, Z:-0.42 [[ 6.04675424e-01 -7.96470672e-01 1.44924130e-03 1.42881217e+02] [ 7.96468737e-01 6.04677154e-01 1.75817468e-03 3.03605570e+01] [-2.27665768e-03 9.11503634e-05 9.99997404e-01 -4.18078217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:30.38, Z:-0.42 [[ 6.01668847e-01 -7.98744327e-01 1.44874889e-03 1.42899279e+02] [ 7.98742397e-01 6.01670583e-01 1.75858034e-03 3.03824223e+01] [-2.27632566e-03 9.90941592e-05 9.99997404e-01 -4.17563071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:30.40, Z:-0.42 [[ 5.97056689e-01 -8.02197739e-01 1.44825691e-03 1.42916090e+02] [ 8.02195818e-01 5.97058436e-01 1.75898541e-03 3.04038712e+01] [-2.27574812e-03 1.11571628e-04 9.99997404e-01 -4.17463945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:30.43, Z:-0.42 [[ 5.95409916e-01 -8.03420771e-01 1.44781588e-03 1.42933145e+02] [ 8.03418853e-01 5.95411665e-01 1.75934834e-03 3.04257601e+01] [-2.27554347e-03 1.15669127e-04 9.99997404e-01 -4.17591586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:30.45, Z:-0.42 [[ 5.94253009e-01 -8.04276860e-01 1.44732446e-03 1.42950343e+02] [ 8.04274943e-01 5.94254759e-01 1.75975252e-03 3.04479133e+01] [-2.27540768e-03 1.18308571e-04 9.99997404e-01 -4.18044477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:30.47, Z:-0.42 [[ 5.93179611e-01 -8.05068851e-01 1.44683119e-03 1.42967135e+02] [ 8.05066936e-01 5.93181363e-01 1.76015798e-03 3.04709900e+01] [-2.27528166e-03 1.20706133e-04 9.99997404e-01 -4.18523158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:30.49, Z:-0.43 [[ 5.87835221e-01 -8.08979395e-01 1.44633757e-03 1.42974075e+02] [ 8.08977490e-01 5.87836985e-01 1.76056350e-03 3.04947375e+01] [-2.27447031e-03 1.35133307e-04 9.99997404e-01 -4.26929684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:30.52, Z:-0.42 [[ 5.93193521e-01 -8.05058654e-01 1.41762793e-03 1.42998816e+02] [ 8.05056681e-01 5.93195210e-01 1.78412053e-03 3.05176991e+01] [-2.27725177e-03 8.29421014e-05 9.99997404e-01 -4.19318321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:30.54, Z:-0.42 [[ 5.93957997e-01 -8.04494753e-01 1.44588411e-03 1.43015546e+02] [ 8.04492834e-01 5.93959745e-01 1.76091949e-03 3.05408553e+01] [-2.27544745e-03 1.17291197e-04 9.99997404e-01 -4.19314505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:30.56, Z:-0.42 [[ 5.95318964e-01 -8.03488171e-01 1.44538413e-03 1.43031712e+02] [ 8.03486249e-01 5.95320708e-01 1.76132979e-03 3.05636341e+01] [-2.27567475e-03 1.12793248e-04 9.99997404e-01 -4.19736065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:30.59, Z:-0.42 [[ 5.99469849e-01 -8.00396035e-01 1.44488697e-03 1.43045643e+02] [ 8.00394102e-01 5.99471582e-01 1.76173753e-03 3.05871791e+01] [-2.27625641e-03 1.00370480e-04 9.99997404e-01 -4.20514706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:30.61, Z:-0.42 [[ 6.02109605e-01 -7.98412134e-01 1.44463731e-03 1.43061812e+02] [ 7.98410195e-01 6.02111331e-01 1.76194223e-03 3.06108719e+01] [-2.27658855e-03 9.25308172e-05 9.99997404e-01 -4.20756072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:30.63, Z:-0.42 [[ 6.05188187e-01 -7.96081135e-01 1.44414307e-03 1.43076662e+02] [ 7.96079188e-01 6.05189904e-01 1.76234723e-03 3.06335878e+01] [-2.27695219e-03 8.31005127e-05 9.99997404e-01 -4.21159556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:30.66, Z:-0.42 [[ 6.08324642e-01 -7.93686995e-01 1.44380760e-03 1.43092123e+02] [ 7.93685041e-01 6.08326351e-01 1.76262202e-03 3.06571945e+01] [-2.27727638e-03 7.36820857e-05 9.99997404e-01 -4.21438703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:30.68, Z:-0.42 [[ 6.11747210e-01 -7.91052001e-01 1.44331117e-03 1.43107127e+02] [ 7.91050039e-01 6.11748909e-01 1.76302843e-03 3.06799361e+01] [-2.27759120e-03 6.32036387e-05 9.99997404e-01 -4.22162989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.12, Y:30.70, Z:-0.42 [[ 6.14898275e-01 -7.88605116e-01 1.44304511e-03 1.43122730e+02] [ 7.88603147e-01 6.14899966e-01 1.76324617e-03 3.07031212e+01] [-2.27783334e-03 5.37728910e-05 9.99997404e-01 -4.21821440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:143.14, Y:30.73, Z:-0.42 [[ 6.20777854e-01 -7.83985188e-01 1.44255285e-03 1.43136507e+02] [ 7.83983205e-01 6.20779529e-01 1.76364881e-03 3.07261870e+01] [-2.27818182e-03 3.61030766e-05 9.99997404e-01 -4.21079346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:143.15, Y:30.75, Z:-0.42 [[ 6.22945787e-01 -7.82263681e-01 1.44221834e-03 1.43153126e+02] [ 7.82261693e-01 6.22947456e-01 1.76392231e-03 3.07490991e+01] [-2.27827861e-03 2.93641863e-05 9.99997404e-01 -4.19421901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:143.17, Y:30.77, Z:-0.42 [[ 6.24440527e-01 -7.81071027e-01 1.44172179e-03 1.43169438e+02] [ 7.81069035e-01 6.24442191e-01 1.76432807e-03 3.07719998e+01] [-2.27833745e-03 2.43662951e-05 9.99997404e-01 -4.17718184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:143.18, Y:30.80, Z:-0.42 [[ 6.26339011e-01 -7.79549463e-01 1.44121376e-03 1.43184072e+02] [ 7.79547466e-01 6.26340669e-01 1.76474296e-03 3.07966162e+01] [-2.27839522e-03 1.81671796e-05 9.99997404e-01 -4.16621165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:143.20, Y:30.82, Z:-0.42 [[ 6.26786227e-01 -7.79189931e-01 1.44098945e-03 1.43200575e+02] [ 7.79187932e-01 6.26787884e-01 1.76492610e-03 3.08197780e+01] [-2.27840737e-03 1.65702141e-05 9.99997404e-01 -4.15687745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.6 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:143.22, Y:30.84, Z:-0.42 [[ 6.26809734e-01 -7.79171022e-01 1.44076555e-03 1.43217305e+02] [ 7.79169023e-01 6.26811390e-01 1.76510886e-03 3.08425394e+01] [-2.27840993e-03 1.62124671e-05 9.99997404e-01 -4.15189967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:143.23, Y:30.87, Z:-0.41 [[ 6.26633245e-01 -7.79312968e-01 1.44026908e-03 1.43233946e+02] [ 7.79310968e-01 6.26634900e-01 1.76551386e-03 3.08652126e+01] [-2.27841072e-03 1.60878134e-05 9.99997404e-01 -4.14943386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:143.25, Y:30.89, Z:-0.41 [[ 6.26560635e-01 -7.79371347e-01 1.43977166e-03 1.43250549e+02] [ 7.79369347e-01 6.26562289e-01 1.76591942e-03 3.08877044e+01] [-2.27841363e-03 1.56583079e-05 9.99997404e-01 -4.14774385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:143.26, Y:30.91, Z:-0.42 [[ 6.23211155e-01 -7.82052290e-01 1.43927709e-03 1.43260341e+02] [ 7.82050296e-01 6.23212817e-01 1.76632242e-03 3.09122275e+01] [-2.27833242e-03 2.47952371e-05 9.99997404e-01 -4.21108166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:143.28, Y:30.93, Z:-0.42 [[ 6.26155286e-01 -7.79697086e-01 1.41885035e-03 1.43283231e+02] [ 7.79695047e-01 6.26156893e-01 1.78295237e-03 3.09347089e+01] [-2.27858569e-03 -1.01344632e-05 9.99997404e-01 -4.17076881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:143.30, Y:30.96, Z:-0.42 [[ 6.25642730e-01 -7.80108392e-01 1.43894983e-03 1.43299661e+02] [ 7.80106392e-01 6.25644384e-01 1.76658055e-03 3.09572461e+01] [-2.27839519e-03 1.72856805e-05 9.99997404e-01 -4.16934444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:143.32, Y:30.98, Z:-0.42 [[ 6.25277085e-01 -7.80401498e-01 1.43844793e-03 1.43315985e+02] [ 7.80399497e-01 6.25278740e-01 1.76698913e-03 3.09795418e+01] [-2.27839187e-03 1.77062293e-05 9.99997404e-01 -4.17162778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:143.33, Y:31.00, Z:-0.42 [[ 6.24448508e-01 -7.81064654e-01 1.43794417e-03 1.43331767e+02] [ 7.81062654e-01 6.24450163e-01 1.76739898e-03 3.10021189e+01] [-2.27837735e-03 1.94748371e-05 9.99997404e-01 -4.18286495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:143.35, Y:31.02, Z:-0.42 [[ 6.23663315e-01 -7.81691757e-01 1.43768493e-03 1.43349536e+02] [ 7.81689759e-01 6.23664971e-01 1.76760984e-03 3.10249457e+01] [-2.27835977e-03 2.14301706e-05 9.99997404e-01 -4.18181336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:143.37, Y:31.05, Z:-0.42 [[ 6.22629380e-01 -7.82515552e-01 1.43724506e-03 1.43367125e+02] [ 7.82513555e-01 6.22631039e-01 1.76796742e-03 3.10473045e+01] [-2.27833539e-03 2.38752862e-05 9.99997404e-01 -4.18346145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.9 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:143.38, Y:31.07, Z:-0.42 [[ 6.21443857e-01 -7.83457382e-01 1.43674456e-03 1.43384164e+02] [ 7.83455386e-01 6.21445517e-01 1.76837406e-03 3.10690191e+01] [-2.27830418e-03 2.66800684e-05 9.99997404e-01 -4.18573773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:143.40, Y:31.09, Z:-0.42 [[ 6.18898152e-01 -7.85469932e-01 1.43624664e-03 1.43401192e+02] [ 7.85467942e-01 6.18899818e-01 1.76877838e-03 3.10898392e+01] [-2.27821501e-03 3.34320198e-05 9.99997404e-01 -4.17804597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95999999999998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:143.42, Y:31.11, Z:-0.42 [[ 6.17346571e-01 -7.86689996e-01 1.43595978e-03 1.43418201e+02] [ 7.86688008e-01 6.17348239e-01 1.76901122e-03 3.11105668e+01] [-2.27815068e-03 3.75593307e-05 9.99997404e-01 -4.18042517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98999999999998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:143.44, Y:31.13, Z:-0.42 [[ 6.15680469e-01 -7.87994606e-01 1.43567829e-03 1.43436706e+02] [ 7.87992621e-01 6.15682142e-01 1.76923964e-03 3.11333887e+01] [-2.27807278e-03 4.20176066e-05 9.99997404e-01 -4.15000928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01999999999998 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:143.46, Y:31.16, Z:-0.41 [[ 6.11899950e-01 -7.90933873e-01 1.43523763e-03 1.43455794e+02] [ 7.90931895e-01 6.11901631e-01 1.76959705e-03 3.11564668e+01] [-2.27785849e-03 5.23588714e-05 9.99997404e-01 -4.12905062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04999999999998 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:143.47, Y:31.18, Z:-0.41 [[ 6.12379956e-01 -7.90562262e-01 1.44871613e-03 1.43472163e+02] [ 7.90560309e-01 6.12381666e-01 1.75866876e-03 3.11771137e+01] [-2.27750436e-03 6.83239750e-05 9.99997404e-01 -4.11931135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07999999999998 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:143.49, Y:31.20, Z:-0.41 [[ 6.11772644e-01 -7.91032348e-01 1.43410276e-03 1.43488639e+02] [ 7.91030368e-01 6.11774323e-01 1.77050554e-03 3.11983365e+01] [-2.27787440e-03 5.12719782e-05 9.99997404e-01 -4.12113914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10999999999999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:143.50, Y:31.22, Z:-0.41 [[ 6.11622140e-01 -7.91148723e-01 1.43381122e-03 1.43504881e+02] [ 7.91146743e-01 6.11623818e-01 1.77074161e-03 3.12193569e+01] [-2.27787306e-03 5.13303053e-05 9.99997404e-01 -4.12018719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:143.52, Y:31.24, Z:-0.41 [[ 6.11439574e-01 -7.91289828e-01 1.43353444e-03 1.43522306e+02] [ 7.91287848e-01 6.11441252e-01 1.77096565e-03 3.12420239e+01] [-2.27786920e-03 5.14999035e-05 9.99997404e-01 -4.12117732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:143.54, Y:31.27, Z:-0.41 [[ 6.11131887e-01 -7.91527487e-01 1.43304306e-03 1.43540085e+02] [ 7.91525507e-01 6.11133565e-01 1.77136318e-03 3.12661473e+01] [-2.27786336e-03 5.17536054e-05 9.99997404e-01 -4.13995056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.2 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:143.56, Y:31.29, Z:-0.41 [[ 6.12333412e-01 -7.90598327e-01 1.44110677e-03 1.43556359e+02] [ 7.90596360e-01 6.12335105e-01 1.76484119e-03 3.12869908e+01] [-2.27772076e-03 5.86625376e-05 9.99997404e-01 -4.10867719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:143.57, Y:31.31, Z:-0.41 [[ 6.12835350e-01 -7.90209329e-01 1.43205580e-03 1.43573234e+02] [ 7.90207343e-01 6.12837021e-01 1.77215516e-03 3.13088836e+01] [-2.27799035e-03 4.55816796e-05 9.99997404e-01 -4.10513647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:143.59, Y:31.33, Z:-0.41 [[ 6.13034911e-01 -7.90054523e-01 1.43155411e-03 1.43590083e+02] [ 7.90052536e-01 6.13036580e-01 1.77256033e-03 3.13309604e+01] [-2.27801435e-03 4.43615898e-05 9.99997404e-01 -4.10445698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:143.61, Y:31.35, Z:-0.41 [[ 6.13292117e-01 -7.89854880e-01 1.43105354e-03 1.43607342e+02] [ 7.89852891e-01 6.13293785e-01 1.77296437e-03 3.13528840e+01] [-2.27804080e-03 4.29767017e-05 9.99997404e-01 -4.09618022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:143.62, Y:31.37, Z:-0.41 [[ 6.12908701e-01 -7.90152440e-01 1.43054021e-03 1.43624436e+02] [ 7.90150451e-01 6.12910369e-01 1.77337847e-03 3.13740063e+01] [-2.27803225e-03 4.34228974e-05 9.99997404e-01 -4.09922303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:143.64, Y:31.40, Z:-0.41 [[ 6.12289024e-01 -7.90632725e-01 1.43019175e-03 1.43642360e+02] [ 7.90630737e-01 6.12290693e-01 1.77365944e-03 3.13961481e+01] [-2.27800630e-03 4.47613536e-05 9.99997404e-01 -4.11123752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:143.66, Y:31.42, Z:-0.41 [[ 6.11137008e-01 -7.91523542e-01 1.42835119e-03 1.43659742e+02] [ 7.91521553e-01 6.11138675e-01 1.77514302e-03 3.14175172e+01] [-2.27798814e-03 4.57151576e-05 9.99997404e-01 -4.10502172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:143.68, Y:31.44, Z:-0.41 [[ 6.07883101e-01 -7.94025246e-01 1.42969512e-03 1.43678733e+02] [ 7.94023267e-01 6.07884779e-01 1.77405996e-03 3.14396114e+01] [-2.27773830e-03 5.67901200e-05 9.99997404e-01 -4.09787908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:143.70, Y:31.46, Z:-0.41 [[ 6.05763419e-01 -7.95643536e-01 1.42925261e-03 1.43696661e+02] [ 7.95641560e-01 6.05765102e-01 1.77441639e-03 3.14613632e+01] [-2.27759429e-03 6.22962359e-05 9.99997404e-01 -4.09672948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:143.72, Y:31.48, Z:-0.41 [[ 6.03128662e-01 -7.97642637e-01 1.42875108e-03 1.43715025e+02] [ 7.97640665e-01 6.03130350e-01 1.77482013e-03 3.14839781e+01] [-2.27739535e-03 6.91850793e-05 9.99997404e-01 -4.09550341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.5 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:143.73, Y:31.50, Z:-0.41 [[ 6.00434826e-01 -7.99672420e-01 1.42830969e-03 1.43731614e+02] [ 7.99670454e-01 6.00436520e-01 1.77517528e-03 3.15048392e+01] [-2.27716801e-03 7.62999984e-05 9.99997404e-01 -4.09570870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:143.75, Y:31.53, Z:-0.41 [[ 5.97740106e-01 -8.01688672e-01 1.42801970e-03 1.43749174e+02] [ 8.01686710e-01 5.97741806e-01 1.77540852e-03 3.15268150e+01] [-2.27691197e-03 8.35915427e-05 9.99997404e-01 -4.09864168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:31.55, Z:-0.41 [[ 5.95022416e-01 -8.03707836e-01 1.42751747e-03 1.43765740e+02] [ 8.03705880e-01 5.95024122e-01 1.77581225e-03 3.15484256e+01] [-2.27664155e-03 9.06560887e-05 9.99997404e-01 -4.10348616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:143.78, Y:31.57, Z:-0.41 [[ 5.89500757e-01 -8.07766563e-01 1.42717616e-03 1.43781668e+02] [ 8.07764617e-01 5.89502476e-01 1.77608651e-03 3.15710263e+01] [-2.27598717e-03 1.05818064e-04 9.99997404e-01 -4.10755030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:143.80, Y:31.59, Z:-0.41 [[ 5.86622153e-01 -8.09859503e-01 1.42667416e-03 1.43798321e+02] [ 8.09857562e-01 5.86623877e-01 1.77648965e-03 3.15935540e+01] [-2.27562816e-03 1.13274674e-04 9.99997404e-01 -4.10431784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:143.81, Y:31.62, Z:-0.41 [[ 5.83813366e-01 -8.11886642e-01 1.42616645e-03 1.43814831e+02] [ 8.11884707e-01 5.83815096e-01 1.77689716e-03 3.16164420e+01] [-2.27525657e-03 1.20506415e-04 9.99997404e-01 -4.10138062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:143.83, Y:31.64, Z:-0.41 [[ 5.78703317e-01 -8.15536902e-01 1.42565371e-03 1.43828632e+02] [ 8.15534976e-01 5.78705057e-01 1.77730844e-03 3.16399956e+01] [-2.27449363e-03 1.34136176e-04 9.99997404e-01 -4.09531260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:31.66, Z:-0.41 [[ 5.76300395e-01 -8.17236700e-01 1.42530578e-03 1.43844236e+02] [ 8.17234778e-01 5.76302141e-01 1.77758742e-03 3.16633570e+01] [-2.27411645e-03 1.40385124e-04 9.99997404e-01 -4.09592772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:31.69, Z:-0.41 [[ 5.74117308e-01 -8.18771816e-01 1.42478988e-03 1.43859156e+02] [ 8.18769898e-01 5.74119058e-01 1.77800084e-03 3.16861203e+01] [-2.27377600e-03 1.45794009e-04 9.99997404e-01 -4.09695846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:31.71, Z:-0.41 [[ 5.72306232e-01 -8.20038748e-01 1.42450913e-03 1.43873966e+02] [ 8.20036834e-01 5.72307985e-01 1.77822574e-03 3.17091591e+01] [-2.27347196e-03 1.50460288e-04 9.99997404e-01 -4.09599164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:31.73, Z:-0.41 [[ 5.70854326e-01 -8.21050127e-01 1.42423568e-03 1.43889416e+02] [ 8.21048215e-01 5.70856081e-01 1.77844473e-03 3.17333592e+01] [-2.27322587e-03 1.54133292e-04 9.99997404e-01 -4.09598702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.90, Y:31.76, Z:-0.41 [[ 5.68627363e-01 -8.22594004e-01 1.42393001e-03 1.43900508e+02] [ 8.22592096e-01 5.68629123e-01 1.77868943e-03 3.17590447e+01] [-2.27282733e-03 1.59902086e-04 9.99997404e-01 -4.09307036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85999999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.92, Y:31.78, Z:-0.41 [[ 5.68402666e-01 -8.22749283e-01 1.42368924e-03 1.43918307e+02] [ 8.22747375e-01 5.68404426e-01 1.77888212e-03 3.17813985e+01] [-2.27280526e-03 1.60215245e-04 9.99997404e-01 -4.09372037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:31.81, Z:-0.41 [[ 5.67515398e-01 -8.23361553e-01 1.42320327e-03 1.43932915e+02] [ 8.23359647e-01 5.67517160e-01 1.77927085e-03 3.18062389e+01] [-2.27267548e-03 1.62044536e-04 9.99997404e-01 -4.09570133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:31.83, Z:-0.41 [[ 5.67065053e-01 -8.23671780e-01 1.42271994e-03 1.43949242e+02] [ 8.23669874e-01 5.67066815e-01 1.77965723e-03 3.18317177e+01] [-2.27263071e-03 1.62670128e-04 9.99997404e-01 -4.07668976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:31.86, Z:-0.41 [[ 5.65156617e-01 -8.24982401e-01 1.42715775e-03 1.43961297e+02] [ 8.24980507e-01 5.65158392e-01 1.77611032e-03 3.18559851e+01] [-2.27182993e-03 1.73596829e-04 9.99997404e-01 -4.11702580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:31.88, Z:-0.41 [[ 5.63691209e-01 -8.25984382e-01 1.42207141e-03 1.43975066e+02] [ 8.25982481e-01 5.63692976e-01 1.78017348e-03 3.18803193e+01] [-2.27200716e-03 1.71137926e-04 9.99997404e-01 -4.12126502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:31.91, Z:-0.41 [[ 5.59503916e-01 -8.28826488e-01 1.42156986e-03 1.43985073e+02] [ 8.28824595e-01 5.59505693e-01 1.78057391e-03 3.19075439e+01] [-2.27116325e-03 1.81993985e-04 9.99997404e-01 -4.13529474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:31.93, Z:-0.41 [[ 5.56835779e-01 -8.30621391e-01 1.42128247e-03 1.43998731e+02] [ 8.30619504e-01 5.56837561e-01 1.78080328e-03 3.19331376e+01] [-2.27059676e-03 1.88929959e-04 9.99997404e-01 -4.14593451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:31.96, Z:-0.42 [[ 5.54174179e-01 -8.32399520e-01 1.42079184e-03 1.44011973e+02] [ 8.32397637e-01 5.54175966e-01 1.78119463e-03 3.19584097e+01] [-2.27003425e-03 1.95571698e-04 9.99997404e-01 -4.15878342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:31.99, Z:-0.42 [[ 5.49010888e-01 -8.35813991e-01 1.42028164e-03 1.44019107e+02] [ 8.35812118e-01 5.49012686e-01 1.78160136e-03 3.19872886e+01] [-2.26883998e-03 2.08970063e-04 9.99997404e-01 -4.16747002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:32.01, Z:-0.42 [[ 5.46718511e-01 -8.37315265e-01 1.41999693e-03 1.44031375e+02] [ 8.37313397e-01 5.46720313e-01 1.78182826e-03 3.20129933e+01] [-2.26829317e-03 2.14823963e-04 9.99997404e-01 -4.17087885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:32.04, Z:-0.42 [[ 5.45049251e-01 -8.38402826e-01 1.41949344e-03 1.44043511e+02] [ 8.38400961e-01 5.45051055e-01 1.78222928e-03 3.20384775e+01] [-2.26792246e-03 2.18701930e-04 9.99997404e-01 -4.16668202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:32.06, Z:-0.42 [[ 5.43478704e-01 -8.39421756e-01 1.41915214e-03 1.44055684e+02] [ 8.39419893e-01 5.43480511e-01 1.78250100e-03 3.20643808e+01] [-2.26755165e-03 2.22513201e-04 9.99997404e-01 -4.16504129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:32.09, Z:-0.42 [[ 5.42142210e-01 -8.40285554e-01 1.41864697e-03 1.44062571e+02] [ 8.40283692e-01 5.42144019e-01 1.78290297e-03 3.20946229e+01] [-2.26725857e-03 2.25478956e-04 9.99997404e-01 -4.16278354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:32.12, Z:-0.41 [[ 5.44153577e-01 -8.38984430e-01 1.41813880e-03 1.44079054e+02] [ 8.38982563e-01 5.44155381e-01 1.78330707e-03 3.21220060e+01] [-2.26785473e-03 2.19400805e-04 9.99997404e-01 -4.13533140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:32.15, Z:-0.41 [[ 5.43929856e-01 -8.39129462e-01 1.43431832e-03 1.44089166e+02] [ 8.39127629e-01 5.43931694e-01 1.77043405e-03 3.21479675e+01] [-2.26579457e-03 2.40584198e-04 9.99997404e-01 -4.13580357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:32.18, Z:-0.42 [[ 5.43499304e-01 -8.39408400e-01 1.43018522e-03 1.44090051e+02] [ 8.39406559e-01 5.43501134e-01 1.77371897e-03 3.21791547e+01] [-2.26618189e-03 2.36491833e-04 9.99997404e-01 -4.16979925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.10, Y:32.21, Z:-0.42 [[ 5.44256554e-01 -8.38917634e-01 1.41676130e-03 1.44100794e+02] [ 8.38915764e-01 5.44258355e-01 1.78437730e-03 3.22060368e+01] [-2.26802976e-03 2.17384348e-04 9.99997404e-01 -4.17170129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:32.23, Z:-0.42 [[ 5.44998887e-01 -8.38435571e-01 1.41625297e-03 1.44111754e+02] [ 8.38433699e-01 5.45000685e-01 1.78478067e-03 3.22333559e+01] [-2.26828244e-03 2.14730739e-04 9.99997404e-01 -4.17098387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:32.26, Z:-0.42 [[ 5.45728393e-01 -8.37960928e-01 1.41574206e-03 1.44123046e+02] [ 8.37959054e-01 5.45730188e-01 1.78518585e-03 3.22604037e+01] [-2.26852917e-03 2.12107273e-04 9.99997404e-01 -4.16787186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:32.29, Z:-0.42 [[ 5.46549359e-01 -8.37425695e-01 1.41523519e-03 1.44134392e+02] [ 8.37423818e-01 5.46551151e-01 1.78558759e-03 3.22866410e+01] [-2.26879535e-03 2.09239904e-04 9.99997404e-01 -4.16194296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.14, Y:32.31, Z:-0.42 [[ 5.47537693e-01 -8.36779824e-01 1.41472889e-03 1.44144953e+02] [ 8.36777943e-01 5.47539482e-01 1.78598864e-03 3.23121711e+01] [-2.26909919e-03 2.05917833e-04 9.99997404e-01 -4.15649825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:32.34, Z:-0.42 [[ 5.50255797e-01 -8.34994945e-01 1.41451000e-03 1.44150614e+02] [ 8.34993058e-01 5.50257579e-01 1.78616199e-03 3.23440120e+01] [-2.26978108e-03 1.98260047e-04 9.99997404e-01 -4.15688628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:32.37, Z:-0.42 [[ 5.51965269e-01 -8.33865902e-01 1.41401080e-03 1.44161913e+02] [ 8.33864011e-01 5.51967046e-01 1.78655709e-03 3.23707643e+01] [-2.27023641e-03 1.92975248e-04 9.99997404e-01 -4.15945133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:32.40, Z:-0.42 [[ 5.53927343e-01 -8.32563811e-01 1.41351281e-03 1.44172441e+02] [ 8.32561915e-01 5.53929115e-01 1.78695101e-03 3.23963245e+01] [-2.27073665e-03 1.86995905e-04 9.99997404e-01 -4.15575983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:32.42, Z:-0.42 [[ 5.56103596e-01 -8.31111781e-01 1.41329652e-03 1.44184070e+02] [ 8.31109880e-01 5.56105363e-01 1.78712206e-03 3.24229769e+01] [-2.27123997e-03 1.80779695e-04 9.99997404e-01 -4.15949463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60999999999999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:144.19, Y:32.45, Z:-0.42 [[ 5.61072535e-01 -8.27765434e-01 1.41279813e-03 1.44190245e+02] [ 8.27763521e-01 5.61074289e-01 1.78751597e-03 3.24534252e+01] [-2.27232864e-03 1.66536637e-04 9.99997404e-01 -4.16217006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:32.48, Z:-0.42 [[ 5.64011336e-01 -8.25765837e-01 1.41230054e-03 1.44201896e+02] [ 8.25763917e-01 5.64013082e-01 1.78790903e-03 3.24787982e+01] [-2.27295017e-03 1.57825863e-04 9.99997404e-01 -4.16366202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:32.50, Z:-0.42 [[ 5.67121159e-01 -8.23633169e-01 1.41208470e-03 1.44213897e+02] [ 8.23631242e-01 5.67122897e-01 1.78807948e-03 3.25044472e+01] [-2.27354713e-03 1.48979368e-04 9.99997404e-01 -4.16520608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:32.53, Z:-0.42 [[ 5.70416811e-01 -8.21354168e-01 1.41159171e-03 1.44225527e+02] [ 8.21352232e-01 5.70418541e-01 1.78846858e-03 3.25293770e+01] [-2.27416421e-03 1.39241458e-04 9.99997404e-01 -4.17611463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:32.56, Z:-0.42 [[ 5.76432888e-01 -8.17143276e-01 1.41137722e-03 1.44234053e+02] [ 8.17141328e-01 5.76434603e-01 1.78863783e-03 3.25587244e+01] [-2.27514005e-03 1.22264984e-04 9.99997404e-01 -4.18483475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:32.58, Z:-0.42 [[ 5.78966122e-01 -8.15350378e-01 1.41089083e-03 1.44247109e+02] [ 8.15348423e-01 5.78967830e-01 1.78902142e-03 3.25845406e+01] [-2.27553969e-03 1.14584826e-04 9.99997404e-01 -4.18702511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.26, Y:32.61, Z:-0.42 [[ 5.83552801e-01 -8.12073974e-01 1.41040256e-03 1.44256203e+02] [ 8.12072009e-01 5.83554497e-01 1.78940627e-03 3.26120446e+01] [-2.27617702e-03 1.01135396e-04 9.99997404e-01 -4.17815277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:32.64, Z:-0.42 [[ 5.85189145e-01 -8.10895601e-01 1.41019045e-03 1.44269630e+02] [ 8.10893632e-01 5.85190837e-01 1.78957341e-03 3.26359901e+01] [-2.27638774e-03 9.62755214e-05 9.99997404e-01 -4.16824859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.28, Y:32.66, Z:-0.42 [[ 5.86762932e-01 -8.09757540e-01 1.40998182e-03 1.44283868e+02] [ 8.09755568e-01 5.86764619e-01 1.78973778e-03 3.26604723e+01] [-2.27658110e-03 9.15888392e-05 9.99997404e-01 -4.16302521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:32.69, Z:-0.42 [[ 5.88186962e-01 -8.08723754e-01 1.40950575e-03 1.44298563e+02] [ 8.08721778e-01 5.88188645e-01 1.79011262e-03 3.26850325e+01] [-2.27676188e-03 8.69770920e-05 9.99997404e-01 -4.16288782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:144.31, Y:32.70, Z:-0.42 [[ 5.92863363e-01 -8.05301836e-01 1.40902755e-03 1.44311795e+02] [ 8.05299849e-01 5.92865033e-01 1.79048895e-03 3.27048606e+01] [-2.27724720e-03 7.31743697e-05 9.99997404e-01 -4.17832838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:32.73, Z:-0.42 [[ 5.95300215e-01 -8.03502167e-01 1.38652843e-03 1.44326789e+02] [ 8.03500133e-01 5.95301828e-01 1.80820511e-03 3.27344451e+01] [-2.27829963e-03 3.76508866e-05 9.99997404e-01 -4.18989331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:32.76, Z:-0.42 [[ 5.98250063e-01 -8.01308227e-01 1.40989360e-03 1.44342412e+02] [ 8.01306230e-01 5.98251721e-01 1.78979947e-03 3.27572096e+01] [-2.27765231e-03 5.90088775e-05 9.99997404e-01 -4.21189887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:32.78, Z:-0.42 [[ 6.01139512e-01 -7.99142853e-01 1.40973825e-03 1.44358564e+02] [ 7.99140851e-01 6.01141162e-01 1.78992182e-03 3.27803830e+01] [-2.27785492e-03 5.05866956e-05 9.99997404e-01 -4.20557594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:32.80, Z:-0.42 [[ 6.04227936e-01 -7.96810276e-01 1.40924523e-03 1.44374266e+02] [ 7.96808266e-01 6.04229578e-01 1.79030990e-03 3.28028638e+01] [-2.27804498e-03 4.11429921e-05 9.99997404e-01 -4.21586987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:32.83, Z:-0.42 [[ 6.09932932e-01 -7.92451786e-01 1.40903209e-03 1.44391080e+02] [ 7.92449764e-01 6.09934559e-01 1.79047764e-03 3.28262902e+01] [-2.27828457e-03 2.45158674e-05 9.99997404e-01 -4.19373569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:32.85, Z:-0.42 [[ 6.12169780e-01 -7.90725095e-01 1.40859014e-03 1.44408353e+02] [ 7.90723068e-01 6.12171400e-01 1.79082526e-03 3.28482199e+01] [-2.27834907e-03 1.75156116e-05 9.99997404e-01 -4.19237382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:32.87, Z:-0.42 [[ 6.13628228e-01 -7.89593828e-01 1.40843331e-03 1.44426146e+02] [ 7.89591797e-01 6.13629845e-01 1.79094859e-03 3.28698638e+01] [-2.27837867e-03 1.31107808e-05 9.99997404e-01 -4.18415480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.44, Y:32.89, Z:-0.42 [[ 6.14701912e-01 -7.88758250e-01 1.40792562e-03 1.44443841e+02] [ 7.88756216e-01 6.14703524e-01 1.79134761e-03 3.28900272e+01] [-2.27839705e-03 9.36528169e-06 9.99997404e-01 -4.18467284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:32.91, Z:-0.42 [[ 6.14124650e-01 -7.89207788e-01 1.40770569e-03 1.44465413e+02] [ 7.89205755e-01 6.14126263e-01 1.79152043e-03 3.29090831e+01] [-2.27839091e-03 1.07525770e-05 9.99997404e-01 -4.18771887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:32.93, Z:-0.42 [[ 6.12824055e-01 -7.90218133e-01 1.40719702e-03 1.44484509e+02] [ 7.90216101e-01 6.12825670e-01 1.79191988e-03 3.29279646e+01] [-2.27837404e-03 1.38581361e-05 9.99997404e-01 -4.18975522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:32.95, Z:-0.42 [[ 6.10868051e-01 -7.91731170e-01 1.40697652e-03 1.44504226e+02] [ 7.91729142e-01 6.10869671e-01 1.79209300e-03 3.29479074e+01] [-2.27833517e-03 1.92119573e-05 9.99997404e-01 -4.19269582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:32.97, Z:-0.42 [[ 6.08812440e-01 -7.93312949e-01 1.40646656e-03 1.44524640e+02] [ 7.93310924e-01 6.08814064e-01 1.79249314e-03 3.29680373e+01] [-2.27828464e-03 2.44731685e-05 9.99997404e-01 -4.19549466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.55, Y:32.99, Z:-0.42 [[ 6.04966655e-01 -7.96249565e-01 1.40595624e-03 1.44547368e+02] [ 7.96247547e-01 6.04968288e-01 1.79289333e-03 3.29855908e+01] [-2.27814947e-03 3.48485245e-05 9.99997404e-01 -4.20735812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:33.01, Z:-0.42 [[ 6.03123694e-01 -7.97646434e-01 1.40579817e-03 1.44567538e+02] [ 7.97644419e-01 6.03125331e-01 1.79301726e-03 3.30057887e+01] [-2.27806631e-03 3.99158741e-05 9.99997404e-01 -4.21082957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:33.03, Z:-0.42 [[ 6.01805602e-01 -7.98641373e-01 1.40528920e-03 1.44587500e+02] [ 7.98639360e-01 6.01807241e-01 1.79341607e-03 3.30253809e+01] [-2.27800949e-03 4.30314316e-05 9.99997404e-01 -4.21661830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:33.05, Z:-0.42 [[ 6.00705016e-01 -7.99469518e-01 1.40478423e-03 1.44607304e+02] [ 7.99467507e-01 6.00706657e-01 1.79381153e-03 3.30450511e+01] [-2.27796088e-03 4.55277634e-05 9.99997404e-01 -4.21824885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:144.63, Y:33.06, Z:-0.42 [[ 5.99981105e-01 -8.00012938e-01 1.40428197e-03 1.44630253e+02] [ 8.00010928e-01 5.99982747e-01 1.79420464e-03 3.30625526e+01] [-2.27793188e-03 4.69520421e-05 9.99997404e-01 -4.24463143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:33.08, Z:-0.42 [[ 5.99756209e-01 -8.00181554e-01 1.40368611e-03 1.44650228e+02] [ 8.00179543e-01 5.99757850e-01 1.79467068e-03 3.30828335e+01] [-2.27793414e-03 4.68360294e-05 9.99997404e-01 -4.20610430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:33.10, Z:-0.42 [[ 5.99447377e-01 -8.00412939e-01 1.40303805e-03 1.44670531e+02] [ 8.00410928e-01 5.99449017e-01 1.79517718e-03 3.31029338e+01] [-2.27793283e-03 4.68927390e-05 9.99997404e-01 -4.20481424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:33.12, Z:-0.42 [[ 5.99050729e-01 -8.00709845e-01 1.40253296e-03 1.44689869e+02] [ 8.00707834e-01 5.99052369e-01 1.79557171e-03 3.31217626e+01] [-2.27792264e-03 4.73805840e-05 9.99997404e-01 -4.20555663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:33.14, Z:-0.42 [[ 5.98207333e-01 -8.01340141e-01 1.40231465e-03 1.44710097e+02] [ 8.01338130e-01 5.98208974e-01 1.79574219e-03 3.31416113e+01] [-2.27787751e-03 4.95020511e-05 9.99997404e-01 -4.20058182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:33.16, Z:-0.42 [[ 5.95887506e-01 -8.03066694e-01 1.40181807e-03 1.44733803e+02] [ 8.03064687e-01 5.95889152e-01 1.79612976e-03 3.31588212e+01] [-2.27774017e-03 5.54593072e-05 9.99997404e-01 -4.20849870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:33.18, Z:-0.42 [[ 5.95557526e-01 -8.03311440e-01 1.40132155e-03 1.44757455e+02] [ 8.03309433e-01 5.95559172e-01 1.79651705e-03 3.31788611e+01] [-2.27773260e-03 5.57655746e-05 9.99997404e-01 -4.23119876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:33.20, Z:-0.42 [[ 5.93256794e-01 -8.05012035e-01 1.41432145e-03 1.44773950e+02] [ 8.05010057e-01 5.93258475e-01 1.78637130e-03 3.31975806e+01] [-2.27710858e-03 7.87660772e-05 9.99997404e-01 -4.21802530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:33.22, Z:-0.42 [[ 5.89801671e-01 -8.07546919e-01 1.40111910e-03 1.44797877e+02] [ 8.07544923e-01 5.89803331e-01 1.79666707e-03 3.32170401e+01] [-2.27727767e-03 7.17893720e-05 9.99997404e-01 -4.20355100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:33.24, Z:-0.42 [[ 5.88753365e-01 -8.08311511e-01 1.40563396e-03 1.44816733e+02] [ 8.08309526e-01 5.88755038e-01 1.79314807e-03 3.32364518e+01] [-2.27699630e-03 8.04653591e-05 9.99997404e-01 -4.19264601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:33.26, Z:-0.42 [[ 5.87081216e-01 -8.09526828e-01 1.40020626e-03 1.44836011e+02] [ 8.09524836e-01 5.87082881e-01 1.79737639e-03 3.32566003e+01] [-2.27706153e-03 7.82958224e-05 9.99997404e-01 -4.18203193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:33.28, Z:-0.42 [[ 5.85401919e-01 -8.10742024e-01 1.40141281e-03 1.44855091e+02] [ 8.10740038e-01 5.85403591e-01 1.79643675e-03 3.32769256e+01] [-2.27683885e-03 8.45439550e-05 9.99997404e-01 -4.18455013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:33.30, Z:-0.42 [[ 5.85178472e-01 -8.10903322e-01 1.39956253e-03 1.44872556e+02] [ 8.10901333e-01 5.85180140e-01 1.79787710e-03 3.32994770e+01] [-2.27690071e-03 8.28281507e-05 9.99997404e-01 -4.18519658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:33.32, Z:-0.42 [[ 5.83163978e-01 -8.12353259e-01 1.39906697e-03 1.44891204e+02] [ 8.12351274e-01 5.83165649e-01 1.79826266e-03 3.33200187e+01] [-2.27671232e-03 8.78518292e-05 9.99997404e-01 -4.18398547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:33.34, Z:-0.42 [[ 5.80131960e-01 -8.14521303e-01 1.39857453e-03 1.44910156e+02] [ 8.14519323e-01 5.80133638e-01 1.79864556e-03 3.33401291e+01] [-2.27639525e-03 9.57142098e-05 9.99997404e-01 -4.18938465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.93, Y:33.36, Z:-0.42 [[ 5.78943158e-01 -8.15366706e-01 1.39808006e-03 1.44928321e+02] [ 8.15364727e-01 5.78944838e-01 1.79902983e-03 3.33621057e+01] [-2.27628026e-03 9.84091517e-05 9.99997404e-01 -4.19090766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:33.38, Z:-0.42 [[ 5.78536661e-01 -8.15655184e-01 1.39758612e-03 1.44946291e+02] [ 8.15653205e-01 5.78538340e-01 1.79941346e-03 3.33837423e+01] [-2.27625808e-03 9.89189415e-05 9.99997404e-01 -4.19374211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:33.40, Z:-0.42 [[ 5.77722575e-01 -8.16232001e-01 1.39516688e-03 1.44964994e+02] [ 8.16230019e-01 5.77724252e-01 1.80129188e-03 3.34048582e+01] [-2.27629382e-03 9.81301055e-05 9.99997404e-01 -4.19115637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:33.43, Z:-0.42 [[ 5.78230672e-01 -8.15872133e-01 1.39697095e-03 1.44982606e+02] [ 8.15870154e-01 5.78232351e-01 1.79989167e-03 3.34268863e+01] [-2.27625525e-03 9.89943305e-05 9.99997404e-01 -4.19547333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:33.45, Z:-0.42 [[ 5.78715739e-01 -8.15528141e-01 1.39450605e-03 1.44999290e+02] [ 8.15526156e-01 5.78717411e-01 1.80180396e-03 3.34481734e+01] [-2.27644676e-03 9.45238496e-05 9.99997404e-01 -4.22190474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:33.47, Z:-0.42 [[ 5.77994775e-01 -8.16039276e-01 1.39255166e-03 1.45017819e+02] [ 8.16037289e-01 5.77996445e-01 1.80331988e-03 3.34705824e+01] [-2.27646976e-03 9.40646129e-05 9.99997404e-01 -4.21433241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:33.49, Z:-0.42 [[ 5.77806716e-01 -8.16172439e-01 1.39626763e-03 1.45034711e+02] [ 8.16170459e-01 5.77808394e-01 1.80043809e-03 3.34918125e+01] [-2.27624311e-03 9.92871748e-05 9.99997404e-01 -4.23055432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:33.51, Z:-0.42 [[ 5.76230610e-01 -8.17285966e-01 1.39073762e-03 1.45052309e+02] [ 8.17283979e-01 5.76232280e-01 1.80472303e-03 3.35143828e+01] [-2.27636271e-03 9.66909217e-05 9.99997404e-01 -4.21441908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:33.54, Z:-0.42 [[ 5.75396707e-01 -8.17873269e-01 1.39493406e-03 1.45069861e+02] [ 8.17871292e-01 5.75398388e-01 1.80147204e-03 3.35365835e+01] [-2.27601864e-03 1.04315446e-04 9.99997404e-01 -4.19447912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:33.56, Z:-0.42 [[ 5.73696203e-01 -8.19066986e-01 1.39273471e-03 1.45087160e+02] [ 8.19065008e-01 5.73697884e-01 1.80317530e-03 3.35585300e+01] [-2.27593032e-03 1.06265447e-04 9.99997404e-01 -4.20289283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:33.58, Z:-0.42 [[ 5.72253601e-01 -8.20075527e-01 1.39500626e-03 1.45107703e+02] [ 8.20073557e-01 5.72255290e-01 1.80141697e-03 3.35816260e+01] [-2.27559768e-03 1.13140398e-04 9.99997404e-01 -4.20606260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.2 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:145.12, Y:33.60, Z:-0.42 [[ 5.69608342e-01 -8.21915054e-01 1.40728752e-03 1.45123332e+02] [ 8.21913112e-01 5.69610064e-01 1.79188461e-03 3.36044695e+01] [-2.27438208e-03 1.35995646e-04 9.99997404e-01 -4.20813013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:33.62, Z:-0.42 [[ 5.69660258e-01 -8.21879054e-01 1.41811634e-03 1.45139104e+02] [ 8.21877133e-01 5.69662003e-01 1.78345789e-03 3.36233436e+01] [-2.27363368e-03 1.49552309e-04 9.99997404e-01 -4.19845949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:33.65, Z:-0.42 [[ 5.66741763e-01 -8.23894301e-01 1.39821648e-03 1.45156067e+02] [ 8.23892348e-01 5.66743472e-01 1.79892508e-03 3.36457151e+01] [-2.27455419e-03 1.32453890e-04 9.99997404e-01 -4.20058627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:33.67, Z:-0.42 [[ 5.65410899e-01 -8.24808197e-01 1.39772794e-03 1.45172749e+02] [ 8.24806245e-01 5.65412610e-01 1.79930459e-03 3.36676819e+01] [-2.27437418e-03 1.35508304e-04 9.99997404e-01 -4.19519253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:33.69, Z:-0.42 [[ 5.63576731e-01 -8.26062540e-01 1.39590888e-03 1.45189001e+02] [ 8.26060588e-01 5.63578443e-01 1.80071713e-03 3.36901321e+01] [-2.27420912e-03 1.38263033e-04 9.99997404e-01 -4.21633516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:33.71, Z:-0.42 [[ 5.60592013e-01 -8.28090963e-01 1.39711116e-03 1.45203813e+02] [ 8.28089020e-01 5.60593734e-01 1.79978384e-03 3.37141294e+01] [-2.27359650e-03 1.47987964e-04 9.99997404e-01 -4.23701649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:33.74, Z:-0.42 [[ 5.59033163e-01 -8.29144120e-01 1.39662122e-03 1.45219843e+02] [ 8.29142180e-01 5.59034887e-01 1.80016395e-03 3.37376256e+01] [-2.27335534e-03 1.51646219e-04 9.99997404e-01 -4.23990171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:33.76, Z:-0.42 [[ 5.57620037e-01 -8.30095142e-01 1.39611945e-03 1.45235050e+02] [ 8.30093204e-01 5.57621764e-01 1.80055302e-03 3.37599454e+01] [-2.27313690e-03 1.54884821e-04 9.99997404e-01 -4.24336364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:33.78, Z:-0.42 [[ 5.56334431e-01 -8.30957311e-01 1.39577835e-03 1.45250897e+02] [ 8.30955375e-01 5.56336159e-01 1.80081740e-03 3.37835729e+01] [-2.27292435e-03 1.57972802e-04 9.99997404e-01 -4.23898131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:33.81, Z:-0.42 [[ 5.54325613e-01 -8.32298725e-01 1.39529566e-03 1.45264541e+02] [ 8.32296792e-01 5.54327345e-01 1.80119131e-03 3.38079875e+01] [-2.27257977e-03 1.62853629e-04 9.99997404e-01 -4.22067598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:33.83, Z:-0.42 [[ 5.53679511e-01 -8.32728680e-01 1.39480278e-03 1.45279294e+02] [ 8.32726747e-01 5.53681243e-01 1.80157291e-03 3.38313171e+01] [-2.27249757e-03 1.63995580e-04 9.99997404e-01 -4.21419277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:33.86, Z:-0.42 [[ 5.53710150e-01 -8.32708302e-01 1.39772331e-03 1.45293824e+02] [ 8.32706375e-01 5.53711889e-01 1.79931244e-03 3.38558868e+01] [-2.27223842e-03 1.67595549e-04 9.99997404e-01 -4.21188375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:33.88, Z:-0.42 [[ 5.54316699e-01 -8.32304664e-01 1.39400737e-03 1.45307375e+02] [ 8.32302728e-01 5.54318429e-01 1.80218675e-03 3.38799167e+01] [-2.27269241e-03 1.61253924e-04 9.99997404e-01 -4.21060837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:33.91, Z:-0.42 [[ 5.57094682e-01 -8.30447815e-01 1.39378874e-03 1.45317710e+02] [ 8.30445873e-01 5.57096404e-01 1.80235581e-03 3.39069991e+01] [-2.27323714e-03 1.53383271e-04 9.99997404e-01 -4.20870796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:33.93, Z:-0.42 [[ 5.59417563e-01 -8.28884820e-01 1.39453981e-03 1.45331797e+02] [ 8.28882875e-01 5.59419281e-01 1.80177515e-03 3.39320438e+01] [-2.27359653e-03 1.47965506e-04 9.99997404e-01 -4.20712566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:33.96, Z:-0.42 [[ 5.62043527e-01 -8.27106482e-01 1.39313310e-03 1.45345911e+02] [ 8.27104529e-01 5.62045237e-01 1.80286216e-03 3.39566937e+01] [-2.27416281e-03 1.38979688e-04 9.99997404e-01 -4.20754591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:33.98, Z:-0.42 [[ 5.64356729e-01 -8.25529856e-01 1.39263233e-03 1.45359939e+02] [ 8.25527897e-01 5.64358432e-01 1.80324891e-03 3.39813608e+01] [-2.27457961e-03 1.31981182e-04 9.99997404e-01 -4.20741958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:34.01, Z:-0.42 [[ 5.66529803e-01 -8.24040075e-01 1.39212278e-03 1.45373166e+02] [ 8.24038110e-01 5.66531499e-01 1.80364219e-03 3.40052580e+01] [-2.27495485e-03 1.25345172e-04 9.99997404e-01 -4.21002483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:34.03, Z:-0.42 [[ 5.68906979e-01 -8.22400700e-01 1.39190194e-03 1.45383478e+02] [ 8.22398730e-01 5.68908670e-01 1.80381261e-03 3.40330228e+01] [-2.27532183e-03 1.18496802e-04 9.99997404e-01 -4.19235130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:34.06, Z:-0.42 [[ 5.69606415e-01 -8.21916416e-01 1.39139822e-03 1.45396303e+02] [ 8.21914444e-01 5.69608103e-01 1.80420107e-03 3.40570608e+01] [-2.27545418e-03 1.15925794e-04 9.99997404e-01 -4.18497141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:34.08, Z:-0.42 [[ 5.70323147e-01 -8.21419243e-01 1.39118060e-03 1.45409933e+02] [ 8.21417269e-01 5.70324833e-01 1.80436886e-03 3.40816805e+01] [-2.27556815e-03 1.13666439e-04 9.99997404e-01 -4.17789896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:34.11, Z:-0.42 [[ 5.71241246e-01 -8.20781033e-01 1.39068336e-03 1.45423960e+02] [ 8.20779057e-01 5.71242928e-01 1.80475202e-03 3.41066382e+01] [-2.27572426e-03 1.10494987e-04 9.99997404e-01 -4.17929622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:34.13, Z:-0.42 [[ 5.73394926e-01 -8.19277930e-01 1.39018483e-03 1.45434574e+02] [ 8.19275948e-01 5.73396602e-01 1.80513595e-03 3.41325452e+01] [-2.27603530e-03 1.03889198e-04 9.99997404e-01 -4.18995698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:34.16, Z:-0.42 [[ 5.74373706e-01 -8.18592032e-01 1.38984651e-03 1.45448703e+02] [ 8.18590047e-01 5.74375378e-01 1.80539640e-03 3.41570359e+01] [-2.27617672e-03 1.00742298e-04 9.99997404e-01 -4.19405757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:34.18, Z:-0.42 [[ 5.75567662e-01 -8.17752980e-01 1.38933978e-03 1.45462340e+02] [ 8.17750992e-01 5.75569331e-01 1.80578627e-03 3.41809761e+01] [-2.27634847e-03 9.67817991e-05 9.99997404e-01 -4.20458310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:34.21, Z:-0.42 [[ 5.76675024e-01 -8.16972452e-01 1.38899522e-03 1.45476578e+02] [ 8.16970461e-01 5.76676689e-01 1.80605126e-03 3.42056696e+01] [-2.27649529e-03 9.32634098e-05 9.99997404e-01 -4.21012105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:34.23, Z:-0.42 [[ 5.79892727e-01 -8.14691658e-01 1.38850230e-03 1.45487842e+02] [ 8.14689659e-01 5.79894384e-01 1.80643014e-03 3.42313347e+01] [-2.27686825e-03 8.36627604e-05 9.99997404e-01 -4.22986764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:34.25, Z:-0.42 [[ 5.81901999e-01 -8.13257730e-01 1.38828898e-03 1.45502536e+02] [ 8.13255727e-01 5.81903650e-01 1.80659407e-03 3.42549467e+01] [-2.27707702e-03 7.77732658e-05 9.99997404e-01 -4.23057832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:145.52, Y:34.28, Z:-0.42 [[ 5.83996232e-01 -8.11755182e-01 1.38777987e-03 1.45516804e+02] [ 8.11753174e-01 5.83997877e-01 1.80698507e-03 3.42782775e+01] [-2.27728999e-03 7.12622379e-05 9.99997404e-01 -4.24294003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:34.30, Z:-0.42 [[ 5.85927074e-01 -8.10362597e-01 1.38743632e-03 1.45531810e+02] [ 8.10360584e-01 5.85928713e-01 1.80724881e-03 3.43024304e+01] [-2.27746562e-03 6.54076983e-05 9.99997404e-01 -4.23789248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:34.33, Z:-0.42 [[ 5.90348582e-01 -8.07147216e-01 1.38693366e-03 1.45544683e+02] [ 8.07145193e-01 5.90350209e-01 1.80763449e-03 3.43277764e+01] [-2.27780372e-03 5.23223830e-05 9.99997404e-01 -4.23026736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:34.35, Z:-0.42 [[ 5.92074301e-01 -8.05882187e-01 1.38643211e-03 1.45559944e+02] [ 8.05880160e-01 5.92075923e-01 1.80801909e-03 3.43503895e+01] [-2.27792345e-03 4.68164876e-05 9.99997404e-01 -4.23800357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:34.37, Z:-0.42 [[ 5.93178565e-01 -8.05069729e-01 1.38609082e-03 1.45575898e+02] [ 8.05067700e-01 5.93180182e-01 1.80828069e-03 3.43728349e+01] [-2.27799365e-03 4.32636041e-05 9.99997404e-01 -4.22769706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:34.40, Z:-0.42 [[ 5.93763213e-01 -8.04638631e-01 1.38557332e-03 1.45592253e+02] [ 8.04636600e-01 5.93764828e-01 1.80867714e-03 3.43951456e+01] [-2.27803620e-03 4.09570540e-05 9.99997404e-01 -4.23433381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:34.42, Z:-0.42 [[ 5.94559969e-01 -8.04050076e-01 1.38502641e-03 1.45608662e+02] [ 8.04048042e-01 5.94561581e-01 1.80909584e-03 3.44161593e+01] [-2.27808714e-03 3.80118088e-05 9.99997404e-01 -4.22747783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:34.44, Z:-0.42 [[ 5.95032614e-01 -8.03700361e-01 1.38479139e-03 1.45626131e+02] [ 8.03698325e-01 5.95034225e-01 1.80927572e-03 3.44378723e+01] [-2.27811382e-03 3.63764616e-05 9.99997404e-01 -4.22379542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:34.46, Z:-0.42 [[ 5.94744395e-01 -8.03913670e-01 1.38428165e-03 1.45644251e+02] [ 8.03911634e-01 5.94746005e-01 1.80966564e-03 3.44594529e+01] [-2.27811093e-03 3.65516238e-05 9.99997404e-01 -4.22558548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:34.48, Z:-0.42 [[ 5.94299307e-01 -8.04242761e-01 1.38376162e-03 1.45661825e+02] [ 8.04240725e-01 5.94300917e-01 1.81006320e-03 3.44806400e+01] [-2.27810102e-03 3.71581409e-05 9.99997404e-01 -4.22592913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:34.50, Z:-0.42 [[ 5.94034166e-01 -8.04438622e-01 1.38323742e-03 1.45679072e+02] [ 8.04436586e-01 5.94035775e-01 1.81046370e-03 3.45016948e+01] [-2.27809944e-03 3.72494906e-05 9.99997404e-01 -4.22507343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:34.52, Z:-0.42 [[ 5.93648956e-01 -8.04722936e-01 1.38300984e-03 1.45697168e+02] [ 8.04720900e-01 5.93650566e-01 1.81063753e-03 3.45235292e+01] [-2.27808612e-03 3.80538439e-05 9.99997404e-01 -4.22657169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:34.54, Z:-0.42 [[ 5.93445862e-01 -8.04872721e-01 1.38249224e-03 1.45715365e+02] [ 8.04870684e-01 5.93447472e-01 1.81103265e-03 3.45447992e+01] [-2.27808730e-03 3.79776395e-05 9.99997404e-01 -4.22577856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:34.56, Z:-0.42 [[ 5.93858166e-01 -8.04568561e-01 1.38197408e-03 1.45734563e+02] [ 8.04566522e-01 5.93859773e-01 1.81142797e-03 3.45638958e+01] [-2.27811681e-03 3.61587850e-05 9.99997404e-01 -4.22149454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:34.59, Z:-0.42 [[ 5.94236487e-01 -8.04289182e-01 1.38174967e-03 1.45752921e+02] [ 8.04287142e-01 5.94238093e-01 1.81159913e-03 3.45853135e+01] [-2.27813787e-03 3.48051899e-05 9.99997404e-01 -4.22117082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:34.61, Z:-0.42 [[ 5.94818245e-01 -8.03859035e-01 1.38124268e-03 1.45771087e+02] [ 8.03856993e-01 5.94819848e-01 1.81198560e-03 3.46064406e+01] [-2.27817155e-03 3.25194954e-05 9.99997404e-01 -4.21918181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:34.63, Z:-0.42 [[ 5.96086672e-01 -8.02918908e-01 1.38071400e-03 1.45790728e+02] [ 8.02916863e-01 5.96088270e-01 1.81238836e-03 3.46254584e+01] [-2.27822830e-03 2.82580117e-05 9.99997404e-01 -4.22814432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:34.65, Z:-0.42 [[ 5.96348613e-01 -8.02724377e-01 1.38048463e-03 1.45808902e+02] [ 8.02722331e-01 5.96350210e-01 1.81256305e-03 3.46455263e+01] [-2.27824085e-03 2.72263830e-05 9.99997404e-01 -4.23281090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:34.67, Z:-0.42 [[ 5.96490249e-01 -8.02619136e-01 1.38026111e-03 1.45827733e+02] [ 8.02617089e-01 5.96491846e-01 1.81273325e-03 3.46659912e+01] [-2.27824889e-03 2.65434470e-05 9.99997404e-01 -4.23491178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:34.69, Z:-0.42 [[ 5.96215937e-01 -8.02822928e-01 1.37974201e-03 1.45846679e+02] [ 8.02820881e-01 5.96217533e-01 1.81312827e-03 3.46863343e+01] [-2.27824732e-03 2.66697281e-05 9.99997404e-01 -4.23657880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:34.71, Z:-0.42 [[ 5.95876835e-01 -8.03074651e-01 1.37921778e-03 1.45868778e+02] [ 8.03072604e-01 5.95878431e-01 1.81352695e-03 3.47051326e+01] [-2.27824365e-03 2.69733143e-05 9.99997404e-01 -4.24000587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:34.73, Z:-0.42 [[ 5.95645828e-01 -8.03246006e-01 1.37869677e-03 1.45885976e+02] [ 8.03243958e-01 5.95647423e-01 1.81392295e-03 3.47278664e+01] [-2.27824355e-03 2.69742119e-05 9.99997404e-01 -4.24065483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:34.75, Z:-0.42 [[ 5.95131284e-01 -8.03627311e-01 1.37817493e-03 1.45905001e+02] [ 8.03625264e-01 5.95132879e-01 1.81431935e-03 3.47479961e+01] [-2.27823379e-03 2.77779884e-05 9.99997404e-01 -4.23871068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:145.92, Y:34.77, Z:-0.42 [[ 5.94779248e-01 -8.03887895e-01 1.37765557e-03 1.45923960e+02] [ 8.03885847e-01 5.94780843e-01 1.81471363e-03 3.47676858e+01] [-2.27822946e-03 2.81238069e-05 9.99997404e-01 -4.24091622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:34.79, Z:-0.42 [[ 5.92999264e-01 -8.05201829e-01 1.37370406e-03 1.45943679e+02] [ 8.05199778e-01 5.93000855e-01 1.81771116e-03 3.47886526e+01] [-2.27823203e-03 2.82048202e-05 9.99997404e-01 -4.23806562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:34.81, Z:-0.42 [[ 5.91262335e-01 -8.06478119e-01 1.37652660e-03 1.45963427e+02] [ 8.06476076e-01 5.91263936e-01 1.81557117e-03 3.48083094e+01] [-2.27810896e-03 3.66569214e-05 9.99997404e-01 -4.23835525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:145.99, Y:34.82, Z:-0.42 [[ 5.87566837e-01 -8.09174467e-01 1.37600727e-03 1.45986250e+02] [ 8.09172431e-01 5.87568447e-01 1.81596468e-03 3.48249631e+01] [-2.27793070e-03 4.64265218e-05 9.99997404e-01 -4.23912919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:34.85, Z:-0.42 [[ 5.85158188e-01 -8.10918008e-01 1.37065996e-03 1.46006469e+02] [ 8.10915967e-01 5.85159792e-01 1.82001473e-03 3.48458687e+01] [-2.27793781e-03 4.64935238e-05 9.99997404e-01 -4.23193831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:34.87, Z:-0.42 [[ 5.83392590e-01 -8.12189137e-01 1.37543661e-03 1.46025528e+02] [ 8.12187108e-01 5.83394208e-01 1.81639769e-03 3.48651805e+01] [-2.27768022e-03 5.74389340e-05 9.99997404e-01 -4.22716156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:34.89, Z:-0.42 [[ 5.82020997e-01 -8.13172594e-01 1.37507882e-03 1.46045403e+02] [ 8.13170567e-01 5.82022618e-01 1.81666851e-03 3.48857918e+01] [-2.27759202e-03 6.08344120e-05 9.99997404e-01 -4.22042602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:34.90, Z:-0.42 [[ 5.80709133e-01 -8.14109951e-01 1.37456283e-03 1.46065722e+02] [ 8.14107926e-01 5.80710757e-01 1.81705884e-03 3.49038192e+01] [-2.27750911e-03 6.38598328e-05 9.99997404e-01 -4.21880195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:34.92, Z:-0.42 [[ 5.80447087e-01 -8.14296807e-01 1.37433984e-03 1.46084019e+02] [ 8.14294782e-01 5.80448711e-01 1.81722749e-03 3.49238211e+01] [-2.27749633e-03 6.43133577e-05 9.99997404e-01 -4.21767398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:34.94, Z:-0.42 [[ 5.80456948e-01 -8.14289778e-01 1.37411872e-03 1.46102983e+02] [ 8.14287753e-01 5.80458571e-01 1.81739468e-03 3.49443845e+01] [-2.27750489e-03 6.40086729e-05 9.99997404e-01 -4.22011368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.12, Y:34.97, Z:-0.42 [[ 5.80363452e-01 -8.14356419e-01 1.37361723e-03 1.46121706e+02] [ 8.14354392e-01 5.80365074e-01 1.81777363e-03 3.49652251e+01] [-2.27751509e-03 6.36418482e-05 9.99997404e-01 -4.22009502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:34.98, Z:-0.42 [[ 5.81552944e-01 -8.13507399e-01 1.37311684e-03 1.46141256e+02] [ 8.13505369e-01 5.81554562e-01 1.81815154e-03 3.49838440e+01] [-2.27762209e-03 5.96865449e-05 9.99997404e-01 -4.22786154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:35.01, Z:-0.42 [[ 5.82492808e-01 -8.12834697e-01 1.37289991e-03 1.46159856e+02] [ 8.12832665e-01 5.82494423e-01 1.81831533e-03 3.50051853e+01] [-2.27769633e-03 5.67822863e-05 9.99997404e-01 -4.23757634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:35.03, Z:-0.42 [[ 5.83627575e-01 -8.12020301e-01 1.37238037e-03 1.46178180e+02] [ 8.12018266e-01 5.83629187e-01 1.81870737e-03 3.50264697e+01] [-2.27778854e-03 5.29501580e-05 9.99997404e-01 -4.24683680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:35.05, Z:-0.42 [[ 5.86405615e-01 -8.10016403e-01 1.37186258e-03 1.46197720e+02] [ 8.10014362e-01 5.86407218e-01 1.81909785e-03 3.50471336e+01] [-2.27796922e-03 4.44992005e-05 9.99997404e-01 -4.24389630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:35.07, Z:-0.43 [[ 5.88004804e-01 -8.08856267e-01 1.37456566e-03 1.46215243e+02] [ 8.08854227e-01 5.88006409e-01 1.81706021e-03 3.50682960e+01] [-2.27799396e-03 4.33831123e-05 9.99997404e-01 -4.25431435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:35.09, Z:-0.42 [[ 5.89582878e-01 -8.07706723e-01 1.37091491e-03 1.46233099e+02] [ 8.07704674e-01 5.89584470e-01 1.81981043e-03 3.50892754e+01] [-2.27814326e-03 3.43653136e-05 9.99997404e-01 -4.24978627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:35.11, Z:-0.42 [[ 5.90734722e-01 -8.06864679e-01 1.37057017e-03 1.46251506e+02] [ 8.06862626e-01 5.90736311e-01 1.82007003e-03 3.51110251e+01] [-2.27819578e-03 3.06832842e-05 9.99997404e-01 -4.24567673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:35.13, Z:-0.42 [[ 5.91888723e-01 -8.06018525e-01 1.37006903e-03 1.46269861e+02] [ 8.06016470e-01 5.91890308e-01 1.82044719e-03 3.51323264e+01] [-2.27824474e-03 2.67960390e-05 9.99997404e-01 -4.24526460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:35.15, Z:-0.42 [[ 5.94563369e-01 -8.04047589e-01 1.36956080e-03 1.46290276e+02] [ 8.04045527e-01 5.94564946e-01 1.82082946e-03 3.51518094e+01] [-2.27832638e-03 1.85907369e-05 9.99997404e-01 -4.24729563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:35.17, Z:-0.43 [[ 5.95916720e-01 -8.03045073e-01 1.36905344e-03 1.46308204e+02] [ 8.03043008e-01 5.95918292e-01 1.82121085e-03 3.51719109e+01] [-2.27835839e-03 1.41187966e-05 9.99997404e-01 -4.25352941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:35.19, Z:-0.43 [[ 5.97317681e-01 -8.02003563e-01 1.36883347e-03 1.46326712e+02] [ 8.02001495e-01 5.97319249e-01 1.82137617e-03 3.51930267e+01] [-2.27838076e-03 9.86630574e-06 9.99997404e-01 -4.26175633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:35.21, Z:-0.43 [[ 5.98792933e-01 -8.00902710e-01 1.36829847e-03 1.46344734e+02] [ 8.00900638e-01 5.98794496e-01 1.82177800e-03 3.52132343e+01] [-2.27839653e-03 5.00332526e-06 9.99997404e-01 -4.27108686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:35.23, Z:-0.43 [[ 6.01051786e-01 -7.99208908e-01 1.36806641e-03 1.46365956e+02] [ 7.99206832e-01 6.01053343e-01 1.82195225e-03 3.52324750e+01] [-2.27840135e-03 -1.71963386e-06 9.99997404e-01 -4.27371101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:35.25, Z:-0.43 [[ 6.01874068e-01 -7.98589842e-01 1.36754356e-03 1.46384372e+02] [ 7.98587763e-01 6.01875622e-01 1.82234461e-03 3.52522676e+01] [-2.27839702e-03 -4.71840847e-06 9.99997404e-01 -4.27257819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:35.27, Z:-0.43 [[ 6.02098810e-01 -7.98420412e-01 1.36731700e-03 1.46403336e+02] [ 7.98418332e-01 6.02100362e-01 1.82251458e-03 3.52731630e+01] [-2.27839490e-03 -5.64290096e-06 9.99997404e-01 -4.27003462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:35.29, Z:-0.43 [[ 6.02057354e-01 -7.98451673e-01 1.36678613e-03 1.46421633e+02] [ 7.98449592e-01 6.02058906e-01 1.82291262e-03 3.52930704e+01] [-2.27839339e-03 -6.18812325e-06 9.99997404e-01 -4.27003429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:35.31, Z:-0.43 [[ 6.01798576e-01 -7.98646735e-01 1.36655616e-03 1.46443953e+02] [ 7.98644654e-01 6.01800127e-01 1.82308500e-03 3.53111412e+01] [-2.27839455e-03 -5.73718516e-06 9.99997404e-01 -4.27374456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:35.33, Z:-0.43 [[ 6.01324222e-01 -7.99003951e-01 1.36602276e-03 1.46463802e+02] [ 7.99001870e-01 6.01325774e-01 1.82348459e-03 3.53313856e+01] [-2.27839608e-03 -5.05071282e-06 9.99997404e-01 -4.28080752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.6 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:146.48, Y:35.35, Z:-0.43 [[ 6.00084333e-01 -7.99935578e-01 1.36548624e-03 1.46482337e+02] [ 7.99933499e-01 6.00085886e-01 1.82388626e-03 3.53515271e+01] [-2.27840053e-03 -2.18738225e-06 9.99997404e-01 -4.31542437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:35.37, Z:-0.43 [[ 5.99930318e-01 -8.00051092e-01 1.36525433e-03 1.46502304e+02] [ 8.00049012e-01 5.99931872e-01 1.82405984e-03 3.53711531e+01] [-2.27840065e-03 -2.03841682e-06 9.99997404e-01 -4.28526622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:35.39, Z:-0.43 [[ 5.98691716e-01 -8.00978381e-01 1.36472859e-03 1.46521684e+02] [ 8.00976303e-01 5.98693271e-01 1.82445310e-03 3.53915387e+01] [-2.27840132e-03 8.30305513e-07 9.99997404e-01 -4.28772845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:35.41, Z:-0.43 [[ 5.97514535e-01 -8.01856920e-01 1.36419836e-03 1.46541240e+02] [ 8.01854843e-01 5.97516092e-01 1.82484949e-03 3.54123722e+01] [-2.27839866e-03 3.51496897e-06 9.99997404e-01 -4.29388076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:35.43, Z:-0.43 [[ 5.95187272e-01 -8.03585871e-01 1.36366915e-03 1.46563306e+02] [ 8.03583798e-01 5.95188834e-01 1.82524487e-03 3.54304615e+01] [-2.27838164e-03 9.45991788e-06 9.99997404e-01 -4.30470450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:35.45, Z:-0.43 [[ 5.93617079e-01 -8.04746485e-01 1.36313122e-03 1.46582427e+02] [ 8.04744414e-01 5.93618644e-01 1.82564652e-03 3.54499716e+01] [-2.27836272e-03 1.32372818e-05 9.99997404e-01 -4.31256963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:35.47, Z:-0.43 [[ 5.91505831e-01 -8.06299569e-01 1.36289844e-03 1.46602447e+02] [ 8.06297502e-01 5.91507400e-01 1.82582027e-03 3.54703828e+01] [-2.27832261e-03 1.89182702e-05 9.99997404e-01 -4.31738986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:35.49, Z:-0.43 [[ 5.88954725e-01 -8.08164882e-01 1.36237101e-03 1.46622357e+02] [ 8.08162819e-01 5.88956300e-01 1.82621375e-03 3.54904838e+01] [-2.27825880e-03 2.54603795e-05 9.99997404e-01 -4.32034741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:35.51, Z:-0.43 [[ 5.82668952e-01 -8.12708458e-01 1.36183141e-03 1.46644329e+02] [ 8.12706407e-01 5.82670542e-01 1.82661604e-03 3.55083355e+01] [-2.27800535e-03 4.24566608e-05 9.99997404e-01 -4.32436179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:35.53, Z:-0.43 [[ 5.78927214e-01 -8.15378088e-01 1.36159786e-03 1.46662875e+02] [ 8.15376043e-01 5.78928813e-01 1.82679012e-03 3.55281053e+01] [-2.27779287e-03 5.26357638e-05 9.99997404e-01 -4.31918978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:35.55, Z:-0.43 [[ 5.74616632e-01 -8.18421574e-01 1.36136855e-03 1.46681987e+02] [ 8.18419537e-01 5.74618241e-01 1.82696099e-03 3.55491310e+01] [-2.27749149e-03 6.43684449e-05 9.99997404e-01 -4.30783750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:35.57, Z:-0.43 [[ 5.65236773e-01 -8.24927596e-01 1.36084224e-03 1.46703237e+02] [ 8.24925577e-01 5.65238404e-01 1.82735294e-03 3.55674681e+01] [-2.27663416e-03 8.97064868e-05 9.99997404e-01 -4.29145955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:35.59, Z:-0.43 [[ 5.59997764e-01 -8.28493001e-01 1.36061463e-03 1.46722577e+02] [ 8.28490992e-01 5.59999408e-01 1.82752240e-03 3.55885024e+01] [-2.27603290e-03 1.03848503e-04 9.99997404e-01 -4.28160634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:35.61, Z:-0.43 [[ 5.54704943e-01 -8.32046018e-01 1.36008802e-03 1.46741487e+02] [ 8.32044018e-01 5.54706598e-01 1.82791423e-03 3.56098095e+01] [-2.27535855e-03 1.17700042e-04 9.99997404e-01 -4.27873440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:35.63, Z:-0.43 [[ 5.49667446e-01 -8.35382458e-01 1.35956600e-03 1.46759394e+02] [ 8.35380467e-01 5.49669111e-01 1.82830241e-03 3.56308422e+01] [-2.27464320e-03 1.30796568e-04 9.99997404e-01 -4.27386370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.78, Y:35.65, Z:-0.43 [[ 5.45341897e-01 -8.38212603e-01 1.35904375e-03 1.46776690e+02] [ 8.38210620e-01 5.45343572e-01 1.82869054e-03 3.56516769e+01] [-2.27397723e-03 1.41903334e-04 9.99997404e-01 -4.27391465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:35.67, Z:-0.43 [[ 5.38813846e-01 -8.42423761e-01 1.35875596e-03 1.46793614e+02] [ 8.42421791e-01 5.38815536e-01 1.82890435e-03 3.56734941e+01] [-2.27283130e-03 1.59206641e-04 9.99997404e-01 -4.27977962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:35.70, Z:-0.43 [[ 5.36573518e-01 -8.43852484e-01 1.35823649e-03 1.46809552e+02] [ 8.43850517e-01 5.36575212e-01 1.82929005e-03 3.56968678e+01] [-2.27244698e-03 1.64599971e-04 9.99997404e-01 -4.28422549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:35.72, Z:-0.43 [[ 5.35287561e-01 -8.44668801e-01 1.35771890e-03 1.46824838e+02] [ 8.44666836e-01 5.35289257e-01 1.82967413e-03 3.57200227e+01] [-2.27224100e-03 1.67418321e-04 9.99997404e-01 -4.28746324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:35.74, Z:-0.43 [[ 5.34598576e-01 -8.45105035e-01 1.35719851e-03 1.46839413e+02] [ 8.45103071e-01 5.34600272e-01 1.83006006e-03 3.57433733e+01] [-2.27215166e-03 1.68625125e-04 9.99997404e-01 -4.28604786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:35.77, Z:-0.43 [[ 5.34555858e-01 -8.45132057e-01 1.35684506e-03 1.46853841e+02] [ 8.45130092e-01 5.34557554e-01 1.83032207e-03 3.57669913e+01] [-2.27217564e-03 1.68301204e-04 9.99997404e-01 -4.28359907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:35.79, Z:-0.43 [[ 5.35236072e-01 -8.44701431e-01 1.35631560e-03 1.46863733e+02] [ 8.44699463e-01 5.35237765e-01 1.83071434e-03 3.57930783e+01] [-2.27235835e-03 1.65814706e-04 9.99997404e-01 -4.28273031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:35.82, Z:-0.43 [[ 5.35755995e-01 -8.44371763e-01 1.35608623e-03 1.46876788e+02] [ 8.44369794e-01 5.35757686e-01 1.83088423e-03 3.58177524e+01] [-2.27248056e-03 1.64131046e-04 9.99997404e-01 -4.28914114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:35.84, Z:-0.43 [[ 5.36388850e-01 -8.43969884e-01 1.35556252e-03 1.46889410e+02] [ 8.43967912e-01 5.36390538e-01 1.83127189e-03 3.58417625e+01] [-2.27264923e-03 1.61777444e-04 9.99997404e-01 -4.29201591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:35.87, Z:-0.43 [[ 5.37121232e-01 -8.43503969e-01 1.35533516e-03 1.46899130e+02] [ 8.43501996e-01 5.37122918e-01 1.83144015e-03 3.58695440e+01] [-2.27280861e-03 1.59522521e-04 9.99997404e-01 -4.30918351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:35.89, Z:-0.43 [[ 5.37222656e-01 -8.43439377e-01 1.35481986e-03 1.46911797e+02] [ 8.43437403e-01 5.37224341e-01 1.83182126e-03 3.58944425e+01] [-2.27287239e-03 1.58609864e-04 9.99997404e-01 -4.31766638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:35.92, Z:-0.43 [[ 5.36688807e-01 -8.43779171e-01 1.35430834e-03 1.46924799e+02] [ 8.43777197e-01 5.36690492e-01 1.83219937e-03 3.59202131e+01] [-2.27281607e-03 1.59413600e-04 9.99997404e-01 -4.33078298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:35.95, Z:-0.43 [[ 5.36038219e-01 -8.44192629e-01 1.35379781e-03 1.46933911e+02] [ 8.44190655e-01 5.36039905e-01 1.83257651e-03 3.59469118e+01] [-2.27273723e-03 1.60532416e-04 9.99997404e-01 -4.34636747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:35.97, Z:-0.44 [[ 5.35395271e-01 -8.44600540e-01 1.35352343e-03 1.46947237e+02] [ 8.44598567e-01 5.35396957e-01 1.83277914e-03 3.59720564e+01] [-2.27263858e-03 1.61922668e-04 9.99997404e-01 -4.35069688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:36.00, Z:-0.44 [[ 5.34995328e-01 -8.44853933e-01 1.35301904e-03 1.46959816e+02] [ 8.44851960e-01 5.34997015e-01 1.83315143e-03 3.59967237e+01] [-2.27260634e-03 1.62373334e-04 9.99997404e-01 -4.35874881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:36.02, Z:-0.44 [[ 5.34763765e-01 -8.45000524e-01 1.35274433e-03 1.46972511e+02] [ 8.44998551e-01 5.34765451e-01 1.83335412e-03 3.60219896e+01] [-2.27258613e-03 1.62655649e-04 9.99997404e-01 -4.35954856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:36.05, Z:-0.44 [[ 5.35159902e-01 -8.44749697e-01 1.35224644e-03 1.46984387e+02] [ 8.44747722e-01 5.35161587e-01 1.83372128e-03 3.60462441e+01] [-2.27270585e-03 1.60972998e-04 9.99997404e-01 -4.36203344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:36.07, Z:-0.43 [[ 5.35855803e-01 -8.44308433e-01 1.35197131e-03 1.46997245e+02] [ 8.44306456e-01 5.35857485e-01 1.83392411e-03 3.60714807e+01] [-2.27286154e-03 1.58759226e-04 9.99997404e-01 -4.34826527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:36.09, Z:-0.43 [[ 5.35611996e-01 -8.44463122e-01 1.35144200e-03 1.47014132e+02] [ 8.44461144e-01 5.35613677e-01 1.83431408e-03 3.60944784e+01] [-2.27286141e-03 1.58759627e-04 9.99997404e-01 -4.34891423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:36.12, Z:-0.43 [[ 5.38945829e-01 -8.42339343e-01 1.35091224e-03 1.47022435e+02] [ 8.42337358e-01 5.38947501e-01 1.83470415e-03 3.61214256e+01] [-2.27351426e-03 1.49117702e-04 9.99997404e-01 -4.34082486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:36.15, Z:-0.43 [[ 5.41080333e-01 -8.40969826e-01 1.35068455e-03 1.47034693e+02] [ 8.40967837e-01 5.41082000e-01 1.83487176e-03 3.61466666e+01] [-2.27390288e-03 1.43069239e-04 9.99997404e-01 -4.33661921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:36.17, Z:-0.43 [[ 5.43904116e-01 -8.39146286e-01 1.35017501e-03 1.47046480e+02] [ 8.39144290e-01 5.43905775e-01 1.83524662e-03 3.61716335e+01] [-2.27440837e-03 1.34793461e-04 9.99997404e-01 -4.33616719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:36.20, Z:-0.43 [[ 5.51624812e-01 -8.34091269e-01 1.34995422e-03 1.47054138e+02] [ 8.34089257e-01 5.51626452e-01 1.83540901e-03 3.61997246e+01] [-2.27556909e-03 1.13525163e-04 9.99997404e-01 -4.32713185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:36.23, Z:-0.43 [[ 5.56095669e-01 -8.31117191e-01 1.34968530e-03 1.47066688e+02] [ 8.31115170e-01 5.56097298e-01 1.83560675e-03 3.62255119e+01] [-2.27616067e-03 1.00970965e-04 9.99997404e-01 -4.32114925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:36.25, Z:-0.43 [[ 5.61034334e-01 -8.27791433e-01 1.34916451e-03 1.47079065e+02] [ 8.27789401e-01 5.61035949e-01 1.83598944e-03 3.62507245e+01] [-2.27674612e-03 8.67709650e-05 9.99997404e-01 -4.32331316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:36.28, Z:-0.43 [[ 5.65929687e-01 -8.24452406e-01 1.34864374e-03 1.47091855e+02] [ 8.24450364e-01 5.65931289e-01 1.83637190e-03 3.62765034e+01] [-2.27724092e-03 7.26324461e-05 9.99997404e-01 -4.32660584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:36.30, Z:-0.43 [[ 5.70320749e-01 -8.21420980e-01 1.34812706e-03 1.47104769e+02] [ 8.21418928e-01 5.70322339e-01 1.83675113e-03 3.63019227e+01] [-2.27761289e-03 5.98398045e-05 9.99997404e-01 -4.32872724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:36.33, Z:-0.43 [[ 5.78011868e-01 -8.16027245e-01 1.34760252e-03 1.47114397e+02] [ 8.16025178e-01 5.78013438e-01 1.83713590e-03 3.63284559e+01] [-2.27808531e-03 3.77912369e-05 9.99997404e-01 -4.32508294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:36.35, Z:-0.43 [[ 5.80762209e-01 -8.14072135e-01 1.34737462e-03 1.47128545e+02] [ 8.14070063e-01 5.80763771e-01 1.83730302e-03 3.63529551e+01] [-2.27820356e-03 2.98211820e-05 9.99997404e-01 -4.31988219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:147.14, Y:36.38, Z:-0.43 [[ 5.83046275e-01 -8.12437830e-01 1.34685463e-03 1.47142640e+02] [ 8.12435752e-01 5.83047830e-01 1.83768413e-03 3.63772064e+01] [-2.27828478e-03 2.27779686e-05 9.99997404e-01 -4.34247439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:36.40, Z:-0.43 [[ 5.86872098e-01 -8.09678533e-01 1.34632203e-03 1.47156117e+02] [ 8.09676447e-01 5.86873643e-01 1.83807424e-03 3.64008801e+01] [-2.27837017e-03 1.13707555e-05 9.99997404e-01 -4.32051796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:36.42, Z:-0.43 [[ 5.88433739e-01 -8.08544323e-01 1.34609111e-03 1.47171476e+02] [ 8.08542234e-01 5.88435279e-01 1.83824334e-03 3.64237737e+01] [-2.27838871e-03 6.68710980e-06 9.99997404e-01 -4.32484347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:36.45, Z:-0.43 [[ 5.90004025e-01 -8.07399183e-01 1.34556757e-03 1.47187234e+02] [ 8.07397089e-01 5.90005559e-01 1.83862648e-03 3.64467855e+01] [-2.27839786e-03 1.61031829e-06 9.99997404e-01 -4.33459430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:36.47, Z:-0.44 [[ 5.93124058e-01 -8.05109957e-01 1.34503617e-03 1.47202934e+02] [ 8.05107857e-01 5.93125583e-01 1.83901514e-03 3.64690589e+01] [-2.27838476e-03 -7.86493188e-06 9.99997404e-01 -4.35448091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:36.49, Z:-0.44 [[ 5.92893531e-01 -8.05279735e-01 1.34480607e-03 1.47219708e+02] [ 8.05277635e-01 5.92895056e-01 1.83918339e-03 3.64921152e+01] [-2.27838598e-03 -7.49767727e-06 9.99997404e-01 -4.35513025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:36.51, Z:-0.44 [[ 5.94919483e-01 -8.03784176e-01 1.34427941e-03 1.47237808e+02] [ 8.03782071e-01 5.94921002e-01 1.83956825e-03 3.65139464e+01] [-2.27835590e-03 -1.38873080e-05 9.99997404e-01 -4.36874799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:36.54, Z:-0.44 [[ 5.95397595e-01 -8.03430083e-01 1.34374343e-03 1.47256022e+02] [ 8.03427976e-01 5.95399111e-01 1.83995968e-03 3.65357783e+01] [-2.27834260e-03 -1.59065041e-05 9.99997404e-01 -4.37188716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:36.56, Z:-0.44 [[ 5.96335596e-01 -8.02734111e-01 1.34320687e-03 1.47273157e+02] [ 8.02732001e-01 5.96337109e-01 1.84035130e-03 3.65554525e+01] [-2.27831686e-03 -1.92318506e-05 9.99997404e-01 -4.37037733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:36.58, Z:-0.44 [[ 5.95926289e-01 -8.03038027e-01 1.33634490e-03 1.47292533e+02] [ 8.03035907e-01 5.95927786e-01 1.84535594e-03 3.65781892e+01] [-2.27825605e-03 -2.65631779e-05 9.99997404e-01 -4.37010153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:36.60, Z:-0.44 [[ 5.95967590e-01 -8.03007366e-01 1.34227640e-03 1.47313347e+02] [ 8.03005256e-01 5.95969101e-01 1.84103134e-03 3.65980755e+01] [-2.27831699e-03 -1.93400063e-05 9.99997404e-01 -4.36302776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:36.62, Z:-0.44 [[ 5.95821768e-01 -8.03115571e-01 1.34174061e-03 1.47331765e+02] [ 8.03113460e-01 5.95823279e-01 1.84142175e-03 3.66186264e+01] [-2.27831477e-03 -1.95892172e-05 9.99997404e-01 -4.36200197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:36.64, Z:-0.44 [[ 5.95399901e-01 -8.03428378e-01 1.34150863e-03 1.47350708e+02] [ 8.03426267e-01 5.95401412e-01 1.84159073e-03 3.66396185e+01] [-2.27832239e-03 -1.86796709e-05 9.99997404e-01 -4.36187478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:36.66, Z:-0.44 [[ 5.95294581e-01 -8.03506418e-01 1.34098173e-03 1.47369509e+02] [ 8.03504307e-01 5.95296091e-01 1.84197432e-03 3.66592330e+01] [-2.27831937e-03 -1.90327399e-05 9.99997404e-01 -4.36410396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:36.68, Z:-0.44 [[ 5.94230355e-01 -8.04293782e-01 1.34075354e-03 1.47392211e+02] [ 8.04291672e-01 5.94231868e-01 1.84214041e-03 3.66778204e+01] [-2.27834055e-03 -1.62988434e-05 9.99997404e-01 -4.37255008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:36.70, Z:-0.44 [[ 5.93790713e-01 -8.04618414e-01 1.34023288e-03 1.47410717e+02] [ 8.04616305e-01 5.93792225e-01 1.84251913e-03 3.66973128e+01] [-2.27834468e-03 -1.56975171e-05 9.99997404e-01 -4.38272779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:36.72, Z:-0.44 [[ 5.93208360e-01 -8.05047853e-01 1.34000727e-03 1.47429998e+02] [ 8.05045745e-01 5.93209873e-01 1.84268319e-03 3.67183452e+01] [-2.27835369e-03 -1.43279173e-05 9.99997404e-01 -4.38562049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:36.74, Z:-0.44 [[ 5.92668131e-01 -8.05445649e-01 1.33948306e-03 1.47449116e+02] [ 8.05443540e-01 5.92669644e-01 1.84306417e-03 3.67390867e+01] [-2.27835897e-03 -1.34474215e-05 9.99997404e-01 -4.38454634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:36.76, Z:-0.44 [[ 5.91912380e-01 -8.06001204e-01 1.33895931e-03 1.47468798e+02] [ 8.05999096e-01 5.91913895e-01 1.84344459e-03 3.67595442e+01] [-2.27836718e-03 -1.19576764e-05 9.99997404e-01 -4.38270440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:36.78, Z:-0.44 [[ 5.90727283e-01 -8.06870179e-01 1.33843746e-03 1.47488537e+02] [ 8.06868072e-01 5.90728799e-01 1.84382340e-03 3.67802455e+01] [-2.27837967e-03 -9.25433968e-06 9.99997404e-01 -4.38059408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.51, Y:36.80, Z:-0.44 [[ 5.87178849e-01 -8.09456119e-01 1.33791956e-03 1.47511316e+02] [ 8.09454019e-01 5.87180373e-01 1.84419912e-03 3.67979687e+01] [-2.27839837e-03 1.09649568e-07 9.99997404e-01 -4.36805152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:36.82, Z:-0.44 [[ 5.84227189e-01 -8.11589061e-01 1.33738595e-03 1.47531052e+02] [ 8.11586964e-01 5.84228719e-01 1.84458601e-03 3.68180391e+01] [-2.27838511e-03 7.74770692e-06 9.99997404e-01 -4.36161367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:36.84, Z:-0.44 [[ 5.80394364e-01 -8.14334449e-01 1.33685310e-03 1.47551056e+02] [ 8.14332359e-01 5.80395904e-01 1.84497211e-03 3.68383854e+01] [-2.27832841e-03 1.78313238e-05 9.99997404e-01 -4.35936294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:36.86, Z:-0.44 [[ 5.75944391e-01 -8.17487782e-01 1.33632293e-03 1.47571033e+02] [ 8.17485699e-01 5.75945940e-01 1.84535604e-03 3.68583478e+01] [-2.27820578e-03 2.96024243e-05 9.99997404e-01 -4.35200076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:36.88, Z:-0.43 [[ 5.66074649e-01 -8.24352902e-01 1.33579264e-03 1.47594332e+02] [ 8.24350838e-01 5.66076222e-01 1.84573981e-03 3.68752888e+01] [-2.27770142e-03 5.63352694e-05 9.99997404e-01 -4.34827869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:36.89, Z:-0.43 [[ 5.60714237e-01 -8.28008310e-01 1.33556318e-03 1.47614089e+02] [ 8.28006255e-01 5.60715823e-01 1.84590584e-03 3.68947968e+01] [-2.27729678e-03 7.08289810e-05 9.99997404e-01 -4.34509227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:36.92, Z:-0.43 [[ 5.55353662e-01 -8.31613208e-01 1.33533766e-03 1.47633384e+02] [ 8.31611163e-01 5.55355261e-01 1.84606896e-03 3.69150219e+01] [-2.27680213e-03 8.52605512e-05 9.99997404e-01 -4.34276252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:36.94, Z:-0.43 [[ 5.50355877e-01 -8.34929115e-01 1.33482680e-03 1.47652256e+02] [ 8.34927079e-01 5.50357487e-01 1.84643827e-03 3.69356259e+01] [-2.27627700e-03 9.82848903e-05 9.99997404e-01 -4.33916330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:36.96, Z:-0.43 [[ 5.43017996e-01 -8.39719998e-01 1.33430577e-03 1.47672872e+02] [ 8.39717975e-01 5.43019623e-01 1.84681472e-03 3.69553977e+01] [-2.27536146e-03 1.17586910e-04 9.99997404e-01 -4.33626823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:36.98, Z:-0.43 [[ 5.40668180e-01 -8.41234890e-01 1.33378405e-03 1.47690930e+02] [ 8.41232871e-01 5.40669811e-01 1.84719143e-03 3.69771952e+01] [-2.27505865e-03 1.23305358e-04 9.99997404e-01 -4.32898331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:37.00, Z:-0.43 [[ 5.39275719e-01 -8.42128209e-01 1.33324944e-03 1.47707536e+02] [ 8.42126192e-01 5.39277353e-01 1.84757721e-03 3.69984259e+01] [-2.27488812e-03 1.26410739e-04 9.99997404e-01 -4.32615345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:37.02, Z:-0.43 [[ 5.38453280e-01 -8.42654311e-01 1.33301805e-03 1.47724358e+02] [ 8.42652295e-01 5.38454914e-01 1.84774414e-03 3.70207496e+01] [-2.27477969e-03 1.28346824e-04 9.99997404e-01 -4.31662616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:37.04, Z:-0.43 [[ 5.38680801e-01 -8.42508884e-01 1.33249427e-03 1.47740597e+02] [ 8.42506866e-01 5.38682434e-01 1.84812179e-03 3.70433469e+01] [-2.27485028e-03 1.27087843e-04 9.99997404e-01 -4.30690301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:37.07, Z:-0.43 [[ 5.39419723e-01 -8.42035978e-01 1.33196980e-03 1.47756414e+02] [ 8.42033959e-01 5.39421353e-01 1.84849971e-03 3.70664007e+01] [-2.27499621e-03 1.24446603e-04 9.99997404e-01 -4.30315422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:37.09, Z:-0.43 [[ 5.40566192e-01 -8.41300433e-01 1.33143285e-03 1.47771091e+02] [ 8.41298411e-01 5.40567818e-01 1.84888637e-03 3.70887383e+01] [-2.27519866e-03 1.20686876e-04 9.99997404e-01 -4.30394839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:37.11, Z:-0.43 [[ 5.41797924e-01 -8.40507726e-01 1.33120025e-03 1.47786468e+02] [ 8.40505700e-01 5.41799547e-01 1.84905383e-03 3.71123247e+01] [-2.27538773e-03 1.17067869e-04 9.99997404e-01 -4.30491813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:37.14, Z:-0.43 [[ 5.44504343e-01 -8.38756967e-01 1.33066931e-03 1.47800187e+02] [ 8.38754935e-01 5.44505958e-01 1.84943585e-03 3.71374294e+01] [-2.27578457e-03 1.09079596e-04 9.99997404e-01 -4.30871345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:37.16, Z:-0.43 [[ 5.45999861e-01 -8.37784210e-01 1.33013679e-03 1.47814240e+02] [ 8.37782175e-01 5.46001471e-01 1.84981876e-03 3.71601831e+01] [-2.27600559e-03 1.04364109e-04 9.99997404e-01 -4.31287847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:37.18, Z:-0.43 [[ 5.47332875e-01 -8.36913948e-01 1.32990566e-03 1.47828631e+02] [ 8.36911909e-01 5.47334481e-01 1.84998492e-03 3.71838073e+01] [-2.27618140e-03 1.00456322e-04 9.99997404e-01 -4.31787810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.84, Y:37.21, Z:-0.43 [[ 5.48810514e-01 -8.35945724e-01 1.32938793e-03 1.47842316e+02] [ 8.35943681e-01 5.48812115e-01 1.85035687e-03 3.72068024e+01] [-2.27638212e-03 9.57981370e-05 9.99997404e-01 -4.32870579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:37.23, Z:-0.43 [[ 5.51152649e-01 -8.34403374e-01 1.32910549e-03 1.47855362e+02] [ 8.34401327e-01 5.51154244e-01 1.85055973e-03 3.72319405e+01] [-2.27665542e-03 8.90664855e-05 9.99997404e-01 -4.33829348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:37.26, Z:-0.43 [[ 5.52003330e-01 -8.33840847e-01 1.32858539e-03 1.47870017e+02] [ 8.33838797e-01 5.52004922e-01 1.85093305e-03 3.72553881e+01] [-2.27676926e-03 8.61048353e-05 9.99997404e-01 -4.33650178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:37.28, Z:-0.43 [[ 5.52841186e-01 -8.33285581e-01 1.32806309e-03 1.47884949e+02] [ 8.33283528e-01 5.52842775e-01 1.85130774e-03 3.72787068e+01] [-2.27687812e-03 8.31739287e-05 9.99997404e-01 -4.33633358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:37.30, Z:-0.43 [[ 5.53323628e-01 -8.32965306e-01 1.32754239e-03 1.47900268e+02] [ 8.32963252e-01 5.53325214e-01 1.85168104e-03 3.73025230e+01] [-2.27694874e-03 8.12151577e-05 9.99997404e-01 -4.33342765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:37.33, Z:-0.43 [[ 5.54164199e-01 -8.32406319e-01 1.32702172e-03 1.47914812e+02] [ 8.32404262e-01 5.54165782e-01 1.85205411e-03 3.73252187e+01] [-2.27705157e-03 7.82764583e-05 9.99997404e-01 -4.33635858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:37.35, Z:-0.43 [[ 5.54949356e-01 -8.31883076e-01 1.32679616e-03 1.47930091e+02] [ 8.31881017e-01 5.54950937e-01 1.85221569e-03 3.73488797e+01] [-2.27713365e-03 7.58506334e-05 9.99997404e-01 -4.34070970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:37.37, Z:-0.44 [[ 5.57012776e-01 -8.30502865e-01 1.32628317e-03 1.47943207e+02] [ 8.30500801e-01 5.57014351e-01 1.85258294e-03 3.73724378e+01] [-2.27733420e-03 6.95668651e-05 9.99997404e-01 -4.36006897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:37.40, Z:-0.44 [[ 5.58836833e-01 -8.29276574e-01 1.32601258e-03 1.47958086e+02] [ 8.29274507e-01 5.58838402e-01 1.85277660e-03 3.73951517e+01] [-2.27749098e-03 6.42286180e-05 9.99997404e-01 -4.36250549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:37.42, Z:-0.44 [[ 5.59810697e-01 -8.28619480e-01 1.31957806e-03 1.47974577e+02] [ 8.28617400e-01 5.59812250e-01 1.85737820e-03 3.74193964e+01] [-2.27777572e-03 5.36451530e-05 9.99997404e-01 -4.38054434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:37.44, Z:-0.44 [[ 5.62809564e-01 -8.26585530e-01 1.32536534e-03 1.47989799e+02] [ 8.26583454e-01 5.62811122e-01 1.85323936e-03 3.74431838e+01] [-2.27779119e-03 5.25042257e-05 9.99997404e-01 -4.38109854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:37.47, Z:-0.44 [[ 5.64535525e-01 -8.25407709e-01 1.32484620e-03 1.48004923e+02] [ 8.25405629e-01 5.64537077e-01 1.85361041e-03 3.74651765e+01] [-2.27790912e-03 4.71065839e-05 9.99997404e-01 -4.38129696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:37.49, Z:-0.44 [[ 5.66077688e-01 -8.24350833e-01 1.32462113e-03 1.48020907e+02] [ 8.24348750e-01 5.66079236e-01 1.85377123e-03 3.74886691e+01] [-2.27799838e-03 4.25712394e-05 9.99997404e-01 -4.37811060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:37.51, Z:-0.44 [[ 5.65843342e-01 -8.24511710e-01 1.32409435e-03 1.48037436e+02] [ 8.24509626e-01 5.65844889e-01 1.85414742e-03 3.75119255e+01] [-2.27799828e-03 4.25715597e-05 9.99997404e-01 -4.37875956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:148.05, Y:37.53, Z:-0.44 [[ 5.67900295e-01 -8.23096291e-01 1.32356719e-03 1.48052947e+02] [ 8.23094202e-01 5.67901836e-01 1.85452365e-03 3.75345625e+01] [-2.27810778e-03 3.62359544e-05 9.99997404e-01 -4.37867721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:37.56, Z:-0.44 [[ 5.69542660e-01 -8.21960709e-01 1.32333880e-03 1.48068540e+02] [ 8.21958617e-01 5.69544197e-01 1.85468661e-03 3.75573087e+01] [-2.27817946e-03 3.14065854e-05 9.99997404e-01 -4.37895337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:37.58, Z:-0.44 [[ 5.71099839e-01 -8.20879543e-01 1.32281976e-03 1.48084454e+02] [ 8.20877447e-01 5.71101370e-01 1.85505673e-03 3.75800020e+01] [-2.27824230e-03 2.64503084e-05 9.99997404e-01 -4.37974557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:37.60, Z:-0.44 [[ 5.73913222e-01 -8.18915054e-01 1.32229700e-03 1.48100697e+02] [ 8.18912952e-01 5.73914745e-01 1.85542929e-03 3.76018566e+01] [-2.27832472e-03 1.79907375e-05 9.99997404e-01 -4.38559455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:37.62, Z:-0.44 [[ 5.74598397e-01 -8.18434441e-01 1.32207032e-03 1.48117522e+02] [ 8.18432337e-01 5.74599918e-01 1.85559079e-03 3.76247737e+01] [-2.27834091e-03 1.58056125e-05 9.99997404e-01 -4.37172658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:37.65, Z:-0.44 [[ 5.74893070e-01 -8.18227482e-01 1.32154276e-03 1.48133918e+02] [ 8.18225377e-01 5.74894588e-01 1.85596644e-03 3.76474008e+01] [-2.27835053e-03 1.43375790e-05 9.99997404e-01 -4.36882180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:37.67, Z:-0.44 [[ 5.74166378e-01 -8.18737580e-01 1.32100856e-03 1.48151256e+02] [ 8.18735476e-01 5.74167898e-01 1.85634659e-03 3.76699258e+01] [-2.27834142e-03 1.57047783e-05 9.99997404e-01 -4.36942640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:37.69, Z:-0.44 [[ 5.73106236e-01 -8.19480017e-01 1.32047453e-03 1.48167547e+02] [ 8.19477914e-01 5.73107757e-01 1.85672638e-03 3.76909148e+01] [-2.27832436e-03 1.79982404e-05 9.99997404e-01 -4.37130867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:37.71, Z:-0.44 [[ 5.71387558e-01 -8.20679301e-01 1.32011150e-03 1.48184727e+02] [ 8.20677201e-01 5.71389083e-01 1.85698445e-03 3.77125903e+01] [-2.27828601e-03 2.23276015e-05 9.99997404e-01 -4.37106082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.20, Y:37.73, Z:-0.44 [[ 5.69533125e-01 -8.21967322e-01 1.31958497e-03 1.48201639e+02] [ 8.21965224e-01 5.69534653e-01 1.85735853e-03 3.77339804e+01] [-2.27823739e-03 2.68257497e-05 9.99997404e-01 -4.37079044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:37.75, Z:-0.44 [[ 5.64693333e-01 -8.25299763e-01 1.31935704e-03 1.48220002e+02] [ 8.25297673e-01 5.64694873e-01 1.85752043e-03 3.77547236e+01] [-2.27804533e-03 3.99328870e-05 9.99997404e-01 -4.36260110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:37.78, Z:-0.44 [[ 5.61524720e-01 -8.27458911e-01 1.31884053e-03 1.48237372e+02] [ 8.27456827e-01 5.61526266e-01 1.85788708e-03 3.77770888e+01] [-2.27788882e-03 4.80340760e-05 9.99997404e-01 -4.35938922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:37.80, Z:-0.44 [[ 5.58216638e-01 -8.29694189e-01 1.31830545e-03 1.48254810e+02] [ 8.29692110e-01 5.58218192e-01 1.85826668e-03 3.77993073e+01] [-2.27769515e-03 5.64722471e-05 9.99997404e-01 -4.35838706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:37.82, Z:-0.44 [[ 5.54712017e-01 -8.32041370e-01 1.31776024e-03 1.48271228e+02] [ 8.32039297e-01 5.54713578e-01 1.85865323e-03 3.78211299e+01] [-2.27745588e-03 6.54110172e-05 9.99997404e-01 -4.35930513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:37.84, Z:-0.44 [[ 5.51178483e-01 -8.34386328e-01 1.31752436e-03 1.48288277e+02] [ 8.34384261e-01 5.51180052e-01 1.85882042e-03 3.78435544e+01] [-2.27716749e-03 7.47797720e-05 9.99997404e-01 -4.35825364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:37.87, Z:-0.44 [[ 5.47861761e-01 -8.36567843e-01 1.31698306e-03 1.48304757e+02] [ 8.36565781e-01 5.47863338e-01 1.85920386e-03 3.78655256e+01] [-2.27687689e-03 8.31562596e-05 9.99997404e-01 -4.35832117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:37.89, Z:-0.44 [[ 5.41326411e-01 -8.40811503e-01 1.31674903e-03 1.48321092e+02] [ 8.40809453e-01 5.41328003e-01 1.85936958e-03 3.78867392e+01] [-2.27617246e-03 1.00609170e-04 9.99997404e-01 -4.35574729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:37.91, Z:-0.44 [[ 5.38301632e-01 -8.42751221e-01 1.31651847e-03 1.48337098e+02] [ 8.42749176e-01 5.38303231e-01 1.85953282e-03 3.79092882e+01] [-2.27580970e-03 1.08505308e-04 9.99997404e-01 -4.35753574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:37.93, Z:-0.44 [[ 5.35668047e-01 -8.44427623e-01 1.31598144e-03 1.48352578e+02] [ 8.44425583e-01 5.35669651e-01 1.85991279e-03 3.79317583e+01] [-2.27549306e-03 1.14952541e-04 9.99997404e-01 -4.36312757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:37.96, Z:-0.44 [[ 5.33445689e-01 -8.45833297e-01 1.31561735e-03 1.48368093e+02] [ 8.45831260e-01 5.33447298e-01 1.86017030e-03 3.79551561e+01] [-2.27520650e-03 1.20490450e-04 9.99997404e-01 -4.37113068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:37.98, Z:-0.44 [[ 5.31338245e-01 -8.47158745e-01 1.31508467e-03 1.48380923e+02] [ 8.47156712e-01 5.31339858e-01 1.86054681e-03 3.79785992e+01] [-2.27493540e-03 1.25503131e-04 9.99997404e-01 -4.37461509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:38.00, Z:-0.44 [[ 5.30998284e-01 -8.47371875e-01 1.31472358e-03 1.48395129e+02] [ 8.47369841e-01 5.30999897e-01 1.86080193e-03 3.80026147e+01] [-2.27490931e-03 1.25974478e-04 9.99997404e-01 -4.37612297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:38.03, Z:-0.44 [[ 5.31276389e-01 -8.47197539e-01 1.31420232e-03 1.48408317e+02] [ 8.47195504e-01 5.31278000e-01 1.86117000e-03 3.80259546e+01] [-2.27498543e-03 1.24590617e-04 9.99997404e-01 -4.37361917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:38.05, Z:-0.44 [[ 5.31798544e-01 -8.46869873e-01 1.31397585e-03 1.48422150e+02] [ 8.46867836e-01 5.31800153e-01 1.86132988e-03 3.80503119e+01] [-2.27507676e-03 1.22911367e-04 9.99997404e-01 -4.37113833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:38.07, Z:-0.44 [[ 5.32436852e-01 -8.46468708e-01 1.31346280e-03 1.48435508e+02] [ 8.46466669e-01 5.32438459e-01 1.86169184e-03 3.80749378e+01] [-2.27520200e-03 1.20569139e-04 9.99997404e-01 -4.37020335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:38.10, Z:-0.44 [[ 5.33156689e-01 -8.46015497e-01 1.31294526e-03 1.48448892e+02] [ 8.46013456e-01 5.33158293e-01 1.86205676e-03 3.80996338e+01] [-2.27533653e-03 1.18001340e-04 9.99997404e-01 -4.36829879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:38.13, Z:-0.44 [[ 5.34982658e-01 -8.44862020e-01 1.31241827e-03 1.48459494e+02] [ 8.44859975e-01 5.34984256e-01 1.86242813e-03 3.81267884e+01] [-2.27561790e-03 1.12442917e-04 9.99997404e-01 -4.37231684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:38.15, Z:-0.44 [[ 5.35598796e-01 -8.44471556e-01 1.31189285e-03 1.48472203e+02] [ 8.44469508e-01 5.35600392e-01 1.86279816e-03 3.81518130e+01] [-2.27573038e-03 1.10141063e-04 9.99997404e-01 -4.36896086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:38.18, Z:-0.44 [[ 5.36074594e-01 -8.44169598e-01 1.31135796e-03 1.48484642e+02] [ 8.44167549e-01 5.36076187e-01 1.86317463e-03 3.81769551e+01] [-2.27582315e-03 1.08205257e-04 9.99997404e-01 -4.36740090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:38.20, Z:-0.44 [[ 5.36622743e-01 -8.43821257e-01 1.31082562e-03 1.48496464e+02] [ 8.43819206e-01 5.36624334e-01 1.86354908e-03 3.82010795e+01] [-2.27592325e-03 1.06077014e-04 9.99997404e-01 -4.36371686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:38.23, Z:-0.44 [[ 5.36956386e-01 -8.43608986e-01 1.31059519e-03 1.48508624e+02] [ 8.43606934e-01 5.36957975e-01 1.86371112e-03 3.82254633e+01] [-2.27597799e-03 1.04895600e-04 9.99997404e-01 -4.36277506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:38.25, Z:-0.44 [[ 5.36990145e-01 -8.43587498e-01 1.31036790e-03 1.48521249e+02] [ 8.43585445e-01 5.36991734e-01 1.86387091e-03 3.82503681e+01] [-2.27599493e-03 1.04526974e-04 9.99997404e-01 -4.36284660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:38.28, Z:-0.44 [[ 5.36669546e-01 -8.43791493e-01 1.30984123e-03 1.48530146e+02] [ 8.43789440e-01 5.36671134e-01 1.86424096e-03 3.82777513e+01] [-2.27598464e-03 1.04748855e-04 9.99997404e-01 -4.36991106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:38.30, Z:-0.44 [[ 5.36276776e-01 -8.44041175e-01 1.30931717e-03 1.48542269e+02] [ 8.44039122e-01 5.36278364e-01 1.86460895e-03 3.83024906e+01] [-2.27596520e-03 1.05168433e-04 9.99997404e-01 -4.37449102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:38.33, Z:-0.44 [[ 5.35674500e-01 -8.44423541e-01 1.30896139e-03 1.48550409e+02] [ 8.44421489e-01 5.35676088e-01 1.86485868e-03 3.83294988e+01] [-2.27590988e-03 1.06357885e-04 9.99997404e-01 -4.37658618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:148.56, Y:38.35, Z:-0.44 [[ 5.36289282e-01 -8.44033230e-01 1.30860938e-03 1.48561590e+02] [ 8.44031176e-01 5.36290869e-01 1.86510566e-03 3.83528629e+01] [-2.27600641e-03 1.04270940e-04 9.99997404e-01 -4.38126603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:38.38, Z:-0.44 [[ 5.36502001e-01 -8.43898045e-01 1.30098452e-03 1.48573922e+02] [ 8.43895978e-01 5.36503570e-01 1.87044963e-03 3.83779266e+01] [-2.27645163e-03 9.43956303e-05 9.99997404e-01 -4.36692539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:38.41, Z:-0.44 [[ 5.35889223e-01 -8.44287299e-01 1.30297670e-03 1.48587815e+02] [ 8.44285236e-01 5.35890798e-01 1.86905180e-03 3.84050263e+01] [-2.27626992e-03 9.84792707e-05 9.99997404e-01 -4.38353016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:38.43, Z:-0.44 [[ 5.36002850e-01 -8.44215158e-01 1.30839229e-03 1.48600629e+02] [ 8.44213104e-01 5.36004437e-01 1.86525300e-03 3.84305813e+01] [-2.27597893e-03 1.04780993e-04 9.99997404e-01 -4.38674369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:148.61, Y:38.45, Z:-0.44 [[ 5.38393982e-01 -8.42692239e-01 1.30788340e-03 1.48607618e+02] [ 8.42690179e-01 5.38395562e-01 1.86560976e-03 3.84549204e+01] [-2.27629349e-03 9.77074283e-05 9.99997404e-01 -4.39367072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.62, Y:38.48, Z:-0.44 [[ 5.36633492e-01 -8.43814455e-01 1.28894919e-03 1.48620141e+02] [ 8.43812367e-01 5.36635034e-01 1.87886132e-03 3.84831922e+01] [-2.27710563e-03 7.93713586e-05 9.99997404e-01 -4.40191254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:38.51, Z:-0.44 [[ 5.36884989e-01 -8.43654432e-01 1.30677038e-03 1.48632558e+02] [ 8.43652374e-01 5.36886570e-01 1.86638361e-03 3.85086262e+01] [-2.27617027e-03 1.00426594e-04 9.99997404e-01 -4.40057682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:38.53, Z:-0.44 [[ 5.37228608e-01 -8.43435663e-01 1.30624087e-03 1.48644638e+02] [ 8.43433603e-01 5.37230186e-01 1.86675413e-03 3.85327124e+01] [-2.27623903e-03 9.88537186e-05 9.99997404e-01 -4.40873455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:38.56, Z:-0.44 [[ 5.37414440e-01 -8.43317268e-01 1.30588121e-03 1.48657684e+02] [ 8.43315207e-01 5.37416018e-01 1.86700569e-03 3.85577852e+01] [-2.27627962e-03 9.79136676e-05 9.99997404e-01 -4.40863604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82999999999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:148.67, Y:38.58, Z:-0.44 [[ 5.38796066e-01 -8.42435217e-01 1.30542474e-03 1.48668145e+02] [ 8.42433153e-01 5.38797639e-01 1.86732480e-03 3.85844796e+01] [-2.27645995e-03 9.36258262e-05 9.99997404e-01 -4.39573787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85999999999999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:148.68, Y:38.61, Z:-0.44 [[ 5.39360738e-01 -8.42073813e-01 1.29954141e-03 1.48681600e+02] [ 8.42071737e-01 5.39362296e-01 1.87143536e-03 3.86099043e+01] [-2.27681035e-03 8.49283353e-05 9.99997404e-01 -4.39438348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:38.64, Z:-0.44 [[ 5.39654070e-01 -8.41885854e-01 1.30117650e-03 1.48694844e+02] [ 8.41883781e-01 5.39655632e-01 1.87029321e-03 3.86354964e+01] [-2.27676062e-03 8.61280483e-05 9.99997404e-01 -4.39451572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:38.66, Z:-0.44 [[ 5.40571841e-01 -8.41296847e-01 1.30424100e-03 1.48708113e+02] [ 8.41294777e-01 5.40573407e-01 1.86815374e-03 3.86606299e+01] [-2.27670985e-03 8.73798314e-05 9.99997404e-01 -4.39599474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:148.72, Y:38.68, Z:-0.44 [[ 5.42214518e-01 -8.40239083e-01 1.30371370e-03 1.48721020e+02] [ 8.40237009e-01 5.42216079e-01 1.86852165e-03 3.86847589e+01] [-2.27689945e-03 8.22889393e-05 9.99997404e-01 -4.39895889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:38.71, Z:-0.44 [[ 5.43810289e-01 -8.39207175e-01 1.29847369e-03 1.48732443e+02] [ 8.39205090e-01 5.43811835e-01 1.87217554e-03 3.87123841e+01] [-2.27726851e-03 7.15774099e-05 9.99997404e-01 -4.40396821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:148.75, Y:38.74, Z:-0.44 [[ 5.44671595e-01 -8.38648410e-01 1.30301165e-03 1.48745866e+02] [ 8.38646331e-01 5.44673148e-01 1.86901183e-03 3.87363317e+01] [-2.27715926e-03 7.47682827e-05 9.99997404e-01 -4.40174906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.76, Y:38.76, Z:-0.44 [[ 5.44226582e-01 -8.38937267e-01 1.29977969e-03 1.48759993e+02] [ 8.38935183e-01 5.44228129e-01 1.87126419e-03 3.87612614e+01] [-2.27724993e-03 7.20391999e-05 9.99997404e-01 -4.39561383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.77, Y:38.78, Z:-0.44 [[ 5.44097289e-01 -8.39021122e-01 1.30225261e-03 1.48773819e+02] [ 8.39019043e-01 5.44098842e-01 1.86954165e-03 3.87845841e+01] [-2.27713907e-03 7.54021958e-05 9.99997404e-01 -4.38921539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:38.81, Z:-0.44 [[ 5.43418340e-01 -8.39461025e-01 1.30202308e-03 1.48787845e+02] [ 8.39458947e-01 5.43419894e-01 1.86970148e-03 3.88088493e+01] [-2.27708677e-03 7.69648476e-05 9.99997404e-01 -4.38042219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:38.83, Z:-0.44 [[ 5.41808396e-01 -8.40501022e-01 1.30149722e-03 1.48800212e+02] [ 8.40498945e-01 5.41809954e-01 1.87006747e-03 3.88348207e+01] [-2.27695776e-03 8.06887854e-05 9.99997404e-01 -4.37777484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:38.86, Z:-0.44 [[ 5.41314626e-01 -8.40819114e-01 1.30095552e-03 1.48814411e+02] [ 8.40817038e-01 5.41316183e-01 1.87044424e-03 3.88589190e+01] [-2.27693354e-03 8.13667406e-05 9.99997404e-01 -4.38418763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:38.88, Z:-0.44 [[ 5.41539053e-01 -8.40674588e-01 1.30041742e-03 1.48828334e+02] [ 8.40672510e-01 5.41540608e-01 1.87081827e-03 3.88821306e+01] [-2.27697822e-03 8.01040277e-05 9.99997404e-01 -4.39540607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:38.91, Z:-0.44 [[ 5.42818544e-01 -8.39848997e-01 1.30018440e-03 1.48841773e+02] [ 8.39846917e-01 5.42820095e-01 1.87098020e-03 3.89066617e+01] [-2.27710707e-03 7.63531135e-05 9.99997404e-01 -4.41762791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:38.93, Z:-0.44 [[ 5.43597315e-01 -8.39345144e-01 1.29966068e-03 1.48856518e+02] [ 8.39343061e-01 5.43598864e-01 1.87134393e-03 3.89300579e+01] [-2.27719751e-03 7.36036349e-05 9.99997404e-01 -4.42148895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:38.95, Z:-0.44 [[ 5.44697535e-01 -8.38631569e-01 1.29913190e-03 1.48871897e+02] [ 8.38629483e-01 5.44699079e-01 1.87171095e-03 3.89535842e+01] [-2.27731184e-03 6.99739787e-05 9.99997404e-01 -4.42607975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:38.98, Z:-0.44 [[ 5.46111696e-01 -8.37711364e-01 1.29860263e-03 1.48886432e+02] [ 8.37709274e-01 5.46113236e-01 1.87207808e-03 3.89757487e+01] [-2.27744517e-03 6.54877307e-05 9.99997404e-01 -4.42561188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:39.00, Z:-0.44 [[ 5.47506274e-01 -8.36800571e-01 1.29824283e-03 1.48900859e+02] [ 8.36798478e-01 5.47507809e-01 1.87232757e-03 3.89981641e+01] [-2.27756286e-03 6.12565351e-05 9.99997404e-01 -4.42959679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:39.02, Z:-0.44 [[ 5.51310646e-01 -8.34299039e-01 1.29788772e-03 1.48915678e+02] [ 8.34296939e-01 5.51312172e-01 1.87257370e-03 3.90216779e+01] [-2.27782773e-03 5.04539372e-05 9.99997404e-01 -4.42902197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:39.05, Z:-0.44 [[ 5.51077813e-01 -8.34452851e-01 1.29736703e-03 1.48931838e+02] [ 8.34450751e-01 5.51079338e-01 1.87293437e-03 3.90451416e+01] [-2.27782759e-03 5.04563119e-05 9.99997404e-01 -4.42967093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:39.07, Z:-0.44 [[ 5.53142034e-01 -8.33085955e-01 1.29684428e-03 1.48947806e+02] [ 8.33083850e-01 5.53143553e-01 1.87329626e-03 3.90683603e+01] [-2.27795786e-03 4.41811225e-05 9.99997404e-01 -4.42830625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:39.09, Z:-0.44 [[ 5.55427227e-01 -8.31564138e-01 1.29631339e-03 1.48963879e+02] [ 8.31562028e-01 5.55428738e-01 1.87366356e-03 3.90918386e+01] [-2.27808114e-03 3.72812380e-05 9.99997404e-01 -4.42807278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:39.11, Z:-0.44 [[ 5.58422691e-01 -8.29555555e-01 1.29578168e-03 1.48979155e+02] [ 8.29553439e-01 5.58424194e-01 1.87403121e-03 3.91142560e+01] [-2.27820884e-03 2.84185972e-05 9.99997404e-01 -4.42832046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:39.14, Z:-0.44 [[ 5.61668065e-01 -8.27361654e-01 1.29555108e-03 1.48995517e+02] [ 8.27359532e-01 5.61669559e-01 1.87419061e-03 3.91374636e+01] [-2.27830505e-03 1.92135182e-05 9.99997404e-01 -4.43152360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.01, Y:39.16, Z:-0.44 [[ 5.64995779e-01 -8.25092778e-01 1.29503119e-03 1.49011750e+02] [ 8.25090649e-01 5.64997263e-01 1.87454978e-03 3.91597797e+01] [-2.27836656e-03 9.40541438e-06 9.99997404e-01 -4.43432416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:39.18, Z:-0.44 [[ 5.72170989e-01 -8.20133333e-01 1.29449413e-03 1.49029749e+02] [ 8.20131190e-01 5.72172453e-01 1.87492058e-03 3.91807612e+01] [-2.27835875e-03 -1.11201448e-05 9.99997404e-01 -4.44798236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:39.20, Z:-0.44 [[ 5.75264351e-01 -8.17966534e-01 1.29426145e-03 1.49047066e+02] [ 8.17964385e-01 5.75265807e-01 1.87508118e-03 3.92028970e+01] [-2.27829802e-03 -2.00075872e-05 9.99997404e-01 -4.44377466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:39.22, Z:-0.44 [[ 5.78267307e-01 -8.15846339e-01 1.29372129e-03 1.49063698e+02] [ 8.15844184e-01 5.78268753e-01 1.87545380e-03 3.92237218e+01] [-2.27820071e-03 -2.90386309e-05 9.99997404e-01 -4.44146276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:39.24, Z:-0.44 [[ 5.80882766e-01 -8.13986203e-01 1.29348695e-03 1.49081126e+02] [ 8.13984043e-01 5.80884205e-01 1.87561541e-03 3.92449607e+01] [-2.27809120e-03 -3.66349263e-05 9.99997404e-01 -4.43527498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.10, Y:39.27, Z:-0.44 [[ 5.82587154e-01 -8.12767209e-01 1.29325615e-03 1.49099027e+02] [ 8.12765045e-01 5.82588588e-01 1.87577453e-03 3.92665132e+01] [-2.27800430e-03 -4.16887460e-05 9.99997404e-01 -4.42693826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:39.29, Z:-0.44 [[ 5.83768741e-01 -8.11918952e-01 1.29272021e-03 1.49117437e+02] [ 8.11916786e-01 5.83770171e-01 1.87614381e-03 3.92878051e+01] [-2.27792822e-03 -4.56528702e-05 9.99997404e-01 -4.42044483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.14, Y:39.31, Z:-0.44 [[ 5.83683882e-01 -8.11979960e-01 1.29217797e-03 1.49138976e+02] [ 8.11977793e-01 5.83685311e-01 1.87651720e-03 3.93058756e+01] [-2.27791966e-03 -4.60730217e-05 9.99997404e-01 -4.40538201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.16, Y:39.33, Z:-0.44 [[ 5.82651750e-01 -8.12720905e-01 1.29194296e-03 1.49158729e+02] [ 8.12718739e-01 5.82653181e-01 1.87667898e-03 3.93261600e+01] [-2.27797092e-03 -4.34640366e-05 9.99997404e-01 -4.40620008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:39.35, Z:-0.44 [[ 5.81501030e-01 -8.13544642e-01 1.29141066e-03 1.49177899e+02] [ 8.13542477e-01 5.81502463e-01 1.87704521e-03 3.93453128e+01] [-2.27801855e-03 -4.08862941e-05 9.99997404e-01 -4.41141521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:39.37, Z:-0.44 [[ 5.80086820e-01 -8.14553629e-01 1.29118000e-03 1.49197845e+02] [ 8.14551466e-01 5.80088256e-01 1.87720386e-03 3.93654198e+01] [-2.27808157e-03 -3.72086582e-05 9.99997404e-01 -4.42044648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:39.39, Z:-0.44 [[ 5.78733079e-01 -8.15516007e-01 1.29065764e-03 1.49218110e+02] [ 8.15513846e-01 5.78734517e-01 1.87756294e-03 3.93853502e+01] [-2.27813076e-03 -3.40586027e-05 9.99997404e-01 -4.43208796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:39.40, Z:-0.45 [[ 5.75861292e-01 -8.17546395e-01 1.29013066e-03 1.49242133e+02] [ 8.17544239e-01 5.75862736e-01 1.87792497e-03 3.94015700e+01] [-2.27822896e-03 -2.66854062e-05 9.99997404e-01 -4.46282666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:39.42, Z:-0.45 [[ 5.74225812e-01 -8.18695947e-01 1.28990265e-03 1.49262301e+02] [ 8.18693793e-01 5.74227260e-01 1.87808158e-03 3.94213100e+01] [-2.27827504e-03 -2.24076262e-05 9.99997404e-01 -4.47471236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:39.44, Z:-0.45 [[ 5.72811702e-01 -8.19685971e-01 1.28938837e-03 1.49283085e+02] [ 8.19683819e-01 5.72813153e-01 1.87843458e-03 3.94414682e+01] [-2.27830509e-03 -1.90985289e-05 9.99997404e-01 -4.49042214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:39.46, Z:-0.45 [[ 5.70834698e-01 -8.21063999e-01 1.28698588e-03 1.49303974e+02] [ 8.21061847e-01 5.70836149e-01 1.88008312e-03 3.94615572e+01] [-2.27832663e-03 -1.65216729e-05 9.99997404e-01 -4.48237030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:39.48, Z:-0.45 [[ 5.68133898e-01 -8.22935121e-01 1.28873263e-03 1.49330305e+02] [ 8.22932976e-01 5.68135359e-01 1.87888502e-03 3.94793840e+01] [-2.27837505e-03 -6.91768708e-06 9.99997404e-01 -4.45808756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:39.50, Z:-0.45 [[ 5.67385170e-01 -8.23451516e-01 1.29204064e-03 1.49350525e+02] [ 8.23449377e-01 5.67386642e-01 1.87661681e-03 3.94992723e+01] [-2.27838955e-03 -8.34489237e-07 9.99997404e-01 -4.46934412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:39.52, Z:-0.45 [[ 5.66419753e-01 -8.24115893e-01 1.28786519e-03 1.49370648e+02] [ 8.24113749e-01 5.66421217e-01 1.87947793e-03 3.95193900e+01] [-2.27838180e-03 -3.22600851e-06 9.99997404e-01 -4.46733109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:39.54, Z:-0.45 [[ 5.65430632e-01 -8.24794849e-01 1.28732029e-03 1.49390137e+02] [ 8.24792707e-01 5.65432098e-01 1.87985108e-03 3.95399632e+01] [-2.27838370e-03 -1.15299603e-06 9.99997404e-01 -4.46416973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:39.56, Z:-0.45 [[ 5.64538399e-01 -8.25405803e-01 1.28677376e-03 1.49412095e+02] [ 8.25403662e-01 5.64539866e-01 1.88022510e-03 3.95576982e+01] [-2.27838380e-03 6.48506350e-07 9.99997404e-01 -4.46228298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:39.58, Z:-0.45 [[ 5.64161448e-01 -8.25663494e-01 1.28653709e-03 1.49431476e+02] [ 8.25661353e-01 5.64162915e-01 1.88038703e-03 3.95789673e+01] [-2.27838344e-03 1.40208892e-06 9.99997404e-01 -4.45751042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:39.60, Z:-0.45 [[ 5.64035634e-01 -8.25749448e-01 1.28600407e-03 1.49450675e+02] [ 8.25747306e-01 5.64037100e-01 1.88075150e-03 3.95996693e+01] [-2.27838351e-03 1.10352850e-06 9.99997404e-01 -4.45849617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:39.62, Z:-0.45 [[ 5.63858217e-01 -8.25870607e-01 1.28547510e-03 1.49469522e+02] [ 8.25868464e-01 5.63859682e-01 1.88111297e-03 3.96200714e+01] [-2.27838349e-03 9.52336890e-07 9.99997404e-01 -4.46763681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:39.64, Z:-0.45 [[ 5.63863459e-01 -8.25867028e-01 1.28524590e-03 1.49488913e+02] [ 8.25864885e-01 5.63864924e-01 1.88126956e-03 3.96408386e+01] [-2.27838358e-03 6.60293332e-07 9.99997404e-01 -4.46278867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:39.66, Z:-0.45 [[ 5.63838431e-01 -8.25884116e-01 1.28472361e-03 1.49506918e+02] [ 8.25881973e-01 5.63839895e-01 1.88162616e-03 3.96606632e+01] [-2.27838358e-03 9.69265393e-08 9.99997404e-01 -4.46562590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:39.68, Z:-0.44 [[ 5.64062668e-01 -8.25730983e-01 1.28443582e-03 1.49527597e+02] [ 8.25728839e-01 5.64064131e-01 1.88182259e-03 3.96799008e+01] [-2.27838339e-03 -8.70171434e-07 9.99997404e-01 -4.44070555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:39.70, Z:-0.44 [[ 5.63947739e-01 -8.25809481e-01 1.28389594e-03 1.49545440e+02] [ 8.25807336e-01 5.63949201e-01 1.88219086e-03 3.97017050e+01] [-2.27838315e-03 -1.20658949e-06 9.99997404e-01 -4.43454868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:39.72, Z:-0.44 [[ 5.63632138e-01 -8.26024919e-01 1.28334922e-03 1.49563166e+02] [ 8.26022774e-01 5.63633599e-01 1.88256356e-03 3.97234445e+01] [-2.27838315e-03 -9.97643276e-07 9.99997404e-01 -4.42826782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:39.74, Z:-0.44 [[ 5.63072117e-01 -8.26406768e-01 1.28279871e-03 1.49580211e+02] [ 8.26404623e-01 5.63073578e-01 1.88293861e-03 3.97441970e+01] [-2.27838327e-03 -1.19448325e-07 9.99997404e-01 -4.42679016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:39.76, Z:-0.44 [[ 5.61104734e-01 -8.27743821e-01 1.28256029e-03 1.49600891e+02] [ 8.27741679e-01 5.61106199e-01 1.88310100e-03 3.97640969e+01] [-2.27837774e-03 5.01172100e-06 9.99997404e-01 -4.42744642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:39.79, Z:-0.44 [[ 5.60862856e-01 -8.27907732e-01 1.28200962e-03 1.49616898e+02] [ 8.27905590e-01 5.60864321e-01 1.88347582e-03 3.97877183e+01] [-2.27837765e-03 5.01130243e-06 9.99997404e-01 -4.42809539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:39.81, Z:-0.44 [[ 5.57945177e-01 -8.29876821e-01 1.28145919e-03 1.49637140e+02] [ 8.29874683e-01 5.57946648e-01 1.88385024e-03 3.98067185e+01] [-2.27834950e-03 1.23653807e-05 9.99997404e-01 -4.44016701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:39.83, Z:-0.44 [[ 5.56093892e-01 -8.31118489e-01 1.28122078e-03 1.49655482e+02] [ 8.31116353e-01 5.56095367e-01 1.88401237e-03 3.98287412e+01] [-2.27831845e-03 1.71557676e-05 9.99997404e-01 -4.44326994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:39.85, Z:-0.44 [[ 5.54227691e-01 -8.32364119e-01 1.28067668e-03 1.49672365e+02] [ 8.32361986e-01 5.54229170e-01 1.88438215e-03 3.98497632e+01] [-2.27828046e-03 2.16098135e-05 9.99997404e-01 -4.44921047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:39.87, Z:-0.45 [[ 5.52341056e-01 -8.33617249e-01 1.28044113e-03 1.49689837e+02] [ 8.33615119e-01 5.52342540e-01 1.88454220e-03 3.98719086e+01] [-2.27822899e-03 2.64850564e-05 9.99997404e-01 -4.45307564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:39.89, Z:-0.45 [[ 5.48841061e-01 -8.35925746e-01 1.27990778e-03 1.49708685e+02] [ 8.35923621e-01 5.48842552e-01 1.88490436e-03 3.98925105e+01] [-2.27810793e-03 3.53922356e-05 9.99997404e-01 -4.45217631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:39.92, Z:-0.44 [[ 5.47130189e-01 -8.37046545e-01 1.27937634e-03 1.49726586e+02] [ 8.37044423e-01 5.47131684e-01 1.88526500e-03 3.99155919e+01] [-2.27804189e-03 3.94094377e-05 9.99997404e-01 -4.43430609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:39.94, Z:-0.44 [[ 5.45663224e-01 -8.38003587e-01 1.27885111e-03 1.49744271e+02] [ 8.38001466e-01 5.45664720e-01 1.88562126e-03 3.99383536e+01] [-2.27798131e-03 4.27649248e-05 9.99997404e-01 -4.43543662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:39.96, Z:-0.44 [[ 5.43873326e-01 -8.39166354e-01 1.27847114e-03 1.49761172e+02] [ 8.39164237e-01 5.43874827e-01 1.88587885e-03 3.99610238e+01] [-2.27789435e-03 4.71680526e-05 9.99997404e-01 -4.43056817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.78, Y:39.98, Z:-0.44 [[ 5.42087070e-01 -8.40321352e-01 1.27793291e-03 1.49777338e+02] [ 8.40319237e-01 5.42088574e-01 1.88624350e-03 3.99829358e+01] [-2.27780352e-03 5.13633947e-05 9.99997404e-01 -4.42994126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:40.00, Z:-0.44 [[ 5.37529668e-01 -8.43243870e-01 1.27769987e-03 1.49793834e+02] [ 8.43241762e-01 5.37531183e-01 1.88640135e-03 4.00048434e+01] [-2.27749989e-03 6.34131976e-05 9.99997404e-01 -4.43601077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:40.03, Z:-0.44 [[ 5.34791022e-01 -8.44983391e-01 1.27733863e-03 1.49809582e+02] [ 8.44981288e-01 5.34792543e-01 1.88664592e-03 4.00275525e+01] [-2.27729564e-03 7.03659388e-05 9.99997404e-01 -4.44406351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:40.05, Z:-0.45 [[ 5.31862630e-01 -8.46829684e-01 1.27681193e-03 1.49825506e+02] [ 8.46827585e-01 5.31864156e-01 1.88700230e-03 4.00507120e+01] [-2.27706006e-03 7.76135546e-05 9.99997404e-01 -4.45164798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:40.07, Z:-0.45 [[ 5.28912891e-01 -8.48675159e-01 1.27628697e-03 1.49841465e+02] [ 8.48673064e-01 5.28914424e-01 1.88735729e-03 4.00733806e+01] [-2.27679984e-03 8.49027741e-05 9.99997404e-01 -4.45532353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:40.10, Z:-0.45 [[ 5.26044357e-01 -8.50456176e-01 1.27574088e-03 1.49856978e+02] [ 8.50454086e-01 5.26045896e-01 1.88772635e-03 4.00958862e+01] [-2.27652679e-03 9.19312530e-05 9.99997404e-01 -4.46436972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:40.12, Z:-0.45 [[ 5.23418386e-01 -8.52074860e-01 1.27550447e-03 1.49872643e+02] [ 8.52072774e-01 5.23419930e-01 1.88788607e-03 4.01189263e+01] [-2.27624472e-03 9.86683483e-05 9.99997404e-01 -4.46696502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:40.14, Z:-0.45 [[ 5.19311106e-01 -8.54584314e-01 1.27496359e-03 1.49886866e+02] [ 8.54582235e-01 5.19312660e-01 1.88825128e-03 4.01424923e+01] [-2.27577466e-03 1.08971374e-04 9.99997404e-01 -4.47217281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:40.17, Z:-0.45 [[ 5.17493301e-01 -8.55686309e-01 1.27470470e-03 1.49901431e+02] [ 8.55684233e-01 5.17494858e-01 1.88842603e-03 4.01668466e+01] [-2.27555343e-03 1.13496896e-04 9.99997404e-01 -4.47536098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:40.19, Z:-0.45 [[ 5.16211344e-01 -8.56460288e-01 1.27418005e-03 1.49916013e+02] [ 8.56458213e-01 5.16212903e-01 1.88877997e-03 4.01908400e+01] [-2.27541322e-03 1.16272324e-04 9.99997404e-01 -4.46637350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:40.22, Z:-0.45 [[ 5.15066716e-01 -8.57149144e-01 1.27364259e-03 1.49930422e+02] [ 8.57147071e-01 5.15068277e-01 1.88914231e-03 4.02153688e+01] [-2.27528961e-03 1.18664689e-04 9.99997404e-01 -4.46259606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:40.24, Z:-0.45 [[ 5.14216410e-01 -8.57659526e-01 1.27309926e-03 1.49943924e+02] [ 8.57657453e-01 5.14217972e-01 1.88950839e-03 4.02390502e+01] [-2.27520540e-03 1.20266848e-04 9.99997404e-01 -4.46162801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:40.26, Z:-0.45 [[ 5.13022012e-01 -8.58374508e-01 1.27287791e-03 1.49956067e+02] [ 8.58372436e-01 5.13023576e-01 1.88965750e-03 4.02645670e+01] [-2.27505020e-03 1.23167417e-04 9.99997404e-01 -4.45936719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:40.29, Z:-0.45 [[ 5.12412912e-01 -8.58738254e-01 1.27233625e-03 1.49969750e+02] [ 8.58736183e-01 5.12414477e-01 1.89002214e-03 4.02890048e+01] [-2.27499782e-03 1.24129429e-04 9.99997404e-01 -4.45812385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:40.31, Z:-0.45 [[ 5.11757226e-01 -8.59129166e-01 1.27179042e-03 1.49982437e+02] [ 8.59127095e-01 5.11758791e-01 1.89038935e-03 4.03127399e+01] [-2.27493856e-03 1.25209197e-04 9.99997404e-01 -4.46049265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:40.34, Z:-0.45 [[ 5.10960223e-01 -8.59603417e-01 1.27155325e-03 1.49995790e+02] [ 8.59601347e-01 5.10961789e-01 1.89054887e-03 4.03380122e+01] [-2.27483739e-03 1.27033613e-04 9.99997404e-01 -4.45854044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:40.36, Z:-0.45 [[ 5.10188065e-01 -8.60061929e-01 1.27101556e-03 1.50008717e+02] [ 8.60059860e-01 5.10189632e-01 1.89091029e-03 4.03633813e+01] [-2.27475891e-03 1.28429599e-04 9.99997404e-01 -4.45646498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:40.39, Z:-0.45 [[ 5.09338652e-01 -8.60565235e-01 1.27047909e-03 1.50021028e+02] [ 8.60563166e-01 5.09340220e-01 1.89127067e-03 4.03887325e+01] [-2.27466789e-03 1.30030251e-04 9.99997404e-01 -4.45363905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:40.41, Z:-0.45 [[ 5.09088583e-01 -8.60713194e-01 1.26992806e-03 1.50036894e+02] [ 8.60711125e-01 5.09090150e-01 1.89164060e-03 4.04124484e+01] [-2.27466788e-03 1.30028575e-04 9.99997404e-01 -4.45428801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:40.44, Z:-0.45 [[ 5.08433717e-01 -8.61100194e-01 1.26937831e-03 1.50045040e+02] [ 8.61098126e-01 5.08435284e-01 1.89200943e-03 4.04400074e+01] [-2.27460641e-03 1.31097895e-04 9.99997404e-01 -4.45783965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:40.47, Z:-0.45 [[ 5.08272519e-01 -8.61195353e-01 1.26914018e-03 1.50056878e+02] [ 8.61193284e-01 5.08274086e-01 1.89216915e-03 4.04655070e+01] [-2.27459835e-03 1.31237420e-04 9.99997404e-01 -4.45810473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:40.49, Z:-0.45 [[ 5.08231443e-01 -8.61219595e-01 1.26860262e-03 1.50068053e+02] [ 8.61217526e-01 5.08233009e-01 1.89252949e-03 4.04902721e+01] [-2.27462921e-03 1.30699823e-04 9.99997404e-01 -4.45892253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:40.52, Z:-0.44 [[ 5.08343452e-01 -8.61153486e-01 1.26823712e-03 1.50079559e+02] [ 8.61151416e-01 5.08345017e-01 1.89277439e-03 4.05162525e+01] [-2.27467128e-03 1.29964723e-04 9.99997404e-01 -4.44110292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:40.54, Z:-0.44 [[ 5.08460760e-01 -8.61084230e-01 1.26661069e-03 1.50091200e+02] [ 8.61082157e-01 5.08462322e-01 1.89386380e-03 4.05430472e+01] [-2.27480006e-03 1.27700442e-04 9.99997404e-01 -4.44479596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:40.57, Z:-0.44 [[ 5.08579848e-01 -8.61013897e-01 1.26768636e-03 1.50102578e+02] [ 8.61011826e-01 5.08581412e-01 1.89314351e-03 4.05694541e+01] [-2.27474459e-03 1.28678312e-04 9.99997404e-01 -4.44423649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:40.60, Z:-0.44 [[ 5.09246527e-01 -8.60619759e-01 1.26715887e-03 1.50110088e+02] [ 8.60617685e-01 5.09248087e-01 1.89349651e-03 4.05983970e+01] [-2.27487874e-03 1.26282811e-04 9.99997404e-01 -4.44570075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:40.62, Z:-0.44 [[ 5.09185261e-01 -8.60656009e-01 1.26663319e-03 1.50121417e+02] [ 8.60653934e-01 5.09186821e-01 1.89384810e-03 4.06241419e+01] [-2.27490467e-03 1.25813302e-04 9.99997404e-01 -4.44732276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:40.65, Z:-0.44 [[ 5.09050224e-01 -8.60735887e-01 1.26611144e-03 1.50132825e+02] [ 8.60733812e-01 5.09051783e-01 1.89419684e-03 4.06503336e+01] [-2.27491948e-03 1.25543595e-04 9.99997404e-01 -4.44920614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:40.68, Z:-0.45 [[ 5.08710437e-01 -8.60936751e-01 1.26558263e-03 1.50143824e+02] [ 8.60934676e-01 5.08711996e-01 1.89455009e-03 4.06763799e+01] [-2.27490487e-03 1.25806565e-04 9.99997404e-01 -4.45876104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.15, Y:40.70, Z:-0.45 [[ 5.08289573e-01 -8.61185294e-01 1.26505710e-03 1.50150670e+02] [ 8.61183218e-01 5.08291131e-01 1.89490094e-03 4.07038680e+01] [-2.27487813e-03 1.26287555e-04 9.99997404e-01 -4.47874110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:40.73, Z:-0.45 [[ 5.07785054e-01 -8.61482872e-01 1.26483137e-03 1.50162358e+02] [ 8.61480797e-01 5.07786614e-01 1.89505161e-03 4.07303366e+01] [-2.27481894e-03 1.27349052e-04 9.99997404e-01 -4.48823793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:40.76, Z:-0.45 [[ 5.07454971e-01 -8.61677349e-01 1.26450821e-03 1.50173804e+02] [ 8.61675274e-01 5.07456530e-01 1.89526722e-03 4.07563061e+01] [-2.27479178e-03 1.27832688e-04 9.99997404e-01 -4.49302530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:40.78, Z:-0.45 [[ 5.06870587e-01 -8.62021236e-01 1.26399484e-03 1.50185412e+02] [ 8.62019161e-01 5.06872146e-01 1.89560953e-03 4.07826953e+01] [-2.27473945e-03 1.28759062e-04 9.99997404e-01 -4.48874136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:40.81, Z:-0.45 [[ 5.06374739e-01 -8.62312604e-01 1.26345324e-03 1.50196867e+02] [ 8.62310530e-01 5.06376298e-01 1.89597045e-03 4.08089404e+01] [-2.27470199e-03 1.29417491e-04 9.99997404e-01 -4.48614916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:40.83, Z:-0.45 [[ 5.06019961e-01 -8.62520843e-01 1.26291387e-03 1.50208226e+02] [ 8.62518768e-01 5.06021520e-01 1.89632965e-03 4.08347797e+01] [-2.27468545e-03 1.29706259e-04 9.99997404e-01 -4.47518810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:40.86, Z:-0.45 [[ 5.06280554e-01 -8.62367907e-01 1.26255832e-03 1.50216232e+02] [ 8.62365831e-01 5.06282112e-01 1.89656631e-03 4.08639189e+01] [-2.27474861e-03 1.28592517e-04 9.99997404e-01 -4.46845149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:40.89, Z:-0.45 [[ 5.09249810e-01 -8.60617824e-01 1.26194557e-03 1.50232336e+02] [ 8.60615741e-01 5.09251360e-01 1.89697394e-03 4.08915813e+01] [-2.27521708e-03 1.20016608e-04 9.99997404e-01 -4.47148148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:40.92, Z:-0.45 [[ 5.10333085e-01 -8.59975874e-01 1.27975267e-03 1.50242975e+02] [ 8.59973819e-01 5.10334671e-01 1.88512538e-03 4.09176093e+01] [-2.27426451e-03 1.38511935e-04 9.99997404e-01 -4.48194969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:40.95, Z:-0.45 [[ 5.11917096e-01 -8.59033906e-01 1.27869760e-03 1.50246182e+02] [ 8.59031846e-01 5.11918676e-01 1.88582741e-03 4.09453173e+01] [-2.27457887e-03 1.33054664e-04 9.99997404e-01 -4.47715681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:150.26, Y:40.97, Z:-0.45 [[ 5.13930328e-01 -8.57831001e-01 1.26123250e-03 1.50257986e+02] [ 8.57828910e-01 5.13931865e-01 1.89743652e-03 4.09717473e+01] [-2.27586744e-03 1.06771526e-04 9.99997405e-01 -4.48747081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:41.00, Z:-0.45 [[ 5.16219064e-01 -8.56455655e-01 1.26082156e-03 1.50271751e+02] [ 8.56453558e-01 5.16220594e-01 1.89770947e-03 4.09994889e+01] [-2.27616606e-03 1.00201305e-04 9.99997405e-01 -4.50194940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:41.02, Z:-0.45 [[ 5.16397347e-01 -8.56348154e-01 1.27240681e-03 1.50279423e+02] [ 8.56346076e-01 5.16398903e-01 1.89004427e-03 4.10237515e+01] [-2.27560540e-03 1.13606725e-04 9.99997404e-01 -4.49536645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:41.05, Z:-0.45 [[ 5.18005318e-01 -8.55376474e-01 1.25636629e-03 1.50291372e+02] [ 8.55374367e-01 5.18006834e-01 1.90064738e-03 4.10489720e+01] [-2.27657538e-03 9.01180634e-05 9.99997405e-01 -4.49583159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:41.07, Z:-0.45 [[ 5.19210712e-01 -8.54645342e-01 1.25582559e-03 1.50303474e+02] [ 8.54643232e-01 5.19212223e-01 1.90100457e-03 4.10737037e+01] [-2.27672470e-03 8.62609023e-05 9.99997405e-01 -4.50484348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:41.10, Z:-0.45 [[ 5.19466800e-01 -8.54489712e-01 1.25559323e-03 1.50312889e+02] [ 8.54487601e-01 5.19468310e-01 1.90115803e-03 4.11005345e+01] [-2.27676087e-03 8.53003685e-05 9.99997405e-01 -4.50398858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:41.13, Z:-0.45 [[ 5.18633580e-01 -8.54995693e-01 1.25505299e-03 1.50325354e+02] [ 8.54993582e-01 5.18635092e-01 1.90151461e-03 4.11251478e+01] [-2.27670132e-03 8.68729215e-05 9.99997405e-01 -4.50783984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:41.15, Z:-0.45 [[ 5.17132665e-01 -8.55904336e-01 1.25468530e-03 1.50338354e+02] [ 8.55902228e-01 5.17134180e-01 1.90175719e-03 4.11498072e+01] [-2.27656288e-03 9.04271778e-05 9.99997405e-01 -4.50784580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:41.17, Z:-0.45 [[ 5.15043861e-01 -8.57162907e-01 1.25414462e-03 1.50351446e+02] [ 8.57160801e-01 5.15045379e-01 1.90211368e-03 4.11742620e+01] [-2.27636268e-03 9.53316289e-05 9.99997405e-01 -4.51134293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:41.20, Z:-0.45 [[ 5.12997421e-01 -8.58389233e-01 1.25363261e-03 1.50363990e+02] [ 8.58387130e-01 5.12998943e-01 1.90245107e-03 4.11978214e+01] [-2.27615572e-03 1.00149604e-04 9.99997405e-01 -4.50192610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:41.22, Z:-0.45 [[ 5.10494906e-01 -8.59879866e-01 1.25189999e-03 1.50377486e+02] [ 8.59877765e-01 5.10496430e-01 1.90359230e-03 4.12233746e+01] [-2.27595116e-03 1.04706795e-04 9.99997405e-01 -4.50735270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:41.25, Z:-0.45 [[ 5.06987934e-01 -8.61952240e-01 1.25298478e-03 1.50387595e+02] [ 8.61950148e-01 5.06989469e-01 1.90287800e-03 4.12494615e+01] [-2.27544004e-03 1.15274230e-04 9.99997405e-01 -4.50830106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:41.27, Z:-0.45 [[ 5.05927266e-01 -8.62575233e-01 1.25274327e-03 1.50400846e+02] [ 8.62573142e-01 5.05928803e-01 1.90303698e-03 4.12745687e+01] [-2.27531147e-03 1.17784401e-04 9.99997405e-01 -4.50636347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:41.30, Z:-0.45 [[ 5.04998075e-01 -8.63119561e-01 1.25220973e-03 1.50413775e+02] [ 8.63117470e-01 5.04999613e-01 1.90338798e-03 4.12993403e+01] [-2.27521683e-03 1.19596828e-04 9.99997405e-01 -4.50494376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:41.32, Z:-0.45 [[ 5.04717355e-01 -8.63283745e-01 1.25167381e-03 1.50426591e+02] [ 8.63281654e-01 5.04718893e-01 1.90374034e-03 4.13241436e+01] [-2.27521151e-03 1.19696250e-04 9.99997405e-01 -4.50107075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:41.35, Z:-0.45 [[ 5.05676294e-01 -8.62722389e-01 1.25111901e-03 1.50435971e+02] [ 8.62720296e-01 5.05677828e-01 1.90410488e-03 4.13510189e+01] [-2.27537706e-03 1.16505063e-04 9.99997405e-01 -4.49772279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:41.38, Z:-0.45 [[ 5.06541210e-01 -8.62214845e-01 1.25056655e-03 1.50447969e+02] [ 8.62212749e-01 5.06542741e-01 1.90446765e-03 4.13759072e+01] [-2.27552569e-03 1.13563074e-04 9.99997405e-01 -4.50076330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:41.40, Z:-0.45 [[ 5.07204744e-01 -8.61824683e-01 1.25032729e-03 1.50460530e+02] [ 8.61822586e-01 5.07206273e-01 1.90462472e-03 4.14012126e+01] [-2.27562644e-03 1.11525598e-04 9.99997405e-01 -4.50260399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:41.43, Z:-0.45 [[ 5.08611145e-01 -8.60995436e-01 1.24978263e-03 1.50470789e+02] [ 8.60993336e-01 5.08612669e-01 1.90498205e-03 4.14267963e+01] [-2.27583613e-03 1.07159419e-04 9.99997405e-01 -4.50106742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48999999999998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:150.48, Y:41.45, Z:-0.45 [[ 5.08902397e-01 -8.60823320e-01 1.24954801e-03 1.50483263e+02] [ 8.60821219e-01 5.08903920e-01 1.90513594e-03 4.14515607e+01] [-2.27588532e-03 1.06109194e-04 9.99997405e-01 -4.50115608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.50, Y:41.48, Z:-0.45 [[ 5.09174987e-01 -8.60662113e-01 1.24900896e-03 1.50495872e+02] [ 8.60660010e-01 5.09176508e-01 1.90548927e-03 4.14763474e+01] [-2.27594844e-03 1.04744593e-04 9.99997405e-01 -4.49956658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.51, Y:41.50, Z:-0.45 [[ 5.09215524e-01 -8.60638131e-01 1.24845239e-03 1.50508531e+02] [ 8.60636027e-01 5.09217043e-01 1.90585386e-03 4.15012621e+01] [-2.27598374e-03 1.03972731e-04 9.99997405e-01 -4.50666714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:41.53, Z:-0.45 [[ 5.09046550e-01 -8.60738086e-01 1.24789585e-03 1.50520691e+02] [ 8.60735981e-01 5.09048069e-01 1.90621820e-03 4.15250998e+01] [-2.27599357e-03 1.03755060e-04 9.99997405e-01 -4.51477088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60999999999999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:150.53, Y:41.55, Z:-0.45 [[ 5.07043782e-01 -8.61919397e-01 1.24765461e-03 1.50531713e+02] [ 8.61917296e-01 5.07045305e-01 1.90637608e-03 4.15508414e+01] [-2.27575993e-03 1.08758947e-04 9.99997405e-01 -4.52751247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:150.55, Y:41.57, Z:-0.45 [[ 5.04934314e-01 -8.63156871e-01 1.24708924e-03 1.50545079e+02] [ 8.63154772e-01 5.04935841e-01 1.90674585e-03 4.15749233e+01] [-2.27552084e-03 1.13649622e-04 9.99997405e-01 -4.53306881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:150.56, Y:41.60, Z:-0.45 [[ 5.02644246e-01 -8.64492457e-01 1.24653103e-03 1.50558976e+02] [ 8.64490361e-01 5.02645778e-01 1.90711071e-03 4.15988975e+01] [-2.27524638e-03 1.19015830e-04 9.99997405e-01 -4.53412128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.7 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:150.57, Y:41.62, Z:-0.45 [[ 5.00468630e-01 -8.65753774e-01 1.24596798e-03 1.50572269e+02] [ 8.65751682e-01 5.00470166e-01 1.90747849e-03 4.16221352e+01] [-2.27497651e-03 1.24065727e-04 9.99997405e-01 -4.53272938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:150.59, Y:41.65, Z:-0.45 [[ 4.97352916e-01 -8.67547423e-01 1.24327962e-03 1.50586220e+02] [ 8.67545332e-01 4.97354454e-01 1.90923380e-03 4.16470198e+01] [-2.27470152e-03 1.29038430e-04 9.99997405e-01 -4.53919893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:150.60, Y:41.67, Z:-0.45 [[ 4.94584913e-01 -8.69128421e-01 1.24525281e-03 1.50599826e+02] [ 8.69126338e-01 4.94586462e-01 1.90794596e-03 4.16719137e+01] [-2.27413524e-03 1.38640728e-04 9.99997405e-01 -4.53823559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:150.61, Y:41.70, Z:-0.45 [[ 4.89822841e-01 -8.71821103e-01 1.24469552e-03 1.50611896e+02] [ 8.71819027e-01 4.89824399e-01 1.90830946e-03 4.16973737e+01] [-2.27338669e-03 1.50415677e-04 9.99997405e-01 -4.53810819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:150.63, Y:41.72, Z:-0.45 [[ 4.87979315e-01 -8.72854306e-01 1.24414058e-03 1.50625603e+02] [ 8.72852233e-01 4.87980876e-01 1.90867118e-03 4.17219180e+01] [-2.27310867e-03 1.54558829e-04 9.99997405e-01 -4.53571702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:150.64, Y:41.75, Z:-0.45 [[ 4.86694801e-01 -8.73571190e-01 1.24357504e-03 1.50638874e+02] [ 8.73569119e-01 4.86696364e-01 1.90903958e-03 4.17459831e+01] [-2.27292543e-03 1.57229117e-04 9.99997405e-01 -4.53718623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:150.65, Y:41.77, Z:-0.45 [[ 4.85774167e-01 -8.74083470e-01 1.24319089e-03 1.50652217e+02] [ 8.74081400e-01 4.85775732e-01 1.90928971e-03 4.17707776e+01] [-2.27279054e-03 1.59166415e-04 9.99997405e-01 -4.53504276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:150.67, Y:41.80, Z:-0.45 [[ 4.85454874e-01 -8.74260842e-01 1.24263693e-03 1.50665413e+02] [ 8.74258771e-01 4.85456439e-01 1.90965019e-03 4.17956987e+01] [-2.27277848e-03 1.59337242e-04 9.99997405e-01 -4.53071200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:150.68, Y:41.82, Z:-0.45 [[ 4.86016523e-01 -8.73948738e-01 1.24207508e-03 1.50677529e+02] [ 8.73946665e-01 4.86018085e-01 1.91001556e-03 4.18197032e+01] [-2.27292664e-03 1.57208249e-04 9.99997405e-01 -4.53181758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:150.69, Y:41.85, Z:-0.45 [[ 4.88926879e-01 -8.72323888e-01 1.24183167e-03 1.50688132e+02] [ 8.72321809e-01 4.88928433e-01 1.91017380e-03 4.18458075e+01] [-2.27345705e-03 1.49341539e-04 9.99997405e-01 -4.53259642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.0 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:150.70, Y:41.87, Z:-0.45 [[ 4.91011754e-01 -8.71152063e-01 1.24126743e-03 1.50700954e+02] [ 8.71149980e-01 4.91013302e-01 1.91054038e-03 4.18700184e+01] [-2.27385001e-03 1.43232318e-04 9.99997405e-01 -4.53905551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:150.71, Y:41.89, Z:-0.45 [[ 4.93031485e-01 -8.70010583e-01 1.24102316e-03 1.50713950e+02] [ 8.70008496e-01 4.93033027e-01 1.91069904e-03 4.18949285e+01] [-2.27419379e-03 1.37665903e-04 9.99997405e-01 -4.54543422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:150.73, Y:41.92, Z:-0.45 [[ 4.95275588e-01 -8.68735031e-01 1.24047170e-03 1.50726297e+02] [ 8.68732938e-01 4.95277124e-01 1.91105699e-03 4.19198067e+01] [-2.27457941e-03 1.31138747e-04 9.99997405e-01 -4.54927129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:150.74, Y:41.94, Z:-0.46 [[ 4.97905475e-01 -8.67230420e-01 1.23991335e-03 1.50738410e+02] [ 8.67228322e-01 4.97907003e-01 1.91141918e-03 4.19443864e+01] [-2.27500240e-03 1.23581900e-04 9.99997405e-01 -4.55385457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:150.75, Y:41.97, Z:-0.46 [[ 5.03346055e-01 -8.64084031e-01 1.23967189e-03 1.50748802e+02] [ 8.64081923e-01 5.03347570e-01 1.91157578e-03 4.19713107e+01] [-2.27574793e-03 1.08993946e-04 9.99997405e-01 -4.55507464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:150.76, Y:42.00, Z:-0.46 [[ 5.05471496e-01 -8.62842414e-01 1.23910933e-03 1.50761330e+02] [ 8.62840302e-01 5.05473005e-01 1.91194037e-03 4.19965289e+01] [-2.27603956e-03 1.02722108e-04 9.99997405e-01 -4.55411445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:150.77, Y:42.02, Z:-0.46 [[ 5.07531400e-01 -8.61632372e-01 1.23854774e-03 1.50773540e+02] [ 8.61630255e-01 5.07532902e-01 1.91230410e-03 4.20206649e+01] [-2.27630684e-03 9.66158264e-05 9.99997405e-01 -4.55572574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20999999999998 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:150.79, Y:42.04, Z:-0.46 [[ 5.07283429e-01 -8.61778388e-01 1.23816632e-03 1.50788940e+02] [ 8.61776271e-01 5.07284931e-01 1.91255102e-03 4.20445948e+01] [-2.27629825e-03 9.68169119e-05 9.99997405e-01 -4.55637451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23999999999998 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:150.80, Y:42.07, Z:-0.46 [[ 5.08674000e-01 -8.60958321e-01 1.23761584e-03 1.50801949e+02] [ 8.60956201e-01 5.08675497e-01 1.91290717e-03 4.20691619e+01] [-2.27647820e-03 9.24868949e-05 9.99997405e-01 -4.55309904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26999999999998 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:150.81, Y:42.09, Z:-0.46 [[ 5.09728851e-01 -8.60334219e-01 1.23705554e-03 1.50814476e+02] [ 8.60332096e-01 5.09730344e-01 1.91326944e-03 4.20926020e+01] [-2.27661592e-03 8.90299522e-05 9.99997405e-01 -4.55830165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29999999999998 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:150.83, Y:42.12, Z:-0.46 [[ 5.10921657e-01 -8.59626390e-01 1.23681294e-03 1.50825556e+02] [ 8.59624265e-01 5.10923147e-01 1.91342625e-03 4.21176710e+01] [-2.27674806e-03 8.55835060e-05 9.99997405e-01 -4.56478037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32999999999998 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:150.84, Y:42.14, Z:-0.46 [[ 5.11277519e-01 -8.59414783e-01 1.23657266e-03 1.50838564e+02] [ 8.59412657e-01 5.11279008e-01 1.91358153e-03 4.21421057e+01] [-2.27679389e-03 8.43549744e-05 9.99997405e-01 -4.56488266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35999999999999 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:150.85, Y:42.17, Z:-0.46 [[ 5.11991048e-01 -8.58989894e-01 1.23602456e-03 1.50851815e+02] [ 8.58987766e-01 5.11992534e-01 1.91393549e-03 4.21663630e+01] [-2.27688659e-03 8.18121367e-05 9.99997405e-01 -4.57534767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:150.86, Y:42.19, Z:-0.46 [[ 5.12818901e-01 -8.58495922e-01 1.23547697e-03 1.50864759e+02] [ 8.58493792e-01 5.12820383e-01 1.91428890e-03 4.21907286e+01] [-2.27698699e-03 7.89657803e-05 9.99997405e-01 -4.55734422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:150.88, Y:42.21, Z:-0.46 [[ 5.14283833e-01 -8.57619154e-01 1.23493213e-03 1.50877947e+02] [ 8.57617020e-01 5.14285311e-01 1.91464032e-03 4.22149975e+01] [-2.27713967e-03 7.44302456e-05 9.99997405e-01 -4.55427003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:150.89, Y:42.24, Z:-0.46 [[ 5.16163667e-01 -8.56489081e-01 1.23437259e-03 1.50891218e+02] [ 8.56486943e-01 5.16165138e-01 1.91500099e-03 4.22392914e+01] [-2.27731754e-03 6.87700770e-05 9.99997405e-01 -4.55736587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:150.90, Y:42.26, Z:-0.46 [[ 5.20521517e-01 -8.53847661e-01 1.23381260e-03 1.50903229e+02] [ 8.53845515e-01 5.20522976e-01 1.91536172e-03 4.22636869e+01] [-2.27765493e-03 5.64983703e-05 9.99997405e-01 -4.56756667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:150.92, Y:42.29, Z:-0.46 [[ 5.21696872e-01 -8.53130033e-01 1.23343249e-03 1.50917528e+02] [ 8.53127884e-01 5.21698327e-01 1.91560646e-03 4.22881091e+01] [-2.27774107e-03 5.29097515e-05 9.99997405e-01 -4.56831257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:150.93, Y:42.31, Z:-0.46 [[ 5.22597935e-01 -8.52578371e-01 1.23287962e-03 1.50931962e+02] [ 8.52576220e-01 5.22599386e-01 1.91596223e-03 4.23121548e+01] [-2.27781009e-03 4.98459430e-05 9.99997405e-01 -4.56762185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:150.95, Y:42.34, Z:-0.46 [[ 5.23657693e-01 -8.51927873e-01 1.23232968e-03 1.50945739e+02] [ 8.51925719e-01 5.23659141e-01 1.91631588e-03 4.23359569e+01] [-2.27788361e-03 4.63597919e-05 9.99997405e-01 -4.56841554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.6 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:150.96, Y:42.36, Z:-0.46 [[ 5.23646014e-01 -8.51935053e-01 1.23209153e-03 1.50960862e+02] [ 8.51932898e-01 5.23647461e-01 1.91646898e-03 4.23596994e+01] [-2.27788870e-03 4.61079707e-05 9.99997405e-01 -4.56651719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:150.98, Y:42.38, Z:-0.46 [[ 5.23826060e-01 -8.51824361e-01 1.23153472e-03 1.50975263e+02] [ 8.51822206e-01 5.23827506e-01 1.91682673e-03 4.23821144e+01] [-2.27791146e-03 4.49648279e-05 9.99997405e-01 -4.56459948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:150.99, Y:42.41, Z:-0.46 [[ 5.23827433e-01 -8.51823517e-01 1.23129324e-03 1.50990703e+02] [ 8.51821361e-01 5.23828878e-01 1.91698183e-03 4.24053812e+01] [-2.27791716e-03 4.46742109e-05 9.99997405e-01 -4.56381283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:151.01, Y:42.43, Z:-0.46 [[ 5.23867822e-01 -8.51798679e-01 1.23074314e-03 1.51006277e+02] [ 8.51796523e-01 5.23869266e-01 1.91733494e-03 4.24283203e+01] [-2.27793188e-03 4.39126481e-05 9.99997405e-01 -4.56497450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:151.02, Y:42.45, Z:-0.46 [[ 5.25112388e-01 -8.51032001e-01 1.23018650e-03 1.51023022e+02] [ 8.51029841e-01 5.25113827e-01 1.91769202e-03 4.24502946e+01] [-2.27800522e-03 3.99215812e-05 9.99997405e-01 -4.57190286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:151.04, Y:42.47, Z:-0.46 [[ 5.26238870e-01 -8.50335898e-01 1.22962714e-03 1.51038234e+02] [ 8.50333736e-01 5.26240305e-01 1.91805062e-03 4.24724351e+01] [-2.27806666e-03 3.62406480e-05 9.99997405e-01 -4.57018791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:151.05, Y:42.50, Z:-0.46 [[ 5.27820770e-01 -8.49354887e-01 1.22938538e-03 1.51054110e+02] [ 8.49352721e-01 5.27822200e-01 1.91820556e-03 4.24952556e+01] [-2.27813416e-03 3.17130790e-05 9.99997405e-01 -4.59294670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:151.07, Y:42.52, Z:-0.46 [[ 5.28825150e-01 -8.48729904e-01 1.22883507e-03 1.51069800e+02] [ 8.48727736e-01 5.28826577e-01 1.91855804e-03 4.25188056e+01] [-2.27817822e-03 2.83646620e-05 9.99997405e-01 -4.58302688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:151.09, Y:42.54, Z:-0.46 [[ 5.32572147e-01 -8.46383719e-01 1.22828588e-03 1.51086881e+02] [ 8.46381544e-01 5.32573563e-01 1.91890957e-03 4.25409620e+01] [-2.27828640e-03 1.76407145e-05 9.99997405e-01 -4.58622694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:151.10, Y:42.56, Z:-0.46 [[ 5.34528372e-01 -8.45149639e-01 1.22773476e-03 1.51103251e+02] [ 8.45147460e-01 5.34529782e-01 1.91926212e-03 4.25640676e+01] [-2.27832448e-03 1.17168533e-05 9.99997405e-01 -4.59355221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.9 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:151.12, Y:42.59, Z:-0.46 [[ 5.36049393e-01 -8.44185727e-01 1.22717430e-03 1.51118708e+02] [ 8.44183545e-01 5.36050798e-01 1.91962040e-03 4.25861897e+01] [-2.27834391e-03 6.94899958e-06 9.99997405e-01 -4.58009367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:151.14, Y:42.61, Z:-0.46 [[ 5.37377041e-01 -8.43341219e-01 1.22679430e-03 1.51135619e+02] [ 8.43339033e-01 5.37378441e-01 1.91986323e-03 4.26089650e+01] [-2.27835260e-03 2.91309657e-06 9.99997405e-01 -4.56980835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95999999999998 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:151.16, Y:42.63, Z:-0.46 [[ 5.38721019e-01 -8.42483328e-01 1.22662296e-03 1.51155107e+02] [ 8.42481141e-01 5.38722416e-01 1.91997269e-03 4.26291647e+01] [-2.27835427e-03 -9.22930817e-07 9.99997405e-01 -4.55062856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98999999999998 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:151.17, Y:42.65, Z:-0.45 [[ 5.38140351e-01 -8.42854352e-01 1.22605901e-03 1.51172451e+02] [ 8.42852165e-01 5.38141748e-01 1.92033275e-03 4.26509389e+01] [-2.27835436e-03 -2.20470682e-08 9.99997405e-01 -4.53757972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01999999999998 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:151.19, Y:42.67, Z:-0.45 [[ 5.37739039e-01 -8.43110446e-01 1.22549825e-03 1.51189740e+02] [ 8.43108258e-01 5.37740435e-01 1.92069055e-03 4.26713781e+01] [-2.27835422e-03 3.97404532e-07 9.99997405e-01 -4.54835881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04999999999998 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:151.21, Y:42.69, Z:-0.45 [[ 5.36505762e-01 -8.43895767e-01 1.22525518e-03 1.51207465e+02] [ 8.43893581e-01 5.36507161e-01 1.92084560e-03 4.26932493e+01] [-2.27835164e-03 3.44024759e-06 9.99997405e-01 -4.54272340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07999999999998 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:151.22, Y:42.71, Z:-0.45 [[ 5.34827268e-01 -8.44960527e-01 1.22468953e-03 1.51224398e+02] [ 8.44958343e-01 5.34828671e-01 1.92120617e-03 4.27140902e+01] [-2.27834245e-03 7.29818466e-06 9.99997405e-01 -4.53576901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10999999999999 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:151.24, Y:42.74, Z:-0.45 [[ 5.32677295e-01 -8.46317553e-01 1.22444525e-03 1.51241939e+02] [ 8.46315372e-01 5.32678702e-01 1.92136185e-03 4.27355115e+01] [-2.27831816e-03 1.28010047e-05 9.99997405e-01 -4.53825106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:151.26, Y:42.76, Z:-0.46 [[ 5.27330997e-01 -8.49659062e-01 1.22389451e-03 1.51263213e+02] [ 8.49656889e-01 5.27332416e-01 1.92171260e-03 4.27559864e+01] [-2.27819977e-03 2.65117836e-05 9.99997405e-01 -4.58110631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:151.28, Y:42.78, Z:-0.46 [[ 5.23554529e-01 -8.51991290e-01 1.22341052e-03 1.51281335e+02] [ 8.51989123e-01 5.23555957e-01 1.92202067e-03 4.27775059e+01] [-2.27806874e-03 3.60498270e-05 9.99997405e-01 -4.57771613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.2 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:151.30, Y:42.80, Z:-0.46 [[ 5.19357423e-01 -8.54556243e-01 1.22284597e-03 1.51299550e+02] [ 8.54554082e-01 5.19358861e-01 1.92237979e-03 4.27993602e+01] [-2.27787754e-03 4.65857981e-05 9.99997405e-01 -4.56245485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:151.32, Y:42.82, Z:-0.46 [[ 5.15103655e-01 -8.57127021e-01 1.22228274e-03 1.51317262e+02] [ 8.57124867e-01 5.15105102e-01 1.92273783e-03 4.28206825e+01] [-2.27763463e-03 5.72396509e-05 9.99997405e-01 -4.56094333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:151.34, Y:42.84, Z:-0.46 [[ 5.07266936e-01 -8.61788120e-01 1.22172396e-03 1.51337628e+02] [ 8.61785978e-01 5.07268401e-01 1.92309282e-03 4.28411058e+01] [-2.27704050e-03 7.73431815e-05 9.99997405e-01 -4.55206576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:151.35, Y:42.86, Z:-0.45 [[ 5.03705075e-01 -8.63874821e-01 1.22116275e-03 1.51353809e+02] [ 8.63872684e-01 5.03706548e-01 1.92344912e-03 4.28625334e+01] [-2.27672694e-03 8.60780519e-05 9.99997405e-01 -4.54748489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:151.37, Y:42.88, Z:-0.45 [[ 5.00654797e-01 -8.65646165e-01 1.22091909e-03 1.51370304e+02] [ 8.65644033e-01 5.00656277e-01 1.92360377e-03 4.28849230e+01] [-2.27642104e-03 9.38198716e-05 9.99997405e-01 -4.53209572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:151.39, Y:42.91, Z:-0.45 [[ 4.96552327e-01 -8.68005932e-01 1.22034994e-03 1.51387699e+02] [ 8.68003806e-01 4.96553815e-01 1.92396478e-03 4.29071134e+01] [-2.27598226e-03 1.03919203e-04 9.99997405e-01 -4.52016415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:151.40, Y:42.93, Z:-0.45 [[ 4.95316997e-01 -8.68711450e-01 1.22008217e-03 1.51403442e+02] [ 8.68709326e-01 4.95318488e-01 1.92413457e-03 4.29298957e+01] [-2.27584699e-03 1.06840204e-04 9.99997405e-01 -4.53980327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:151.42, Y:42.95, Z:-0.45 [[ 4.94809342e-01 -8.69000707e-01 1.21951872e-03 1.51418917e+02] [ 8.68998582e-01 4.94810833e-01 1.92449162e-03 4.29526726e+01] [-2.27581565e-03 1.07503613e-04 9.99997405e-01 -4.52213293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:151.43, Y:42.98, Z:-0.45 [[ 4.94805996e-01 -8.69002612e-01 1.21934436e-03 1.51433930e+02] [ 8.69000487e-01 4.94807486e-01 1.92460208e-03 4.29756698e+01] [-2.27582496e-03 1.07306194e-04 9.99997405e-01 -4.52974394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:151.45, Y:43.00, Z:-0.45 [[ 4.95163516e-01 -8.68798945e-01 1.21910366e-03 1.51448663e+02] [ 8.68796819e-01 4.95165005e-01 1.92475454e-03 4.29989603e+01] [-2.27588218e-03 1.06085157e-04 9.99997405e-01 -4.52857490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.5 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:151.46, Y:43.02, Z:-0.45 [[ 4.97429784e-01 -8.67503386e-01 1.21853766e-03 1.51461960e+02] [ 8.67501256e-01 4.97431266e-01 1.92511280e-03 4.30226246e+01] [-2.27618061e-03 9.94745036e-05 9.99997405e-01 -4.52977412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:151.48, Y:43.05, Z:-0.45 [[ 4.98791747e-01 -8.66721010e-01 1.21829254e-03 1.51475758e+02] [ 8.66718877e-01 4.98793225e-01 1.92526791e-03 4.30466134e+01] [-2.27634621e-03 9.56094011e-05 9.99997405e-01 -4.52428848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:151.49, Y:43.07, Z:-0.45 [[ 5.00258801e-01 -8.65875077e-01 1.21772595e-03 1.51489041e+02] [ 8.65872940e-01 5.00260275e-01 1.92562621e-03 4.30703484e+01] [-2.27653166e-03 9.10844916e-05 9.99997405e-01 -4.52339227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:151.50, Y:43.09, Z:-0.45 [[ 5.01500417e-01 -8.65156546e-01 1.21748077e-03 1.51502063e+02] [ 8.65154407e-01 5.01501887e-01 1.92578121e-03 4.30941034e+01] [-2.27667113e-03 8.75287740e-05 9.99997405e-01 -4.52631361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:151.52, Y:43.12, Z:-0.45 [[ 5.03684150e-01 -8.63887027e-01 1.21723873e-03 1.51515259e+02] [ 8.63884884e-01 5.03685614e-01 1.92593419e-03 4.31189981e+01] [-2.27689520e-03 8.14916118e-05 9.99997405e-01 -4.52130185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:151.53, Y:43.14, Z:-0.45 [[ 5.04961591e-01 -8.63140957e-01 1.21666793e-03 1.51528775e+02] [ 8.63138811e-01 5.04963051e-01 1.92629471e-03 4.31426091e+01] [-2.27703621e-03 7.74484672e-05 9.99997405e-01 -4.54156746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:151.54, Y:43.17, Z:-0.45 [[ 5.06415877e-01 -8.62288513e-01 1.21642095e-03 1.51542199e+02] [ 8.62286364e-01 5.06417333e-01 1.92645066e-03 4.31673920e+01] [-2.27717293e-03 7.33179947e-05 9.99997405e-01 -4.51159223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70999999999998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:151.56, Y:43.19, Z:-0.45 [[ 5.08633139e-01 -8.60982492e-01 1.21587278e-03 1.51555318e+02] [ 8.60980339e-01 5.08634588e-01 1.92679658e-03 4.31916588e+01] [-2.27737307e-03 6.68099678e-05 9.99997405e-01 -4.51385937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73999999999998 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:151.57, Y:43.22, Z:-0.46 [[ 5.11568317e-01 -8.59241747e-01 1.21530920e-03 1.51568814e+02] [ 8.59239588e-01 5.11569758e-01 1.92715199e-03 4.32161770e+01] [-2.27760487e-03 5.83718755e-05 9.99997405e-01 -4.55965462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76999999999998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:151.58, Y:43.24, Z:-0.45 [[ 5.14101632e-01 -8.57728416e-01 1.21513500e-03 1.51582049e+02] [ 8.57726252e-01 5.14103065e-01 1.92726182e-03 4.32412400e+01] [-2.27777185e-03 5.14447471e-05 9.99997405e-01 -4.53624361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79999999999998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:151.59, Y:43.27, Z:-0.46 [[ 5.20218405e-01 -8.54032398e-01 1.21457800e-03 1.51594263e+02] [ 8.54030223e-01 5.20219821e-01 1.92761278e-03 4.32662676e+01] [-2.27809131e-03 3.45066757e-05 9.99997405e-01 -4.55151032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82999999999998 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:151.61, Y:43.29, Z:-0.46 [[ 5.22928916e-01 -8.52375431e-01 1.21401195e-03 1.51608332e+02] [ 8.52373251e-01 5.22930324e-01 1.92796921e-03 4.32905684e+01] [-2.27819725e-03 2.66004669e-05 9.99997405e-01 -4.56161701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85999999999999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:151.62, Y:43.31, Z:-0.46 [[ 5.25089756e-01 -8.51045989e-01 1.21344832e-03 1.51622602e+02] [ 8.51043805e-01 5.25091157e-01 1.92832389e-03 4.33145236e+01] [-2.27826330e-03 2.01545509e-05 9.99997405e-01 -4.56188874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:151.64, Y:43.34, Z:-0.46 [[ 5.27733876e-01 -8.49408903e-01 1.21288834e-03 1.51637467e+02] [ 8.49406714e-01 5.27735270e-01 1.92867605e-03 4.33384329e+01] [-2.27831856e-03 1.24078157e-05 9.99997405e-01 -4.60060385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:151.65, Y:43.36, Z:-0.46 [[ 5.28996277e-01 -8.48623278e-01 1.21271528e-03 1.51651609e+02] [ 8.48621087e-01 5.28997666e-01 1.92878486e-03 4.33624783e+01] [-2.27833528e-03 8.81574790e-06 9.99997405e-01 -4.57509870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:151.67, Y:43.39, Z:-0.46 [[ 5.32193031e-01 -8.46622176e-01 1.21215965e-03 1.51666391e+02] [ 8.46619978e-01 5.32194411e-01 1.92913398e-03 4.33855239e+01] [-2.27835220e-03 -4.33085785e-07 9.99997405e-01 -4.60557125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:151.68, Y:43.41, Z:-0.46 [[ 5.33049420e-01 -8.46083239e-01 1.21198749e-03 1.51682213e+02] [ 8.46081039e-01 5.33050798e-01 1.92924214e-03 4.34098595e+01] [-2.27835034e-03 -2.94176886e-06 9.99997405e-01 -4.57814742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:151.70, Y:43.43, Z:-0.46 [[ 5.33808786e-01 -8.45604348e-01 1.21150959e-03 1.51697447e+02] [ 8.45602146e-01 5.33810160e-01 1.92954220e-03 4.34325236e+01] [-2.27834540e-03 -5.55146830e-06 9.99997405e-01 -4.57274824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:151.71, Y:43.46, Z:-0.46 [[ 5.34330304e-01 -8.45274902e-01 1.21113875e-03 1.51713719e+02] [ 8.45272699e-01 5.34331676e-01 1.92977494e-03 4.34555309e+01] [-2.27834012e-03 -7.39471287e-06 9.99997405e-01 -4.56312438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:151.73, Y:43.48, Z:-0.46 [[ 5.34596603e-01 -8.45106506e-01 1.21059930e-03 1.51730446e+02] [ 8.45104302e-01 5.34597974e-01 1.93011330e-03 4.34787813e+01] [-2.27833523e-03 -8.74933929e-06 9.99997405e-01 -4.56158342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.1 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:151.75, Y:43.50, Z:-0.46 [[ 5.34362399e-01 -8.45254614e-01 1.21013192e-03 1.51745499e+02] [ 8.45252410e-01 5.34363769e-01 1.93040628e-03 4.35029412e+01] [-2.27833547e-03 -8.66960850e-06 9.99997405e-01 -4.56223232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:151.76, Y:43.52, Z:-0.45 [[ 5.33838841e-01 -8.45585376e-01 1.20959690e-03 1.51763700e+02] [ 8.45583172e-01 5.33840212e-01 1.93074147e-03 4.35239398e+01] [-2.27833822e-03 -7.89000530e-06 9.99997405e-01 -4.54920171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:151.78, Y:43.55, Z:-0.46 [[ 5.33061969e-01 -8.46075336e-01 1.20943130e-03 1.51780806e+02] [ 8.46073133e-01 5.33063341e-01 1.93084520e-03 4.35459282e+01] [-2.27834399e-03 -5.99281447e-06 9.99997405e-01 -4.58325954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:151.80, Y:43.57, Z:-0.45 [[ 5.31016638e-01 -8.47360530e-01 1.20889923e-03 1.51797444e+02] [ 8.47358330e-01 5.31018014e-01 1.93117827e-03 4.35685676e+01] [-2.27835151e-03 -1.11695725e-06 9.99997405e-01 -4.54781629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:151.81, Y:43.59, Z:-0.46 [[ 5.28993933e-01 -8.48624745e-01 1.20873481e-03 1.51814721e+02] [ 8.48622547e-01 5.28995314e-01 1.93128118e-03 4.35912314e+01] [-2.27834805e-03 4.12358329e-06 9.99997405e-01 -4.55294145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:151.83, Y:43.61, Z:-0.46 [[ 5.27046949e-01 -8.49835310e-01 1.20821717e-03 1.51832672e+02] [ 8.49833115e-01 5.27048333e-01 1.93160496e-03 4.36135582e+01] [-2.27833494e-03 8.73646144e-06 9.99997405e-01 -4.57926862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:151.85, Y:43.63, Z:-0.46 [[ 5.22394486e-01 -8.52703080e-01 1.20770357e-03 1.51852323e+02] [ 8.52700892e-01 5.22395881e-01 1.93192603e-03 4.36337334e+01] [-2.27825864e-03 2.05824052e-05 9.99997405e-01 -4.55915027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:151.87, Y:43.66, Z:-0.46 [[ 5.20350461e-01 -8.53951954e-01 1.20718893e-03 1.51870014e+02] [ 8.53949769e-01 5.20351861e-01 1.93224755e-03 4.36560979e+01] [-2.27820958e-03 2.54328036e-05 9.99997405e-01 -4.58639886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.89, Y:43.68, Z:-0.46 [[ 5.17863734e-01 -8.55462271e-01 1.20670005e-03 1.51887014e+02] [ 8.55460089e-01 5.17865139e-01 1.93255281e-03 4.36789021e+01] [-2.27813391e-03 3.14847129e-05 9.99997405e-01 -4.56323319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:151.90, Y:43.70, Z:-0.46 [[ 5.15784514e-01 -8.56717503e-01 1.20613948e-03 1.51904241e+02] [ 8.56715323e-01 5.15785923e-01 1.93290261e-03 4.37014364e+01] [-2.27806126e-03 3.63569403e-05 9.99997405e-01 -4.56928301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.4 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:151.92, Y:43.72, Z:-0.46 [[ 5.12026819e-01 -8.58968616e-01 1.20558162e-03 1.51923624e+02] [ 8.58966442e-01 5.12028236e-01 1.93325049e-03 4.37222296e+01] [-2.27789333e-03 4.56780525e-05 9.99997405e-01 -4.56056836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:151.94, Y:43.74, Z:-0.46 [[ 5.10653348e-01 -8.59785849e-01 1.20502162e-03 1.51941114e+02] [ 8.59783676e-01 5.10654767e-01 1.93359948e-03 4.37442116e+01] [-2.27783151e-03 4.86588736e-05 9.99997405e-01 -4.57917489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45999999999998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.96, Y:43.77, Z:-0.46 [[ 5.09178616e-01 -8.60660029e-01 1.20446167e-03 1.51958352e+02] [ 8.60657858e-01 5.09180038e-01 1.93394822e-03 4.37669347e+01] [-2.27775977e-03 5.19043239e-05 9.99997405e-01 -4.56121416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48999999999998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.98, Y:43.79, Z:-0.46 [[ 5.07846664e-01 -8.61446642e-01 1.20390532e-03 1.51977416e+02] [ 8.61444472e-01 5.07848088e-01 1.93429449e-03 4.37884093e+01] [-2.27769251e-03 5.47725813e-05 9.99997405e-01 -4.56180264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:43.81, Z:-0.45 [[ 5.07752158e-01 -8.61502350e-01 1.20334269e-03 1.51993358e+02] [ 8.61500179e-01 5.07753581e-01 1.93464445e-03 4.38101467e+01] [-2.27770230e-03 5.43600533e-05 9.99997405e-01 -4.54334516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:43.83, Z:-0.45 [[ 5.07954687e-01 -8.61382951e-01 1.20311169e-03 1.52010064e+02] [ 8.61380780e-01 5.07956109e-01 1.93478809e-03 4.38325954e+01] [-2.27772141e-03 5.35526085e-05 9.99997405e-01 -4.54763868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:43.86, Z:-0.45 [[ 5.08474878e-01 -8.61075985e-01 1.20259478e-03 1.52027037e+02] [ 8.61073812e-01 5.08476298e-01 1.93510933e-03 4.38553843e+01] [-2.27776711e-03 5.15683859e-05 9.99997405e-01 -4.54771925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:43.88, Z:-0.45 [[ 5.09139889e-01 -8.60682943e-01 1.20203473e-03 1.52043186e+02] [ 8.60680768e-01 5.09141306e-01 1.93545715e-03 4.38778734e+01] [-2.27782049e-03 4.91497387e-05 9.99997405e-01 -4.54165933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:43.90, Z:-0.45 [[ 5.10582347e-01 -8.59828020e-01 1.20146718e-03 1.52059117e+02] [ 8.59825842e-01 5.10583758e-01 1.93580941e-03 4.39002513e+01] [-2.27791280e-03 4.46624207e-05 9.99997405e-01 -4.54238727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:43.92, Z:-0.45 [[ 5.14918754e-01 -8.57238143e-01 1.20122049e-03 1.52076827e+02] [ 8.57235957e-01 5.14920154e-01 1.93596247e-03 4.39224705e+01] [-2.27811351e-03 3.28660152e-05 9.99997405e-01 -4.53063332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:43.95, Z:-0.45 [[ 5.17282969e-01 -8.55813583e-01 1.20065423e-03 1.52092598e+02] [ 8.55811393e-01 5.17284362e-01 1.93631359e-03 4.39450643e+01] [-2.27820313e-03 2.59115246e-05 9.99997405e-01 -4.52847008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:43.97, Z:-0.45 [[ 5.19869398e-01 -8.54244911e-01 1.20009644e-03 1.52108059e+02] [ 8.54242716e-01 5.19870783e-01 1.93665924e-03 4.39675004e+01] [-2.27827638e-03 1.83637642e-05 9.99997405e-01 -4.52918745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:43.99, Z:-0.45 [[ 5.22138424e-01 -8.52859910e-01 1.19985446e-03 1.52123929e+02] [ 8.52857711e-01 5.22139802e-01 1.93680915e-03 4.39904376e+01] [-2.27831865e-03 1.20226478e-05 9.99997405e-01 -4.52606950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:152.14, Y:44.01, Z:-0.45 [[ 5.28230025e-01 -8.49100466e-01 1.19930156e-03 1.52141378e+02] [ 8.49098257e-01 5.28231387e-01 1.93715145e-03 4.40105003e+01] [-2.27834493e-03 -4.93669268e-06 9.99997405e-01 -4.53847657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:44.03, Z:-0.45 [[ 5.29071951e-01 -8.48576136e-01 1.18836950e-03 1.52158029e+02] [ 8.48573909e-01 5.29073285e-01 1.94391443e-03 4.40349689e+01] [-2.27829395e-03 -2.00512453e-05 9.99997404e-01 -4.52293321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:44.06, Z:-0.45 [[ 5.31163153e-01 -8.47268711e-01 1.19849574e-03 1.52174789e+02] [ 8.47266496e-01 5.31164504e-01 1.93765104e-03 4.40578168e+01] [-2.27830950e-03 -1.37635497e-05 9.99997405e-01 -4.52532585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:44.08, Z:-0.45 [[ 5.33201579e-01 -8.45987376e-01 1.19794764e-03 1.52191377e+02] [ 8.45985157e-01 5.33202925e-01 1.93798984e-03 4.40803664e+01] [-2.27826413e-03 -1.98933255e-05 9.99997405e-01 -4.53641728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:44.10, Z:-0.46 [[ 5.36169396e-01 -8.44109558e-01 1.19740212e-03 1.52210816e+02] [ 8.44107333e-01 5.36170732e-01 1.93832684e-03 4.41012948e+01] [-2.27817218e-03 -2.85356226e-05 9.99997405e-01 -4.55881571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:44.12, Z:-0.46 [[ 5.37033101e-01 -8.43560322e-01 1.19684742e-03 1.52228316e+02] [ 8.43558094e-01 5.37034434e-01 1.93866929e-03 4.41231492e+01] [-2.27813276e-03 -3.15192507e-05 9.99997405e-01 -4.57288206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:44.14, Z:-0.46 [[ 5.37377201e-01 -8.43341160e-01 1.19629228e-03 1.52246508e+02] [ 8.43338932e-01 5.37378531e-01 1.93901178e-03 4.41449723e+01] [-2.27811024e-03 -3.31008714e-05 9.99997405e-01 -4.58253252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:44.17, Z:-0.46 [[ 5.37132462e-01 -8.43497059e-01 1.19572339e-03 1.52264661e+02] [ 8.43494830e-01 5.37133792e-01 1.93936253e-03 4.41658005e+01] [-2.27811003e-03 -3.31080726e-05 9.99997405e-01 -4.59281559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:44.19, Z:-0.46 [[ 5.36391097e-01 -8.43968697e-01 1.19547694e-03 1.52283113e+02] [ 8.43966469e-01 5.36392428e-01 1.93951444e-03 4.41862671e+01] [-2.27813426e-03 -3.13958302e-05 9.99997405e-01 -4.59758817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:44.20, Z:-0.46 [[ 5.34319204e-01 -8.45281941e-01 1.19523516e-03 1.52306937e+02] [ 8.45279716e-01 5.34320540e-01 1.93966343e-03 4.42044798e+01] [-2.27820116e-03 -2.60913869e-05 9.99997405e-01 -4.58993048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:44.23, Z:-0.46 [[ 5.33011902e-01 -8.46106899e-01 1.19468917e-03 1.52326211e+02] [ 8.46104676e-01 5.33013240e-01 1.93999966e-03 4.42256245e+01] [-2.27823224e-03 -2.32108206e-05 9.99997405e-01 -4.58030404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:44.25, Z:-0.46 [[ 5.31296689e-01 -8.47184987e-01 1.19412814e-03 1.52345422e+02] [ 8.47182765e-01 5.31298030e-01 1.94034493e-03 4.42471708e+01] [-2.27826902e-03 -1.92540606e-05 9.99997405e-01 -4.57713184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:152.36, Y:44.27, Z:-0.46 [[ 5.30701836e-01 -8.47557748e-01 1.19356981e-03 1.52363884e+02] [ 8.47555526e-01 5.30703178e-01 1.94068832e-03 4.42667555e+01] [-2.27827671e-03 -1.83101660e-05 9.99997405e-01 -4.57595796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:44.29, Z:-0.46 [[ 5.27894207e-01 -8.49309313e-01 1.18198395e-03 1.52387946e+02] [ 8.49307080e-01 5.27895530e-01 1.94780392e-03 4.42874608e+01] [-2.27825205e-03 -2.43670688e-05 9.99997404e-01 -4.58356098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:44.31, Z:-0.46 [[ 5.25983359e-01 -8.50494024e-01 1.19214655e-03 1.52407362e+02] [ 8.50491808e-01 5.25984710e-01 1.94156395e-03 4.43085282e+01] [-2.27833939e-03 -7.31944799e-06 9.99997405e-01 -4.56814142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:44.33, Z:-0.46 [[ 5.25443338e-01 -8.50827761e-01 1.19157736e-03 1.52426801e+02] [ 8.50825545e-01 5.25444689e-01 1.94191321e-03 4.43298946e+01] [-2.27834166e-03 -6.54090473e-06 9.99997405e-01 -4.56556369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:44.35, Z:-0.46 [[ 5.23277259e-01 -8.52161664e-01 1.18696917e-03 1.52451483e+02] [ 8.52159445e-01 5.23278605e-01 1.94473939e-03 4.43489208e+01] [-2.27834793e-03 -6.15091134e-06 9.99997405e-01 -4.56250219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:44.37, Z:-0.46 [[ 5.22411633e-01 -8.52692598e-01 1.19097169e-03 1.52469641e+02] [ 8.52690386e-01 5.22412991e-01 1.94228512e-03 4.43688922e+01] [-2.27835123e-03 8.57768067e-07 9.99997405e-01 -4.55677723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:44.39, Z:-0.45 [[ 5.21490876e-01 -8.53256027e-01 1.19073429e-03 1.52488478e+02] [ 8.53253816e-01 5.21492236e-01 1.94243066e-03 4.43903354e+01] [-2.27834935e-03 3.03871092e-06 9.99997405e-01 -4.54826721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:44.41, Z:-0.45 [[ 5.20385051e-01 -8.53930900e-01 1.19017487e-03 1.52506983e+02] [ 8.53928690e-01 5.20386412e-01 1.94277336e-03 4.44117289e+01] [-2.27834504e-03 5.33425617e-06 9.99997405e-01 -4.53767518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:44.43, Z:-0.45 [[ 5.18948882e-01 -8.54804447e-01 1.18961932e-03 1.52528864e+02] [ 8.54802239e-01 5.18950245e-01 1.94311348e-03 4.44306949e+01] [-2.27833529e-03 8.51268868e-06 9.99997405e-01 -4.53085520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:44.45, Z:-0.45 [[ 5.18048726e-01 -8.55350281e-01 1.18906401e-03 1.52547250e+02] [ 8.55348073e-01 5.18050091e-01 1.94345324e-03 4.44527784e+01] [-2.27832799e-03 1.02601359e-05 9.99997405e-01 -4.53019810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:44.47, Z:-0.45 [[ 5.17334642e-01 -8.55782365e-01 1.18851053e-03 1.52565389e+02] [ 8.55780157e-01 5.17336007e-01 1.94379166e-03 4.44740039e+01] [-2.27832192e-03 1.15129681e-05 9.99997405e-01 -4.52699466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:44.49, Z:-0.45 [[ 5.16490909e-01 -8.56291848e-01 1.18795729e-03 1.52582599e+02] [ 8.56289642e-01 5.16492275e-01 1.94412971e-03 4.44946634e+01] [-2.27831319e-03 1.31102022e-05 9.99997405e-01 -4.53230721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:44.52, Z:-0.45 [[ 5.15730311e-01 -8.56750159e-01 1.18758137e-03 1.52601057e+02] [ 8.56747953e-01 5.15731678e-01 1.94435932e-03 4.45166096e+01] [-2.27830349e-03 1.46928675e-05 9.99997405e-01 -4.53225428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:44.54, Z:-0.45 [[ 5.15396852e-01 -8.56950801e-01 1.18701091e-03 1.52618779e+02] [ 8.56948595e-01 5.15398219e-01 1.94470752e-03 4.45374008e+01] [-2.27830198e-03 1.49112010e-05 9.99997405e-01 -4.52441764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:44.56, Z:-0.45 [[ 5.13051599e-01 -8.58356947e-01 1.18676378e-03 1.52639560e+02] [ 8.58354744e-01 5.13052972e-01 1.94485832e-03 4.45576021e+01] [-2.27825533e-03 2.08516469e-05 9.99997405e-01 -4.54683826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:44.58, Z:-0.46 [[ 5.12021627e-01 -8.58971738e-01 1.18620338e-03 1.52657078e+02] [ 8.58969536e-01 5.12023001e-01 1.94520006e-03 4.45799650e+01] [-2.27823529e-03 2.29280717e-05 9.99997405e-01 -4.55235153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:44.60, Z:-0.46 [[ 5.10498586e-01 -8.59877775e-01 1.18564471e-03 1.52674457e+02] [ 8.59875574e-01 5.10499963e-01 1.94554052e-03 4.46027069e+01] [-2.27819863e-03 2.63112382e-05 9.99997405e-01 -4.55835411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.69, Y:44.63, Z:-0.46 [[ 5.08895260e-01 -8.60827631e-01 1.18508642e-03 1.52691648e+02] [ 8.60825432e-01 5.08896639e-01 1.94588053e-03 4.46253658e+01] [-2.27815422e-03 2.99031494e-05 9.99997405e-01 -4.57659280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:44.65, Z:-0.46 [[ 5.06344228e-01 -8.62330633e-01 1.18452908e-03 1.52712327e+02] [ 8.62328437e-01 5.06345612e-01 1.94621975e-03 4.46458785e+01] [-2.27806601e-03 3.59959743e-05 9.99997405e-01 -4.55819793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:44.67, Z:-0.46 [[ 5.04805136e-01 -8.63232514e-01 1.18396111e-03 1.52729337e+02] [ 8.63230320e-01 5.04806523e-01 1.94656520e-03 4.46675330e+01] [-2.27800966e-03 3.93950212e-05 9.99997405e-01 -4.56174751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:44.69, Z:-0.46 [[ 5.03048313e-01 -8.64257481e-01 1.18357578e-03 1.52746296e+02] [ 8.64255290e-01 5.03049703e-01 1.94679947e-03 4.46904917e+01] [-2.27793345e-03 4.35774399e-05 9.99997405e-01 -4.55542412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:44.71, Z:-0.46 [[ 5.01473145e-01 -8.65172402e-01 1.18301137e-03 1.52762263e+02] [ 8.65170212e-01 5.01474538e-01 1.94714238e-03 4.47120588e+01] [-2.27786393e-03 4.70665826e-05 9.99997405e-01 -4.55424183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:44.73, Z:-0.46 [[ 4.98724561e-01 -8.66759721e-01 1.18278019e-03 1.52779894e+02] [ 8.66757535e-01 4.98725960e-01 1.94728280e-03 4.47332310e+01] [-2.27770948e-03 5.40258879e-05 9.99997405e-01 -4.55018685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:44.76, Z:-0.45 [[ 4.97784615e-01 -8.67299878e-01 1.18246264e-03 1.52796133e+02] [ 8.67297693e-01 4.97786017e-01 1.94747561e-03 4.47559987e+01] [-2.27765873e-03 5.61237216e-05 9.99997405e-01 -4.54680682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:44.78, Z:-0.46 [[ 4.97041959e-01 -8.67725702e-01 1.18189959e-03 1.52812440e+02] [ 8.67723518e-01 4.97043361e-01 1.94781726e-03 4.47793672e+01] [-2.27762644e-03 5.74151656e-05 9.99997405e-01 -4.55139651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:44.80, Z:-0.46 [[ 4.96955899e-01 -8.67774993e-01 1.18133974e-03 1.52827636e+02] [ 8.67772808e-01 4.96957300e-01 1.94815674e-03 4.48014341e+01] [-2.27763711e-03 5.69865203e-05 9.99997405e-01 -4.56160487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:44.82, Z:-0.46 [[ 4.97855995e-01 -8.67258908e-01 1.18103110e-03 1.52843797e+02] [ 8.67256721e-01 4.97857393e-01 1.94834384e-03 4.48239559e+01] [-2.27770361e-03 5.42624991e-05 9.99997405e-01 -4.55643919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:44.85, Z:-0.46 [[ 4.99017428e-01 -8.66591150e-01 1.17694151e-03 1.52862643e+02] [ 8.66588956e-01 4.99018814e-01 1.95082291e-03 4.48502235e+01] [-2.27788182e-03 4.64298847e-05 9.99997405e-01 -4.59499941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:44.87, Z:-0.46 [[ 4.98570629e-01 -8.66848259e-01 1.19337933e-03 1.52875020e+02] [ 8.66846089e-01 4.98572053e-01 1.94085624e-03 4.48735267e+01] [-2.27741344e-03 6.68222885e-05 9.99997404e-01 -4.57774702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:44.90, Z:-0.46 [[ 4.98331524e-01 -8.66985755e-01 1.18046830e-03 1.52889744e+02] [ 8.66983566e-01 4.98332919e-01 1.94867748e-03 4.48979683e+01] [-2.27774183e-03 5.23591977e-05 9.99997405e-01 -4.57836924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:44.92, Z:-0.46 [[ 5.00003603e-01 -8.66022520e-01 1.17993074e-03 1.52906498e+02] [ 8.66020328e-01 5.00004993e-01 1.94900292e-03 4.49228400e+01] [-2.27785168e-03 4.73355254e-05 9.99997405e-01 -4.59697612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:44.95, Z:-0.46 [[ 5.02157866e-01 -8.64775155e-01 1.18725072e-03 1.52920494e+02] [ 8.64772970e-01 5.02159267e-01 1.94457155e-03 4.49463067e+01] [-2.27780612e-03 5.02204335e-05 9.99997405e-01 -4.57868619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:44.97, Z:-0.46 [[ 5.03478648e-01 -8.64006863e-01 1.17939353e-03 1.52935036e+02] [ 8.64004665e-01 5.03480028e-01 1.94932536e-03 4.49698742e+01] [-2.27803158e-03 3.75578162e-05 9.99997405e-01 -4.57353029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:44.99, Z:-0.46 [[ 5.04923746e-01 -8.63163148e-01 1.17883073e-03 1.52949569e+02] [ 8.63160947e-01 5.04925121e-01 1.94966565e-03 4.49941439e+01] [-2.27810079e-03 3.30881628e-05 9.99997405e-01 -4.57367661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:45.02, Z:-0.46 [[ 5.06578506e-01 -8.62193035e-01 1.17826937e-03 1.52963998e+02] [ 8.62190830e-01 5.06579875e-01 1.95000484e-03 4.50185742e+01] [-2.27816815e-03 2.80625087e-05 9.99997405e-01 -4.57285365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:45.04, Z:-0.46 [[ 5.08201972e-01 -8.61237115e-01 1.17770672e-03 1.52978512e+02] [ 8.61234907e-01 5.08203336e-01 1.95034460e-03 4.50426252e+01] [-2.27822364e-03 2.31131663e-05 9.99997405e-01 -4.57646333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:45.07, Z:-0.46 [[ 5.10906618e-01 -8.59635412e-01 1.17714164e-03 1.52993425e+02] [ 8.59633199e-01 5.10907974e-01 1.95068560e-03 4.50663466e+01] [-2.27828947e-03 1.52918478e-05 9.99997405e-01 -4.57578930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:45.09, Z:-0.46 [[ 5.11444280e-01 -8.59315637e-01 1.17658019e-03 1.53008047e+02] [ 8.59313423e-01 5.11445633e-01 1.95102418e-03 4.50901968e+01] [-2.27830239e-03 1.32109952e-05 9.99997405e-01 -4.57762350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:45.11, Z:-0.46 [[ 5.11885240e-01 -8.59053036e-01 1.17602033e-03 1.53022306e+02] [ 8.59050819e-01 5.11886591e-01 1.95136159e-03 4.51128836e+01] [-2.27831214e-03 1.13880334e-05 9.99997405e-01 -4.57752551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:45.14, Z:-0.46 [[ 5.11795752e-01 -8.59106353e-01 1.17571028e-03 1.53036697e+02] [ 8.59104137e-01 5.11797102e-01 1.95154838e-03 4.51359822e+01] [-2.27831273e-03 1.12633942e-05 9.99997405e-01 -4.57817024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:45.16, Z:-0.46 [[ 5.10178221e-01 -8.60067905e-01 1.17540715e-03 1.53051431e+02] [ 8.60065691e-01 5.10179574e-01 1.95173094e-03 4.51586187e+01] [-2.27828986e-03 1.51967501e-05 9.99997405e-01 -4.58728258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:45.18, Z:-0.46 [[ 5.08553711e-01 -8.61029466e-01 1.17511391e-03 1.53066375e+02] [ 8.61027254e-01 5.08555069e-01 1.95190748e-03 4.51817913e+01] [-2.27825999e-03 1.91553056e-05 9.99997405e-01 -4.58436555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:45.20, Z:-0.46 [[ 5.06546045e-01 -8.62212111e-01 1.17454537e-03 1.53081249e+02] [ 8.62209901e-01 5.06547406e-01 1.95224954e-03 4.52049308e+01] [-2.27821610e-03 2.38003621e-05 9.99997405e-01 -4.58979157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:45.23, Z:-0.46 [[ 5.04237557e-01 -8.63564188e-01 1.17429898e-03 1.53096245e+02] [ 8.63561981e-01 5.04238924e-01 1.95239773e-03 4.52283214e+01] [-2.27814801e-03 2.96076942e-05 9.99997405e-01 -4.58505815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:45.25, Z:-0.46 [[ 4.99342513e-01 -8.66403877e-01 1.17374296e-03 1.53111982e+02] [ 8.66401677e-01 4.99343890e-01 1.95273194e-03 4.52520080e+01] [-2.27795590e-03 4.18507908e-05 9.99997405e-01 -4.56584054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:45.28, Z:-0.46 [[ 4.96472885e-01 -8.68051437e-01 1.17319018e-03 1.53126761e+02] [ 8.68049242e-01 4.96474269e-01 1.95306399e-03 4.52755444e+01] [-2.27781874e-03 4.87435323e-05 9.99997405e-01 -4.55886430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:45.30, Z:-0.46 [[ 4.93350568e-01 -8.69829778e-01 1.17263050e-03 1.53141910e+02] [ 8.69827586e-01 4.93351958e-01 1.95339997e-03 4.52996299e+01] [-2.27764501e-03 5.62753767e-05 9.99997405e-01 -4.55765202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:45.32, Z:-0.46 [[ 4.87282952e-01 -8.73243352e-01 1.17207115e-03 1.53156796e+02] [ 8.73241169e-01 4.87284356e-01 1.95373553e-03 4.53236723e+01] [-2.27721850e-03 7.14787631e-05 9.99997405e-01 -4.57189501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:45.35, Z:-0.46 [[ 4.84216784e-01 -8.74947275e-01 1.17155679e-03 1.53171098e+02] [ 8.74945096e-01 4.84218195e-01 1.95404392e-03 4.53481009e+01] [-2.27697451e-03 7.88670068e-05 9.99997405e-01 -4.57518299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:45.37, Z:-0.46 [[ 4.81616067e-01 -8.76381534e-01 1.17099620e-03 1.53184870e+02] [ 8.76379359e-01 4.81617483e-01 1.95437980e-03 4.53718357e+01] [-2.27675461e-03 8.49761893e-05 9.99997405e-01 -4.58630306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:45.40, Z:-0.46 [[ 4.79135717e-01 -8.77740049e-01 1.17069285e-03 1.53198604e+02] [ 8.77737878e-01 4.79137138e-01 1.95456149e-03 4.53962367e+01] [-2.27651932e-03 9.10612407e-05 9.99997405e-01 -4.58562085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:45.42, Z:-0.46 [[ 4.77443565e-01 -8.78661638e-01 1.17015069e-03 1.53212248e+02] [ 8.78659468e-01 4.77444989e-01 1.95488602e-03 4.54202759e+01] [-2.27636593e-03 9.48162317e-05 9.99997405e-01 -4.57808681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:45.44, Z:-0.46 [[ 4.76663740e-01 -8.79084928e-01 1.16958472e-03 1.53224523e+02] [ 8.79082759e-01 4.76665165e-01 1.95522457e-03 4.54449893e+01] [-2.27630875e-03 9.61771040e-05 9.99997405e-01 -4.57002622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:45.47, Z:-0.46 [[ 4.77230099e-01 -8.78777597e-01 1.16932757e-03 1.53237025e+02] [ 8.78775427e-01 4.77231522e-01 1.95537835e-03 4.54689928e+01] [-2.27638266e-03 9.44109263e-05 9.99997405e-01 -4.57015966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:45.49, Z:-0.46 [[ 4.78440627e-01 -8.78119127e-01 1.16894900e-03 1.53249790e+02] [ 8.78116954e-01 4.78442046e-01 1.95560463e-03 4.54942313e+01] [-2.27652819e-03 9.08332320e-05 9.99997405e-01 -4.56664822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:45.52, Z:-0.46 [[ 4.80035993e-01 -8.77248015e-01 1.16839405e-03 1.53262231e+02] [ 8.77245839e-01 4.80037407e-01 1.95593614e-03 4.55191911e+01] [-2.27671395e-03 8.60490747e-05 9.99997405e-01 -4.56589780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:45.55, Z:-0.46 [[ 4.83671647e-01 -8.75248750e-01 1.16783474e-03 1.53272503e+02] [ 8.75246567e-01 4.83673051e-01 1.95627003e-03 4.55453798e+01] [-2.27707309e-03 7.59509968e-05 9.99997405e-01 -4.56567411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:45.57, Z:-0.46 [[ 4.85159635e-01 -8.74424820e-01 1.16728007e-03 1.53284520e+02] [ 8.74422634e-01 4.85161034e-01 1.95660094e-03 4.55704290e+01] [-2.27721923e-03 7.14323205e-05 9.99997405e-01 -4.56263407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:45.59, Z:-0.46 [[ 4.86224693e-01 -8.73833043e-01 1.16671890e-03 1.53295757e+02] [ 8.73830854e-01 4.86226088e-01 1.95693551e-03 4.55947751e+01] [-2.27732408e-03 6.80046035e-05 9.99997405e-01 -4.56532114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:45.62, Z:-0.46 [[ 4.87125343e-01 -8.73331289e-01 1.16640556e-03 1.53307781e+02] [ 8.73329098e-01 4.87126735e-01 1.95712225e-03 4.56198178e+01] [-2.27740343e-03 6.52920653e-05 9.99997405e-01 -4.56298877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:45.64, Z:-0.46 [[ 4.88200203e-01 -8.72730888e-01 1.16583521e-03 1.53317825e+02] [ 8.72728695e-01 4.88201591e-01 1.95746195e-03 4.56448298e+01] [-2.27750011e-03 6.18245214e-05 9.99997405e-01 -4.57043571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:45.67, Z:-0.46 [[ 4.88298249e-01 -8.72676034e-01 1.16558780e-03 1.53329909e+02] [ 8.72673841e-01 4.88299637e-01 1.95760925e-03 4.56689226e+01] [-2.27751478e-03 6.12808120e-05 9.99997405e-01 -4.57611354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:45.69, Z:-0.46 [[ 4.88727247e-01 -8.72435855e-01 1.16520364e-03 1.53342106e+02] [ 8.72433660e-01 4.88728632e-01 1.95783789e-03 4.56932047e+01] [-2.27755635e-03 5.97141595e-05 9.99997405e-01 -4.58308868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:45.72, Z:-0.46 [[ 4.89223732e-01 -8.72157545e-01 1.16482461e-03 1.53354468e+02] [ 8.72155349e-01 4.89225115e-01 1.95806337e-03 4.57183588e+01] [-2.27760119e-03 5.79769402e-05 9.99997405e-01 -4.58783838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:45.74, Z:-0.46 [[ 4.92315163e-01 -8.70416237e-01 1.16426957e-03 1.53364317e+02] [ 8.70414035e-01 4.92316537e-01 1.95839334e-03 4.57437829e+01] [-2.27780652e-03 4.92498394e-05 9.99997405e-01 -4.60113347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:45.77, Z:-0.46 [[ 4.94171187e-01 -8.69363838e-01 1.16397272e-03 1.53377073e+02] [ 8.69361633e-01 4.94172556e-01 1.95856976e-03 4.57693578e+01] [-2.27791310e-03 4.40444833e-05 9.99997405e-01 -4.60757195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:45.79, Z:-0.46 [[ 4.96285392e-01 -8.68158659e-01 1.16342349e-03 1.53389859e+02] [ 8.68156449e-01 4.96286754e-01 1.95889596e-03 4.57947526e+01] [-2.27802415e-03 3.78621597e-05 9.99997405e-01 -4.60429390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:45.82, Z:-0.46 [[ 5.00964428e-01 -8.65467093e-01 1.16285227e-03 1.53400680e+02] [ 8.65464876e-01 5.00965777e-01 1.95923499e-03 4.58196823e+01] [-2.27820260e-03 2.49007556e-05 9.99997405e-01 -4.61266620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:45.84, Z:-0.46 [[ 5.03218617e-01 -8.64158361e-01 1.16260477e-03 1.53413754e+02] [ 8.64156139e-01 5.03219960e-01 1.95938185e-03 4.58445841e+01] [-2.27826213e-03 1.86746238e-05 9.99997405e-01 -4.61270290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:45.87, Z:-0.46 [[ 5.05253224e-01 -8.62970353e-01 1.16205025e-03 1.53427092e+02] [ 8.62968128e-01 5.05254560e-01 1.95971066e-03 4.58694147e+01] [-2.27830338e-03 1.26621974e-05 9.99997405e-01 -4.61330286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:45.89, Z:-0.46 [[ 5.07608569e-01 -8.61587019e-01 1.16150023e-03 1.53440456e+02] [ 8.61584790e-01 5.07609898e-01 1.96003659e-03 4.58936017e+01] [-2.27833110e-03 5.79955907e-06 9.99997405e-01 -4.61328160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:45.92, Z:-0.46 [[ 5.09673831e-01 -8.60366920e-01 1.16095132e-03 1.53454278e+02] [ 8.60364687e-01 5.09675154e-01 1.96036166e-03 4.59179879e+01] [-2.27833837e-03 -3.03518998e-07 9.99997405e-01 -4.61067518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:45.94, Z:-0.46 [[ 5.12018269e-01 -8.58973775e-01 1.16039475e-03 1.53467935e+02] [ 8.58971537e-01 5.12019584e-01 1.96069106e-03 4.59409372e+01] [-2.27832704e-03 -7.16358644e-06 9.99997405e-01 -4.61117377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:45.96, Z:-0.46 [[ 5.16736490e-01 -8.56143711e-01 1.16008699e-03 1.53483137e+02] [ 8.56141466e-01 5.16737792e-01 1.96087313e-03 4.59639382e+01] [-2.27824999e-03 -2.00561224e-05 9.99997405e-01 -4.61201692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:45.99, Z:-0.46 [[ 5.19112560e-01 -8.54705099e-01 1.15952290e-03 1.53498134e+02] [ 8.54702849e-01 5.19113854e-01 1.96120664e-03 4.59871246e+01] [-2.27817772e-03 -2.70394696e-05 9.99997405e-01 -4.61279105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.4 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:153.51, Y:46.01, Z:-0.46 [[ 5.20951159e-01 -8.53585700e-01 1.15895324e-03 1.53513207e+02] [ 8.53583447e-01 5.20952447e-01 1.96154322e-03 4.60110499e+01] [-2.27810477e-03 -3.26049087e-05 9.99997405e-01 -4.64716656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:46.03, Z:-0.46 [[ 5.23176352e-01 -8.52223658e-01 1.15838001e-03 1.53529344e+02] [ 8.52221400e-01 5.23177633e-01 1.96188168e-03 4.60343825e+01] [-2.27800049e-03 -3.92138656e-05 9.99997405e-01 -4.60911208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:46.06, Z:-0.46 [[ 5.24674201e-01 -8.51302321e-01 1.15780588e-03 1.53544976e+02] [ 8.51300061e-01 5.24675476e-01 1.96222044e-03 4.60564406e+01] [-2.27791517e-03 -4.38862277e-05 9.99997405e-01 -4.60313393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:46.08, Z:-0.46 [[ 5.25915254e-01 -8.50536187e-01 1.15755985e-03 1.53564145e+02] [ 8.50533925e-01 5.25916526e-01 1.96236557e-03 4.60767222e+01] [-2.27784279e-03 -4.74940632e-05 9.99997405e-01 -4.58934909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51999999999998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:153.58, Y:46.10, Z:-0.46 [[ 5.25391743e-01 -8.50859669e-01 1.15731509e-03 1.53580825e+02] [ 8.50857407e-01 5.25393016e-01 1.96250991e-03 4.60990916e+01] [-2.27786580e-03 -4.63763858e-05 9.99997405e-01 -4.63104932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.60, Y:46.12, Z:-0.46 [[ 5.25806766e-01 -8.50603261e-01 1.15675102e-03 1.53598418e+02] [ 8.50600997e-01 5.25808036e-01 1.96284233e-03 4.61217363e+01] [-2.27782907e-03 -4.81422049e-05 9.99997405e-01 -4.58365765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:46.14, Z:-0.46 [[ 5.26005483e-01 -8.50480391e-01 1.15617930e-03 1.53615214e+02] [ 8.50478126e-01 5.26006751e-01 1.96317904e-03 4.61433616e+01] [-2.27780339e-03 -4.93377334e-05 9.99997405e-01 -4.58148017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:46.17, Z:-0.46 [[ 5.25650600e-01 -8.50699777e-01 1.15593175e-03 1.53632297e+02] [ 8.50697513e-01 5.25651869e-01 1.96332478e-03 4.61655857e+01] [-2.27781764e-03 -4.86745905e-05 9.99997405e-01 -4.58142368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.65, Y:46.19, Z:-0.46 [[ 5.25498906e-01 -8.50793492e-01 1.15536433e-03 1.53653354e+02] [ 8.50791227e-01 5.25500173e-01 1.96365864e-03 4.61855433e+01] [-2.27781214e-03 -4.89266311e-05 9.99997405e-01 -4.59577829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:46.21, Z:-0.46 [[ 5.25747819e-01 -8.50639699e-01 1.15479222e-03 1.53670677e+02] [ 8.50637433e-01 5.25749085e-01 1.96399503e-03 4.62063365e+01] [-2.27778309e-03 -5.02566110e-05 9.99997405e-01 -4.58913535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:46.23, Z:-0.46 [[ 5.25777487e-01 -8.50621362e-01 1.15447653e-03 1.53688938e+02] [ 8.50619096e-01 5.25778752e-01 1.96418058e-03 4.62282945e+01] [-2.27777319e-03 -5.07021473e-05 9.99997405e-01 -4.58988762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:46.25, Z:-0.46 [[ 5.26477149e-01 -8.50188497e-01 1.15392127e-03 1.53711537e+02] [ 8.50186229e-01 5.26478411e-01 1.96450673e-03 4.62479539e+01] [-2.27771566e-03 -5.32199349e-05 9.99997405e-01 -4.59064388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:46.27, Z:-0.46 [[ 5.26732699e-01 -8.50030195e-01 1.15336916e-03 1.53729606e+02] [ 8.50027926e-01 5.26733959e-01 1.96483082e-03 4.62698371e+01] [-2.27768423e-03 -5.45446432e-05 9.99997405e-01 -4.58723855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:46.29, Z:-0.46 [[ 5.27032787e-01 -8.49844170e-01 1.15280500e-03 1.53747793e+02] [ 8.49841899e-01 5.27034045e-01 1.96516177e-03 4.62915717e+01] [-2.27764875e-03 -5.60026984e-05 9.99997405e-01 -4.58973621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:46.31, Z:-0.46 [[ 5.27060813e-01 -8.49826789e-01 1.15224248e-03 1.53765675e+02] [ 8.49824518e-01 5.27062069e-01 1.96549154e-03 4.63130405e+01] [-2.27763067e-03 -5.67296556e-05 9.99997405e-01 -4.59615365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:46.33, Z:-0.46 [[ 5.26593418e-01 -8.50116490e-01 1.15168169e-03 1.53788070e+02] [ 8.50114219e-01 5.26594674e-01 1.96582008e-03 4.63327640e+01] [-2.27764551e-03 -5.61269385e-05 9.99997405e-01 -4.60381718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:46.35, Z:-0.46 [[ 5.25976665e-01 -8.50498220e-01 1.15111695e-03 1.53806550e+02] [ 8.50495949e-01 5.25977922e-01 1.96615072e-03 4.63541599e+01] [-2.27766979e-03 -5.51290919e-05 9.99997405e-01 -4.60559798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:46.38, Z:-0.46 [[ 5.25729303e-01 -8.50651148e-01 1.15054521e-03 1.53820910e+02] [ 8.50648877e-01 5.25730559e-01 1.96648523e-03 4.63788364e+01] [-2.27766969e-03 -5.51289210e-05 9.99997405e-01 -4.60624693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:46.40, Z:-0.46 [[ 5.24868340e-01 -8.51182650e-01 1.14997322e-03 1.53839841e+02] [ 8.51180379e-01 5.24869597e-01 1.96681966e-03 4.64003563e+01] [-2.27770875e-03 -5.34867319e-05 9.99997405e-01 -4.61030634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:46.42, Z:-0.46 [[ 5.23854990e-01 -8.51806685e-01 1.14940207e-03 1.53858947e+02] [ 8.51804415e-01 5.23856249e-01 1.96715338e-03 4.64215094e+01] [-2.27775586e-03 -5.14373565e-05 9.99997405e-01 -4.60764507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:46.44, Z:-0.46 [[ 5.22620879e-01 -8.52564424e-01 1.14881423e-03 1.53877607e+02] [ 8.52562155e-01 5.22622140e-01 1.96749662e-03 4.64424736e+01] [-2.27781338e-03 -4.88192810e-05 9.99997405e-01 -4.61524762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:46.46, Z:-0.46 [[ 5.21403690e-01 -8.53309365e-01 1.14849369e-03 1.53896141e+02] [ 8.53307098e-01 5.21404953e-01 1.96768371e-03 4.64629448e+01] [-2.27787324e-03 -4.59397291e-05 9.99997405e-01 -4.62192294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:46.48, Z:-0.46 [[ 5.14574456e-01 -8.57444932e-01 1.14819148e-03 1.53911592e+02] [ 8.57442674e-01 5.14575736e-01 1.96786005e-03 4.64789347e+01] [-2.27816310e-03 -2.81021434e-05 9.99997405e-01 -4.64362902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:46.50, Z:-0.46 [[ 5.18784617e-01 -8.54904255e-01 1.11186332e-03 1.53939362e+02] [ 8.54901945e-01 5.18785802e-01 1.98903253e-03 4.65027850e+01] [-2.27725127e-03 -8.13453663e-05 9.99997404e-01 -4.61571201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:46.52, Z:-0.46 [[ 5.18222740e-01 -8.55244921e-01 1.14796559e-03 1.53958618e+02] [ 8.55242657e-01 5.18224010e-01 1.96797322e-03 4.65243395e+01] [-2.27800243e-03 -3.80593327e-05 9.99997405e-01 -4.61187326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:46.54, Z:-0.46 [[ 5.17848914e-01 -8.55471324e-01 1.14739411e-03 1.53976669e+02] [ 8.55469060e-01 5.17850184e-01 1.96830635e-03 4.65446379e+01] [-2.27800789e-03 -3.77251496e-05 9.99997405e-01 -4.60969480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:46.56, Z:-0.46 [[ 5.18057496e-01 -8.55345027e-01 1.14707736e-03 1.53999557e+02] [ 8.55342763e-01 5.18058765e-01 1.96849093e-03 4.65630207e+01] [-2.27799241e-03 -3.86471599e-05 9.99997405e-01 -4.59537474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:46.58, Z:-0.46 [[ 5.18506814e-01 -8.55072727e-01 1.14675316e-03 1.54017758e+02] [ 8.55070462e-01 5.18508081e-01 1.96867978e-03 4.65849153e+01] [-2.27796516e-03 -4.02191261e-05 9.99997405e-01 -4.58504136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23999999999998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:154.04, Y:46.60, Z:-0.46 [[ 5.20118408e-01 -8.54093395e-01 1.14618732e-03 1.54038572e+02] [ 8.54091127e-01 5.20119669e-01 1.96900916e-03 4.66049056e+01] [-2.27787229e-03 -4.51694911e-05 9.99997405e-01 -4.61125986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:46.63, Z:-0.46 [[ 5.22047071e-01 -8.52915907e-01 1.14560324e-03 1.54055980e+02] [ 8.52913635e-01 5.22048325e-01 1.96934893e-03 4.66263385e+01] [-2.27774928e-03 -5.09922154e-05 9.99997405e-01 -4.58951407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:46.65, Z:-0.46 [[ 5.23481036e-01 -8.52036556e-01 1.14528098e-03 1.54073464e+02] [ 8.52034282e-01 5.23482286e-01 1.96953632e-03 4.66479893e+01] [-2.27765125e-03 -5.51962612e-05 9.99997405e-01 -4.60170232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:46.67, Z:-0.46 [[ 5.24756686e-01 -8.51251496e-01 1.14497090e-03 1.54091058e+02] [ 8.51249219e-01 5.24757932e-01 1.96971657e-03 4.66691714e+01] [-2.27755674e-03 -5.89663550e-05 9.99997405e-01 -4.61257228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:46.69, Z:-0.46 [[ 5.22930039e-01 -8.52374838e-01 1.14467657e-03 1.54107113e+02] [ 8.52372563e-01 5.22931289e-01 1.96988760e-03 4.66878452e+01] [-2.27766982e-03 -5.44224916e-05 9.99997405e-01 -4.64837730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:46.71, Z:-0.46 [[ 5.23478848e-01 -8.52037939e-01 1.11596813e-03 1.54126268e+02] [ 8.52035628e-01 5.23480030e-01 1.98655452e-03 4.67099895e+01] [-2.27680685e-03 -8.90746640e-05 9.99997404e-01 -4.64133950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:46.73, Z:-0.46 [[ 5.26379834e-01 -8.50248799e-01 1.11778146e-03 1.54150680e+02] [ 8.50246486e-01 5.26381012e-01 1.98550211e-03 4.67325323e+01] [-2.27654972e-03 -9.47385120e-05 9.99997404e-01 -4.62060908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:46.75, Z:-0.46 [[ 5.25791582e-01 -8.50612663e-01 1.14405266e-03 1.54169146e+02] [ 8.50610384e-01 5.25792823e-01 1.97024736e-03 4.67544645e+01] [-2.27745203e-03 -6.27964017e-05 9.99997405e-01 -4.62250246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:46.77, Z:-0.46 [[ 5.23914564e-01 -8.51770053e-01 1.14348637e-03 1.54193010e+02] [ 8.51767775e-01 5.23915808e-01 1.97057597e-03 4.67745485e+01] [-2.27756818e-03 -5.84286053e-05 9.99997405e-01 -4.62527333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:46.80, Z:-0.46 [[ 5.22678610e-01 -8.52529040e-01 1.14320208e-03 1.54211995e+02] [ 8.52526764e-01 5.22679857e-01 1.97074088e-03 4.67961218e+01] [-2.27764253e-03 -5.54537392e-05 9.99997405e-01 -4.61962322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.23, Y:46.82, Z:-0.46 [[ 5.21405060e-01 -8.53308536e-01 1.14261733e-03 1.54230088e+02] [ 8.53306261e-01 5.21406310e-01 1.97107985e-03 4.68164633e+01] [-2.27770715e-03 -5.27284870e-05 9.99997405e-01 -4.62712079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:46.84, Z:-0.46 [[ 5.19865549e-01 -8.54247333e-01 1.14230187e-03 1.54248460e+02] [ 8.54245060e-01 5.19866801e-01 1.97126266e-03 4.68377086e+01] [-2.27779069e-03 -4.89858089e-05 9.99997405e-01 -4.61126954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:46.86, Z:-0.46 [[ 5.16300736e-01 -8.56406589e-01 1.14196768e-03 1.54263543e+02] [ 8.56404321e-01 5.16301997e-01 1.97145623e-03 4.68590576e+01] [-2.27796831e-03 -3.98782440e-05 9.99997405e-01 -4.59572041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:46.88, Z:-0.46 [[ 5.17138038e-01 -8.55901271e-01 1.12422812e-03 1.54289674e+02] [ 8.55898979e-01 5.17139256e-01 1.98171942e-03 4.68799022e+01] [-2.27753867e-03 -6.25967989e-05 9.99997404e-01 -4.57538053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:46.90, Z:-0.46 [[ 5.17099658e-01 -8.55924436e-01 1.14121447e-03 1.54306784e+02] [ 8.55922166e-01 5.17100916e-01 1.97188871e-03 4.69016544e+01] [-2.27791078e-03 -4.28722208e-05 9.99997405e-01 -4.56995390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:46.92, Z:-0.46 [[ 5.17302352e-01 -8.55801948e-01 1.14084127e-03 1.54323959e+02] [ 8.55799677e-01 5.17303608e-01 1.97210460e-03 4.69241438e+01] [-2.27789227e-03 -4.38427612e-05 9.99997405e-01 -4.56535496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:46.95, Z:-0.46 [[ 5.16371703e-01 -8.56363804e-01 1.14028329e-03 1.54338585e+02] [ 8.56361533e-01 5.16372960e-01 1.97242718e-03 4.69464281e+01] [-2.27792670e-03 -4.20108350e-05 9.99997405e-01 -4.58049396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.36, Y:46.97, Z:-0.46 [[ 5.18877802e-01 -8.54847676e-01 1.13010810e-03 1.54358373e+02] [ 8.54845389e-01 5.18879029e-01 1.97830478e-03 4.69698249e+01] [-2.27753864e-03 -6.04307392e-05 9.99997405e-01 -4.57274046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:46.99, Z:-0.46 [[ 5.22830093e-01 -8.52436153e-01 1.13937406e-03 1.54377651e+02] [ 8.52433872e-01 5.22831331e-01 1.97295372e-03 4.69914584e+01] [-2.27751754e-03 -6.02785391e-05 9.99997405e-01 -4.57082109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:47.01, Z:-0.46 [[ 5.24676330e-01 -8.51301035e-01 1.13880811e-03 1.54393290e+02] [ 8.51298751e-01 5.24677561e-01 1.97328034e-03 4.70132921e+01] [-2.27736266e-03 -6.58675639e-05 9.99997405e-01 -4.58124652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:47.04, Z:-0.46 [[ 5.26165533e-01 -8.50381406e-01 1.13831382e-03 1.54409633e+02] [ 8.50379119e-01 5.26166760e-01 1.97356544e-03 4.70366012e+01] [-2.27722625e-03 -7.04238040e-05 9.99997405e-01 -4.59168727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:154.43, Y:47.06, Z:-0.46 [[ 5.26816920e-01 -8.49978022e-01 1.13776307e-03 1.54425727e+02] [ 8.49975733e-01 5.26818144e-01 1.97388289e-03 4.70597300e+01] [-2.27715131e-03 -7.28039050e-05 9.99997405e-01 -4.64235094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:47.08, Z:-0.46 [[ 5.28482737e-01 -8.48943287e-01 1.13722092e-03 1.54442572e+02] [ 8.48940995e-01 5.28483954e-01 1.97419520e-03 4.70821828e+01] [-2.27698277e-03 -7.78946257e-05 9.99997405e-01 -4.60979039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:47.11, Z:-0.46 [[ 5.29160374e-01 -8.48521070e-01 1.13666248e-03 1.54459363e+02] [ 8.48518777e-01 5.29161588e-01 1.97451667e-03 4.71054756e+01] [-2.27689712e-03 -8.03565188e-05 9.99997405e-01 -4.61326179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:47.13, Z:-0.46 [[ 5.29372637e-01 -8.48388661e-01 1.13609960e-03 1.54478192e+02] [ 8.48386367e-01 5.29373849e-01 1.97484049e-03 4.71259023e+01] [-2.27685370e-03 -8.15751031e-05 9.99997405e-01 -4.62316122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:47.15, Z:-0.46 [[ 5.28407323e-01 -8.48990230e-01 1.13559955e-03 1.54494812e+02] [ 8.48987937e-01 5.28408538e-01 1.97512799e-03 4.71485068e+01] [-2.27692487e-03 -7.95617758e-05 9.99997405e-01 -4.62031542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:154.51, Y:47.17, Z:-0.46 [[ 5.26518248e-01 -8.50163070e-01 1.13503573e-03 1.54511153e+02] [ 8.50160779e-01 5.26519466e-01 1.97545195e-03 4.71712392e+01] [-2.27707470e-03 -7.51486415e-05 9.99997405e-01 -4.64562236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:47.19, Z:-0.46 [[ 5.22664991e-01 -8.52537401e-01 1.13446416e-03 1.54531789e+02] [ 8.52535114e-01 5.22666218e-01 1.97578013e-03 4.71913889e+01] [-2.27737255e-03 -6.55005704e-05 9.99997405e-01 -4.60440468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:47.21, Z:-0.46 [[ 5.18453724e-01 -8.55104935e-01 1.13395403e-03 1.54546972e+02] [ 8.55102654e-01 5.18454961e-01 1.97607287e-03 4.72134814e+01] [-2.27765375e-03 -5.48552331e-05 9.99997405e-01 -4.57614146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:47.24, Z:-0.46 [[ 5.17215541e-01 -8.55854438e-01 1.12509978e-03 1.54566226e+02] [ 8.55852147e-01 5.17216761e-01 1.98115004e-03 4.72361269e+01] [-2.27749652e-03 -6.17625319e-05 9.99997405e-01 -4.58170099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:47.26, Z:-0.46 [[ 5.13763022e-01 -8.57931392e-01 1.13320824e-03 1.54583056e+02] [ 8.57929116e-01 5.13764270e-01 1.97650113e-03 4.72594041e+01] [-2.27790427e-03 -4.32408527e-05 9.99997405e-01 -4.57370270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:47.28, Z:-0.46 [[ 5.10464794e-01 -8.59897907e-01 1.13264902e-03 1.54599719e+02] [ 8.59895636e-01 5.10466050e-01 1.97682155e-03 4.72825480e+01] [-2.27804358e-03 -3.51378597e-05 9.99997405e-01 -4.56969428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:47.30, Z:-0.46 [[ 5.03966898e-01 -8.63722226e-01 1.13208513e-03 1.54618296e+02] [ 8.63719964e-01 5.03968169e-01 1.97714442e-03 4.73047909e+01] [-2.27823845e-03 -1.86108117e-05 9.99997405e-01 -4.56158127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:47.33, Z:-0.46 [[ 5.01281838e-01 -8.65283328e-01 1.13154793e-03 1.54633820e+02] [ 8.65281069e-01 5.01283115e-01 1.97745182e-03 4.73281353e+01] [-2.27828197e-03 -1.21536821e-05 9.99997405e-01 -4.55365877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:47.35, Z:-0.45 [[ 4.98726888e-01 -8.66758451e-01 1.13098127e-03 1.54648687e+02] [ 8.66756195e-01 4.98728170e-01 1.97777587e-03 4.73521540e+01] [-2.27830616e-03 -6.08498177e-06 9.99997405e-01 -4.54874152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:154.66, Y:47.38, Z:-0.46 [[ 4.96222744e-01 -8.68194512e-01 1.13041899e-03 1.54662238e+02] [ 8.68192258e-01 4.96224032e-01 1.97809719e-03 4.73763334e+01] [-2.27831419e-03 -1.55801832e-07 9.99997405e-01 -4.58291614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:47.40, Z:-0.46 [[ 4.94594740e-01 -8.69122987e-01 1.12984995e-03 1.54675815e+02] [ 8.69120735e-01 4.94596031e-01 1.97842216e-03 4.74034296e+01] [-2.27831148e-03 3.45882159e-06 9.99997405e-01 -4.57239899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:47.43, Z:-0.46 [[ 4.95684686e-01 -8.68501814e-01 1.13636704e-03 1.54687856e+02] [ 8.68499569e-01 4.95685988e-01 1.97470127e-03 4.74269597e+01] [-2.27831285e-03 8.10510596e-06 9.99997405e-01 -4.56738259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:154.71, Y:47.46, Z:-0.46 [[ 4.98191684e-01 -8.67066186e-01 1.12903557e-03 1.54705052e+02] [ 8.67063928e-01 4.98192963e-01 1.97888417e-03 4.74550737e+01] [-2.27830113e-03 -6.91762774e-06 9.99997405e-01 -4.59513655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:154.71, Y:47.48, Z:-0.46 [[ 4.97451590e-01 -8.67490962e-01 1.16020616e-03 1.54712024e+02] [ 8.67488746e-01 4.97452942e-01 1.96108326e-03 4.74769185e+01] [-2.27836998e-03 3.09218025e-05 9.99997404e-01 -4.62325045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:47.50, Z:-0.46 [[ 5.00955430e-01 -8.65472348e-01 1.12814732e-03 1.54723981e+02] [ 8.65470084e-01 5.00956700e-01 1.97935543e-03 4.75023877e+01] [-2.27823034e-03 -1.51910962e-05 9.99997405e-01 -4.59770388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:47.53, Z:-0.46 [[ 5.01630323e-01 -8.65081353e-01 1.12758108e-03 1.54737153e+02] [ 8.65079088e-01 5.01631590e-01 1.97967794e-03 4.75275426e+01] [-2.27821276e-03 -1.76196720e-05 9.99997405e-01 -4.59842487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.5 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:154.75, Y:47.55, Z:-0.46 [[ 5.01779121e-01 -8.64995054e-01 1.12701364e-03 1.54750355e+02] [ 8.64992788e-01 5.01780386e-01 1.98000093e-03 4.75521217e+01] [-2.27820435e-03 -1.86644548e-05 9.99997405e-01 -4.62128070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:47.58, Z:-0.46 [[ 4.99769621e-01 -8.66157640e-01 1.12645149e-03 1.54763042e+02] [ 8.66155376e-01 4.99770890e-01 1.98032069e-03 4.75776286e+01] [-2.27823756e-03 -1.40221070e-05 9.99997405e-01 -4.59661605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:154.78, Y:47.60, Z:-0.46 [[ 5.00254675e-01 -8.65877585e-01 1.12592995e-03 1.54777531e+02] [ 8.65875320e-01 5.00255942e-01 1.98061720e-03 4.76015365e+01] [-2.27822519e-03 -1.58980553e-05 9.99997405e-01 -4.60744233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:47.63, Z:-0.46 [[ 4.97082387e-01 -8.67702618e-01 1.12580570e-03 1.54790870e+02] [ 8.67700358e-01 4.97083661e-01 1.98068782e-03 4.76266214e+01] [-2.27826763e-03 -7.70301856e-06 9.99997405e-01 -4.59083229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:154.81, Y:47.65, Z:-0.46 [[ 4.93403191e-01 -8.69799992e-01 1.12430877e-03 1.54805869e+02] [ 8.69797735e-01 4.93404472e-01 1.98153820e-03 4.76496192e+01] [-2.27828089e-03 2.23945565e-07 9.99997405e-01 -4.58670925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:47.67, Z:-0.46 [[ 4.88727109e-01 -8.72435985e-01 1.12506551e-03 1.54819101e+02] [ 8.72433736e-01 4.88728403e-01 1.98110845e-03 4.76749213e+01] [-2.27824177e-03 1.33237043e-05 9.99997405e-01 -4.57243624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:47.70, Z:-0.45 [[ 4.87435943e-01 -8.73158026e-01 1.12410591e-03 1.54834379e+02] [ 8.73155777e-01 4.87437239e-01 1.98165308e-03 4.76994625e+01] [-2.27822737e-03 1.55906268e-05 9.99997405e-01 -4.54130411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:47.72, Z:-0.45 [[ 4.82016541e-01 -8.76161395e-01 1.12438002e-03 1.54847929e+02] [ 8.76159155e-01 4.82017851e-01 1.98149754e-03 4.77240234e+01] [-2.27808289e-03 3.00212626e-05 9.99997405e-01 -4.53740652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:47.75, Z:-0.45 [[ 4.79856043e-01 -8.77346519e-01 1.12381634e-03 1.54861388e+02] [ 8.77344281e-01 4.79857358e-01 1.98181718e-03 4.77484303e+01] [-2.27801195e-03 3.49868900e-05 9.99997405e-01 -4.54289200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:47.77, Z:-0.46 [[ 4.75284031e-01 -8.79831705e-01 1.12325229e-03 1.54870966e+02] [ 8.79829473e-01 4.75285356e-01 1.98213683e-03 4.77723797e+01] [-2.27781219e-03 4.61924905e-05 9.99997405e-01 -4.60096275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:47.80, Z:-0.46 [[ 4.77450000e-01 -8.78658218e-01 1.11085215e-03 1.54888717e+02] [ 8.78655967e-01 4.77451291e-01 1.98915936e-03 4.77981647e+01] [-2.27816902e-03 2.63327355e-05 9.99997405e-01 -4.56828688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:47.82, Z:-0.46 [[ 4.77201815e-01 -8.78793018e-01 1.12268985e-03 1.54902750e+02] [ 8.78790782e-01 4.77203133e-01 1.98245553e-03 4.78230973e+01] [-2.27791919e-03 4.05781170e-05 9.99997405e-01 -4.56900016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:47.85, Z:-0.46 [[ 4.77584810e-01 -8.78584936e-01 1.12212984e-03 1.54915609e+02] [ 8.78582700e-01 4.77586127e-01 1.98277246e-03 4.78477509e+01] [-2.27794766e-03 3.89418548e-05 9.99997405e-01 -4.59378145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:47.87, Z:-0.46 [[ 4.75016990e-01 -8.79975909e-01 1.12159005e-03 1.54924351e+02] [ 8.79973676e-01 4.75018312e-01 1.98307775e-03 4.78722667e+01] [-2.27783646e-03 4.49741001e-05 9.99997405e-01 -4.64801730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:47.90, Z:-0.47 [[ 4.76090741e-01 -8.79395467e-01 1.10379878e-03 1.54937562e+02] [ 8.79393209e-01 4.76092020e-01 1.99312926e-03 4.78974410e+01] [-2.27825863e-03 2.17627636e-05 9.99997405e-01 -4.65304838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:47.92, Z:-0.47 [[ 4.77868842e-01 -8.78430503e-01 1.10541312e-03 1.54950233e+02] [ 8.78428244e-01 4.77870120e-01 1.99221772e-03 4.79221465e+01] [-2.27826871e-03 1.90073293e-05 9.99997405e-01 -4.65489645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:47.95, Z:-0.46 [[ 4.84744158e-01 -8.74655293e-01 1.10430747e-03 1.54966586e+02] [ 8.74653023e-01 4.84745416e-01 1.99284169e-03 4.79477710e+01] [-2.27835751e-03 -1.32503946e-07 9.99997405e-01 -4.60580262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:47.97, Z:-0.47 [[ 4.82207993e-01 -8.76056047e-01 1.11975395e-03 1.54974115e+02] [ 8.76053801e-01 4.82209292e-01 1.98412436e-03 4.79722123e+01] [-2.27815991e-03 2.42040827e-05 9.99997405e-01 -4.65384568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:154.99, Y:48.00, Z:-0.46 [[ 4.87755133e-01 -8.72979799e-01 1.09564283e-03 1.54993647e+02] [ 8.72977514e-01 4.87756363e-01 1.99771188e-03 4.79980680e+01] [-2.27836888e-03 -1.79226745e-05 9.99997404e-01 -4.62552139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:155.01, Y:48.02, Z:-0.46 [[ 4.89336329e-01 -8.72094435e-01 1.11915457e-03 1.55006535e+02] [ 8.72092178e-01 4.89337609e-01 1.98445217e-03 4.80224609e+01] [-2.27827411e-03 4.94140585e-06 9.99997405e-01 -4.62945056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.1 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:155.02, Y:48.05, Z:-0.46 [[ 4.92356701e-01 -8.70392797e-01 1.12176333e-03 1.55019431e+02] [ 8.70390538e-01 4.92357979e-01 1.98298166e-03 4.80463410e+01] [-2.27828208e-03 3.78763992e-08 9.99997405e-01 -4.61108043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:48.07, Z:-0.46 [[ 4.93725905e-01 -8.69616859e-01 1.11786676e-03 1.55033228e+02] [ 8.69614593e-01 4.93727170e-01 1.98517585e-03 4.80714923e+01] [-2.27826358e-03 -8.01949077e-06 9.99997405e-01 -4.58275644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:48.10, Z:-0.46 [[ 4.94964563e-01 -8.68912439e-01 1.12036640e-03 1.55046472e+02] [ 8.68910174e-01 4.94965831e-01 1.98376918e-03 4.80960744e+01] [-2.27826480e-03 -8.39768273e-06 9.99997405e-01 -4.57935707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:48.12, Z:-0.46 [[ 4.95892564e-01 -8.68383163e-01 1.11657524e-03 1.55059245e+02] [ 8.68380892e-01 4.95893821e-01 1.98590076e-03 4.81195769e+01] [-2.27822555e-03 -1.51808150e-05 9.99997405e-01 -4.58188193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:48.14, Z:-0.46 [[ 4.97751841e-01 -8.67318776e-01 1.11607250e-03 1.55072228e+02] [ 8.67316502e-01 4.97753092e-01 1.98618326e-03 4.81446180e+01] [-2.27818257e-03 -2.06382760e-05 9.99997405e-01 -4.58484074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:48.17, Z:-0.46 [[ 4.98796627e-01 -8.66718340e-01 1.11551130e-03 1.55085412e+02] [ 8.66716064e-01 4.98797874e-01 1.98649840e-03 4.81689474e+01] [-2.27814926e-03 -2.40271396e-05 9.99997405e-01 -4.58555135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:48.19, Z:-0.46 [[ 4.99744280e-01 -8.66172276e-01 1.11494773e-03 1.55098778e+02] [ 8.66169998e-01 4.99745523e-01 1.98681466e-03 4.81931072e+01] [-2.27811391e-03 -2.71649932e-05 9.99997405e-01 -4.58905418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:48.22, Z:-0.46 [[ 4.95786174e-01 -8.68443912e-01 1.11438483e-03 1.55105269e+02] [ 8.68441639e-01 4.95787426e-01 1.98713034e-03 4.82168883e+01] [-2.27820923e-03 -1.74135620e-05 9.99997405e-01 -4.64468848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:48.24, Z:-0.47 [[ 4.96813327e-01 -8.67856752e-01 1.08439586e-03 1.55120111e+02] [ 8.67854441e-01 4.96814507e-01 2.00392337e-03 4.82423134e+01] [-2.27786202e-03 -5.44780675e-05 9.99997404e-01 -4.65213819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:48.27, Z:-0.46 [[ 5.01462591e-01 -8.65178644e-01 1.08810930e-03 1.55139995e+02] [ 8.65176330e-01 5.01463768e-01 2.00184732e-03 4.82675965e+01] [-2.27760294e-03 -6.24451302e-05 9.99997404e-01 -4.60499220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:48.29, Z:-0.46 [[ 5.02031338e-01 -8.64848714e-01 1.11237696e-03 1.55152699e+02] [ 8.64846429e-01 5.02032569e-01 1.98827030e-03 4.82916383e+01] [-2.27800248e-03 -3.61387628e-05 9.99997405e-01 -4.61882698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:48.31, Z:-0.46 [[ 5.02149636e-01 -8.64780034e-01 1.11187930e-03 1.55165890e+02] [ 8.64777748e-01 5.02150865e-01 1.98854857e-03 4.83149960e+01] [-2.27798825e-03 -3.70204632e-05 9.99997405e-01 -4.62565913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.18, Y:48.34, Z:-0.46 [[ 5.01985907e-01 -8.64875086e-01 1.11138660e-03 1.55179671e+02] [ 8.64872800e-01 5.01987136e-01 1.98882389e-03 4.83394772e+01] [-2.27798601e-03 -3.71535285e-05 9.99997405e-01 -4.63370613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:48.36, Z:-0.47 [[ 4.97376543e-01 -8.67534057e-01 1.11084013e-03 1.55187067e+02] [ 8.67531777e-01 4.97377783e-01 1.98912907e-03 4.83629054e+01] [-2.27814441e-03 -2.56570277e-05 9.99997405e-01 -4.69041584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:48.39, Z:-0.47 [[ 5.01444315e-01 -8.65189245e-01 1.08122925e-03 1.55208024e+02] [ 8.65186923e-01 5.01445476e-01 2.00564477e-03 4.83883286e+01] [-2.27743980e-03 -7.02537586e-05 9.99997404e-01 -4.65309804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:48.41, Z:-0.47 [[ 5.00943194e-01 -8.65479453e-01 1.11028135e-03 1.55221802e+02] [ 8.65477167e-01 5.00944424e-01 1.98943109e-03 4.84121005e+01] [-2.27800098e-03 -3.56688052e-05 9.99997405e-01 -4.66656111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.24, Y:48.44, Z:-0.47 [[ 4.99475337e-01 -8.66327396e-01 1.10971446e-03 1.55236802e+02] [ 8.66325111e-01 4.99476568e-01 1.98974726e-03 4.84351338e+01] [-2.27804893e-03 -3.24561744e-05 9.99997405e-01 -4.68141394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:48.46, Z:-0.47 [[ 4.98190069e-01 -8.67067140e-01 1.10915938e-03 1.55251704e+02] [ 8.67064857e-01 4.98191302e-01 1.99005663e-03 4.84595338e+01] [-2.27808627e-03 -2.97133304e-05 9.99997405e-01 -4.67721292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:48.48, Z:-0.47 [[ 4.96890373e-01 -8.67812611e-01 1.10863061e-03 1.55266154e+02] [ 8.67810329e-01 4.96891609e-01 1.99035116e-03 4.84832136e+01] [-2.27812108e-03 -2.69052394e-05 9.99997405e-01 -4.67305509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:48.51, Z:-0.47 [[ 4.95424513e-01 -8.68650289e-01 1.10810641e-03 1.55281022e+02] [ 8.68648008e-01 4.95425751e-01 1.99064296e-03 4.85076616e+01] [-2.27815703e-03 -2.36588905e-05 9.99997405e-01 -4.66609748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:48.53, Z:-0.47 [[ 4.92788376e-01 -8.70148487e-01 1.10758184e-03 1.55295866e+02] [ 8.70146210e-01 4.92789620e-01 1.99093478e-03 4.85302967e+01] [-2.27821372e-03 -1.73513779e-05 9.99997405e-01 -4.65678614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:48.55, Z:-0.46 [[ 4.91329090e-01 -8.70973306e-01 1.10702832e-03 1.55310408e+02] [ 8.70971030e-01 4.91330337e-01 1.99124251e-03 4.85545943e+01] [-2.27823567e-03 -1.41657785e-05 9.99997405e-01 -4.64120164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:48.58, Z:-0.47 [[ 4.86284864e-01 -8.73799638e-01 1.10648086e-03 1.55318898e+02] [ 8.73797368e-01 4.86286122e-01 1.99154667e-03 4.85776994e+01] [-2.27827905e-03 -1.61894257e-06 9.99997405e-01 -4.68602734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:48.60, Z:-0.46 [[ 4.88853128e-01 -8.72365432e-01 1.08267092e-03 1.55339507e+02] [ 8.72363129e-01 4.88854326e-01 2.00475924e-03 4.86032341e+01] [-2.27815102e-03 -3.55506346e-05 9.99997404e-01 -4.63946182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:48.63, Z:-0.46 [[ 4.87481794e-01 -8.73132451e-01 1.10596546e-03 1.55353765e+02] [ 8.73130179e-01 4.87483049e-01 1.99182489e-03 4.86279451e+01] [-2.27826637e-03 -5.32654780e-06 9.99997405e-01 -4.63747070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:48.65, Z:-0.46 [[ 4.85852115e-01 -8.74040331e-01 1.10542634e-03 1.55367637e+02] [ 8.74038061e-01 4.85853372e-01 1.99212405e-03 4.86513236e+01] [-2.27827188e-03 -1.69299121e-06 9.99997405e-01 -4.63354323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:48.68, Z:-0.47 [[ 4.82403412e-01 -8.75948473e-01 1.10503359e-03 1.55376141e+02] [ 8.75946207e-01 4.82404677e-01 1.99234189e-03 4.86752183e+01] [-2.27826221e-03 6.83745562e-06 9.99997405e-01 -4.67187749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:48.70, Z:-0.47 [[ 4.81946018e-01 -8.76200239e-01 1.08523271e-03 1.55389592e+02] [ 8.76197948e-01 4.81947240e-01 2.00331242e-03 4.87004482e+01] [-2.27832773e-03 -1.46097717e-05 9.99997404e-01 -4.67252506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:48.72, Z:-0.47 [[ 4.82115384e-01 -8.76107059e-01 1.08558981e-03 1.55402753e+02] [ 8.76104769e-01 4.82116606e-01 2.00311457e-03 4.87249487e+01] [-2.27832369e-03 -1.46419408e-05 9.99997405e-01 -4.67119649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:48.75, Z:-0.47 [[ 4.83511970e-01 -8.75337076e-01 1.08533146e-03 1.55415238e+02] [ 8.75334784e-01 4.83513188e-01 2.00325762e-03 4.87498227e+01] [-2.27829774e-03 -1.85706592e-05 9.99997405e-01 -4.66624152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:48.77, Z:-0.46 [[ 4.86469598e-01 -8.73696824e-01 1.09049024e-03 1.55431516e+02] [ 8.73694534e-01 4.86470820e-01 2.00040225e-03 4.87746094e+01] [-2.27823678e-03 -2.03795213e-05 9.99997405e-01 -4.62986558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:48.80, Z:-0.47 [[ 4.85312780e-01 -8.74339916e-01 1.10345710e-03 1.55442026e+02] [ 8.74337644e-01 4.85314035e-01 1.99322374e-03 4.87997346e+01] [-2.27827830e-03 -2.54287443e-06 9.99997405e-01 -4.65462491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:48.82, Z:-0.46 [[ 4.88155962e-01 -8.72755726e-01 1.09503257e-03 1.55457135e+02] [ 8.72753440e-01 4.88157189e-01 1.99788372e-03 4.88249157e+01] [-2.27821248e-03 -1.95854096e-05 9.99997405e-01 -4.64241807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.47, Y:48.85, Z:-0.46 [[ 4.88405144e-01 -8.72616296e-01 1.10269177e-03 1.55470307e+02] [ 8.72614019e-01 4.88406388e-01 1.99364739e-03 4.88500169e+01] [-2.27825091e-03 -1.14833435e-05 9.99997405e-01 -4.64985592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:155.48, Y:48.88, Z:-0.47 [[ 4.87501805e-01 -8.73121283e-01 1.10217088e-03 1.55483271e+02] [ 8.73119006e-01 4.87503051e-01 1.99393532e-03 4.88756534e+01] [-2.27825903e-03 -9.72072818e-06 9.99997405e-01 -4.66717259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:48.90, Z:-0.47 [[ 4.88444770e-01 -8.72594106e-01 1.10989003e-03 1.55495398e+02] [ 8.72591838e-01 4.88446031e-01 1.98966983e-03 4.88979556e+01] [-2.27829554e-03 -3.36284065e-06 9.99997405e-01 -4.66831982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:48.92, Z:-0.47 [[ 4.88302912e-01 -8.72673509e-01 1.10110325e-03 1.55508715e+02] [ 8.72671230e-01 4.88304153e-01 1.99452069e-03 4.89232240e+01] [-2.27823866e-03 -1.30291315e-05 9.99997405e-01 -4.67216952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:48.95, Z:-0.47 [[ 4.88072401e-01 -8.72802452e-01 1.10059369e-03 1.55521872e+02] [ 8.72800172e-01 4.88073642e-01 1.99480183e-03 4.89482081e+01] [-2.27823870e-03 -1.30093573e-05 9.99997405e-01 -4.66584815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:48.97, Z:-0.47 [[ 4.87001190e-01 -8.73400613e-01 1.10008653e-03 1.55534405e+02] [ 8.73398335e-01 4.87002432e-01 1.99508148e-03 4.89726550e+01] [-2.27825020e-03 -1.07933105e-05 9.99997405e-01 -4.65194600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:49.00, Z:-0.46 [[ 4.86502541e-01 -8.73678470e-01 1.09955229e-03 1.55550513e+02] [ 8.73676191e-01 4.86503783e-01 1.99537587e-03 4.89986265e+01] [-2.27825329e-03 -1.01027699e-05 9.99997405e-01 -4.64671655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:155.57, Y:49.02, Z:-0.46 [[ 4.85278220e-01 -8.74359094e-01 1.10630339e-03 1.55565688e+02] [ 8.74356826e-01 4.85279481e-01 1.99166170e-03 4.90249525e+01] [-2.27829386e-03 7.93879983e-07 9.99997405e-01 -4.61082891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:49.05, Z:-0.46 [[ 4.83806339e-01 -8.75174373e-01 1.11539995e-03 1.55574737e+02] [ 8.75172118e-01 4.83807624e-01 1.98665891e-03 4.90478645e+01] [-2.27831196e-03 1.50087605e-05 9.99997405e-01 -4.60555814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:155.59, Y:49.08, Z:-0.46 [[ 4.84871263e-01 -8.74584847e-01 1.09687877e-03 1.55592439e+02] [ 8.74582568e-01 4.84872504e-01 1.99683276e-03 4.90752080e+01] [-2.27824603e-03 -8.89577390e-06 9.99997405e-01 -4.60841055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:49.10, Z:-0.46 [[ 4.84012647e-01 -8.75060290e-01 1.11636234e-03 1.55601757e+02] [ 8.75058036e-01 4.84013935e-01 1.98610679e-03 4.90972733e+01] [-2.27829811e-03 1.55810339e-05 9.99997405e-01 -4.61727918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:49.12, Z:-0.46 [[ 4.84840778e-01 -8.74601745e-01 1.09857526e-03 1.55614578e+02] [ 8.74599468e-01 4.84842023e-01 1.99588814e-03 4.91204984e+01] [-2.27824270e-03 -6.87461514e-06 9.99997405e-01 -4.62860089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:49.15, Z:-0.46 [[ 4.84218172e-01 -8.74946611e-01 1.09090931e-03 1.55628764e+02] [ 8.74944325e-01 4.84219401e-01 2.00010178e-03 4.91471662e+01] [-2.27822173e-03 -1.40007204e-05 9.99997405e-01 -4.61787155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:49.17, Z:-0.46 [[ 4.84398210e-01 -8.74846941e-01 1.09711731e-03 1.55640997e+02] [ 8.74844662e-01 4.84399453e-01 1.99669069e-03 4.91715001e+01] [-2.27824176e-03 -7.38617262e-06 9.99997405e-01 -4.63109360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:49.20, Z:-0.46 [[ 4.84131763e-01 -8.74994419e-01 1.09654067e-03 1.55654156e+02] [ 8.74992140e-01 4.84133005e-01 1.99700731e-03 4.91968295e+01] [-2.27824178e-03 -7.35019880e-06 9.99997405e-01 -4.63306435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:49.22, Z:-0.46 [[ 4.83731573e-01 -8.75215724e-01 1.09599209e-03 1.55669086e+02] [ 8.75213445e-01 4.83732815e-01 1.99730834e-03 4.92232237e+01] [-2.27824300e-03 -6.93409648e-06 9.99997405e-01 -4.63244752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:49.25, Z:-0.46 [[ 4.83418066e-01 -8.75388916e-01 1.10386946e-03 1.55680280e+02] [ 8.75386648e-01 4.83419326e-01 1.99298636e-03 4.92465438e+01] [-2.27827000e-03 2.86697250e-06 9.99997405e-01 -4.64049377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:49.27, Z:-0.46 [[ 4.81758976e-01 -8.76303081e-01 1.09519791e-03 1.55693449e+02] [ 8.76300804e-01 4.81760221e-01 1.99774026e-03 4.92719430e+01] [-2.27824873e-03 -2.70649818e-06 9.99997405e-01 -4.63638542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:49.30, Z:-0.47 [[ 4.81933000e-01 -8.76207389e-01 1.09317124e-03 1.55707546e+02] [ 8.76205109e-01 4.81934239e-01 1.99885079e-03 4.92962961e+01] [-2.27824448e-03 -5.46992927e-06 9.99997405e-01 -4.65559731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:49.32, Z:-0.47 [[ 4.80098319e-01 -8.77214003e-01 1.09445543e-03 1.55721912e+02] [ 8.77211727e-01 4.80099566e-01 1.99814739e-03 4.93208430e+01] [-2.27825045e-03 7.61933709e-07 9.99997405e-01 -4.65946361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:49.35, Z:-0.47 [[ 4.79141843e-01 -8.77736804e-01 1.09390533e-03 1.55735826e+02] [ 8.77734529e-01 4.79143092e-01 1.99844850e-03 4.93454155e+01] [-2.27824898e-03 2.61818712e-06 9.99997405e-01 -4.65902566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:49.37, Z:-0.47 [[ 4.78895066e-01 -8.77871471e-01 1.09334342e-03 1.55749488e+02] [ 8.77869196e-01 4.78896314e-01 1.99875587e-03 4.93705472e+01] [-2.27824889e-03 2.61818700e-06 9.99997405e-01 -4.65967453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:49.40, Z:-0.46 [[ 4.77318603e-01 -8.78729627e-01 1.09278143e-03 1.55763237e+02] [ 8.78727353e-01 4.77319854e-01 1.99906309e-03 4.93953087e+01] [-2.27824223e-03 6.06692933e-06 9.99997405e-01 -4.64831786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:49.42, Z:-0.46 [[ 4.76486966e-01 -8.79180856e-01 1.09221506e-03 1.55776287e+02] [ 8.79178583e-01 4.76488218e-01 1.99937248e-03 4.94197002e+01] [-2.27823762e-03 7.57715967e-06 9.99997405e-01 -4.64598947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:49.44, Z:-0.46 [[ 4.75509995e-01 -8.79709641e-01 1.09165137e-03 1.55789545e+02] [ 8.79707369e-01 4.75511248e-01 1.99968020e-03 4.94448313e+01] [-2.27823046e-03 9.46583506e-06 9.99997405e-01 -4.64551186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:49.47, Z:-0.46 [[ 4.74793007e-01 -8.80096819e-01 1.09108912e-03 1.55802789e+02] [ 8.80094546e-01 4.74794261e-01 1.99998694e-03 4.94695824e+01] [-2.27822500e-03 1.06817678e-05 9.99997405e-01 -4.63992225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:49.49, Z:-0.46 [[ 4.74330629e-01 -8.80346105e-01 1.09052249e-03 1.55816364e+02] [ 8.80343833e-01 4.74331883e-01 2.00029586e-03 4.94944595e+01] [-2.27822225e-03 1.12331550e-05 9.99997405e-01 -4.63096768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:49.52, Z:-0.46 [[ 4.74026066e-01 -8.80510137e-01 1.08995360e-03 1.55829286e+02] [ 8.80507864e-01 4.74027319e-01 2.00060579e-03 4.95178850e+01] [-2.27822146e-03 1.13734282e-05 9.99997405e-01 -4.62718450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:49.54, Z:-0.46 [[ 4.74397592e-01 -8.80310023e-01 1.08943779e-03 1.55842595e+02] [ 8.80307750e-01 4.74398843e-01 2.00088664e-03 4.95418897e+01] [-2.27822859e-03 9.82472282e-06 9.99997405e-01 -4.61087223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:49.57, Z:-0.46 [[ 4.74735801e-01 -8.80127680e-01 1.08893616e-03 1.55855497e+02] [ 8.80125405e-01 4.74737050e-01 2.00115961e-03 4.95668304e+01] [-2.27823430e-03 8.37826762e-06 9.99997405e-01 -4.60979407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:49.59, Z:-0.46 [[ 4.75601807e-01 -8.79660012e-01 1.08837663e-03 1.55868172e+02] [ 8.79657735e-01 4.75603052e-01 2.00146387e-03 4.95914958e+01] [-2.27824298e-03 5.49908439e-06 9.99997405e-01 -4.60830309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:49.62, Z:-0.46 [[ 4.76868607e-01 -8.78973918e-01 1.08780494e-03 1.55880325e+02] [ 8.78971639e-01 4.76869847e-01 2.00177454e-03 4.96157423e+01] [-2.27824899e-03 1.56625487e-06 9.99997405e-01 -4.61827945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:49.64, Z:-0.46 [[ 4.78138334e-01 -8.78283867e-01 1.08729620e-03 1.55892960e+02] [ 8.78281585e-01 4.78139571e-01 2.00205083e-03 4.96413160e+01] [-2.27824828e-03 -2.30501859e-06 9.99997405e-01 -4.62290592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:49.67, Z:-0.46 [[ 4.79912595e-01 -8.77315633e-01 1.08673142e-03 1.55905529e+02] [ 8.77313348e-01 4.79913825e-01 2.00235735e-03 4.96663529e+01] [-2.27823684e-03 -7.55253156e-06 9.99997405e-01 -4.62972086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:49.69, Z:-0.47 [[ 4.78175626e-01 -8.78263566e-01 1.08617053e-03 1.55908079e+02] [ 8.78261282e-01 4.78176860e-01 2.00266156e-03 4.96885839e+01] [-2.27824629e-03 -3.68242083e-06 9.99997405e-01 -4.71108499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:155.93, Y:49.72, Z:-0.47 [[ 4.84927425e-01 -8.74553773e-01 1.04446768e-03 1.55930947e+02] [ 8.74551430e-01 4.84928545e-01 2.02523612e-03 4.97158484e+01] [-2.27767008e-03 -6.86518358e-05 9.99997404e-01 -4.66938222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:49.74, Z:-0.47 [[ 4.81625906e-01 -8.76376237e-01 1.08560544e-03 1.55934056e+02] [ 8.76373948e-01 4.81627130e-01 2.00293920e-03 4.97378645e+01] [-2.27818535e-03 -1.32710808e-05 9.99997405e-01 -4.71374816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:49.76, Z:-0.47 [[ 4.83411991e-01 -8.75392342e-01 1.04601832e-03 1.55947760e+02] [ 8.75390004e-01 4.83413119e-01 2.02437392e-03 4.97629197e+01] [-2.27778041e-03 -6.29326489e-05 9.99997404e-01 -4.71271035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:49.79, Z:-0.47 [[ 4.84499873e-01 -8.74790701e-01 1.05014135e-03 1.55961147e+02] [ 8.74788366e-01 4.84501008e-01 2.02214197e-03 4.97881164e+01] [-2.27774554e-03 -6.10760909e-05 9.99997404e-01 -4.71644857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:49.81, Z:-0.47 [[ 4.90536015e-01 -8.71420285e-01 1.05129024e-03 1.55981965e+02] [ 8.71417943e-01 4.90537136e-01 2.02152080e-03 4.98144862e+01] [-2.27729113e-03 -7.55155781e-05 9.99997404e-01 -4.65168624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:156.00, Y:49.84, Z:-0.47 [[ 4.89866062e-01 -8.71797032e-01 1.08443867e-03 1.55995032e+02] [ 8.71794731e-01 4.89867261e-01 2.00357919e-03 4.98395395e+01] [-2.27794539e-03 -3.60775314e-05 9.99997405e-01 -4.67051594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.01, Y:49.86, Z:-0.47 [[ 4.89349321e-01 -8.72087190e-01 1.08386842e-03 1.56007810e+02] [ 8.72084888e-01 4.89350520e-01 2.00388762e-03 4.98632591e+01] [-2.27795630e-03 -3.53757747e-05 9.99997405e-01 -4.67759292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.02, Y:49.89, Z:-0.47 [[ 4.88820008e-01 -8.72383990e-01 1.08335015e-03 1.56020566e+02] [ 8.72381689e-01 4.88821207e-01 2.00416778e-03 4.98868277e+01] [-2.27796841e-03 -3.45824768e-05 9.99997405e-01 -4.67979917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:156.03, Y:49.91, Z:-0.47 [[ 4.87946057e-01 -8.72873114e-01 1.08283699e-03 1.56033718e+02] [ 8.72870813e-01 4.87947257e-01 2.00444500e-03 4.99114075e+01] [-2.27799348e-03 -3.28842315e-05 9.99997405e-01 -4.66676956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:156.05, Y:49.94, Z:-0.47 [[ 4.85934635e-01 -8.73994485e-01 1.08228170e-03 1.56047228e+02] [ 8.73992186e-01 4.85935839e-01 2.00474478e-03 4.99363007e+01] [-2.27805534e-03 -2.82691732e-05 9.99997405e-01 -4.67116529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:156.06, Y:49.96, Z:-0.47 [[ 4.84823206e-01 -8.74611508e-01 1.08171732e-03 1.56060174e+02] [ 8.74609210e-01 4.84824412e-01 2.00504926e-03 4.99604189e+01] [-2.27808212e-03 -2.60144786e-05 9.99997405e-01 -4.67564636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:156.07, Y:49.99, Z:-0.47 [[ 4.83349333e-01 -8.75426898e-01 1.08119996e-03 1.56073530e+02] [ 8.75424601e-01 4.83350541e-01 2.00532820e-03 4.99852858e+01] [-2.27811683e-03 -2.27650069e-05 9.99997405e-01 -4.68690038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:50.01, Z:-0.47 [[ 4.82542502e-01 -8.75871889e-01 1.08062055e-03 1.56086462e+02] [ 8.75869593e-01 4.82543712e-01 2.00564038e-03 5.00095165e+01] [-2.27813068e-03 -2.13240418e-05 9.99997405e-01 -4.66088541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:156.10, Y:50.03, Z:-0.47 [[ 4.80790965e-01 -8.76834581e-01 1.08009816e-03 1.56100274e+02] [ 8.76832286e-01 4.80792177e-01 2.00592166e-03 5.00345238e+01] [-2.27816422e-03 -1.73640681e-05 9.99997405e-01 -4.69593620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:156.11, Y:50.06, Z:-0.47 [[ 4.79299365e-01 -8.77650815e-01 1.07952633e-03 1.56113089e+02] [ 8.77648522e-01 4.79300580e-01 2.00622935e-03 5.00580295e+01] [-2.27818643e-03 -1.41397632e-05 9.99997405e-01 -4.69333951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:156.13, Y:50.08, Z:-0.47 [[ 4.76273599e-01 -8.79296477e-01 1.07901149e-03 1.56126691e+02] [ 8.79294188e-01 4.76274822e-01 2.00650621e-03 5.00823213e+01] [-2.27821985e-03 -6.87740134e-06 9.99997405e-01 -4.70135492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:156.14, Y:50.11, Z:-0.47 [[ 4.74538386e-01 -8.80234149e-01 1.07844379e-03 1.56140114e+02] [ 8.80231861e-01 4.74539612e-01 2.00681129e-03 5.01066193e+01] [-2.27822813e-03 -3.02841127e-06 9.99997405e-01 -4.71324524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:156.15, Y:50.13, Z:-0.47 [[ 4.73133528e-01 -8.80990070e-01 1.07787368e-03 1.56153919e+02] [ 8.80987783e-01 4.73134756e-01 2.00711745e-03 5.01314506e+01] [-2.27823005e-03 -4.10151871e-08 9.99997405e-01 -4.70720266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:50.16, Z:-0.47 [[ 4.71907512e-01 -8.81647401e-01 1.07730552e-03 1.56166730e+02] [ 8.81645116e-01 4.71908742e-01 2.00742236e-03 5.01552826e+01] [-2.27822860e-03 2.48345873e-06 9.99997405e-01 -4.67760055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.18, Y:50.18, Z:-0.47 [[ 4.69929048e-01 -8.82703535e-01 1.07679338e-03 1.56180491e+02] [ 8.82701252e-01 4.69930281e-01 2.00769704e-03 5.01795981e+01] [-2.27821909e-03 7.01170550e-06 9.99997405e-01 -4.71385485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:156.19, Y:50.20, Z:-0.47 [[ 4.67837558e-01 -8.83813816e-01 1.07623413e-03 1.56193593e+02] [ 8.83811535e-01 4.67838795e-01 2.00799679e-03 5.02029750e+01] [-2.27819938e-03 1.17718228e-05 9.99997405e-01 -4.69634947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.21, Y:50.23, Z:-0.47 [[ 4.66706595e-01 -8.84411554e-01 1.07585682e-03 1.56207096e+02] [ 8.84409274e-01 4.66707834e-01 2.00819892e-03 5.02277265e+01] [-2.27818514e-03 1.42580637e-05 9.99997405e-01 -4.70957080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.21, Y:50.25, Z:-0.47 [[ 4.61607873e-01 -8.87083432e-01 1.07529783e-03 1.56213315e+02] [ 8.87081158e-01 4.61609125e-01 2.00849819e-03 5.02502401e+01] [-2.27807276e-03 2.67378667e-05 9.99997405e-01 -4.74550069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82999999999998 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:156.23, Y:50.27, Z:-0.48 [[ 4.61098285e-01 -8.87348455e-01 1.04439935e-03 1.56226148e+02] [ 8.87346145e-01 4.61099468e-01 2.02501896e-03 5.02747515e+01] [-2.27846943e-03 -6.98902912e-06 9.99997404e-01 -4.75655732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:156.25, Y:50.30, Z:-0.47 [[ 4.64814878e-01 -8.85407275e-01 1.04234044e-03 1.56246392e+02] [ 8.85404957e-01 4.64816046e-01 2.02611928e-03 5.03017461e+01] [-2.27843731e-03 -1.88769881e-05 9.99997404e-01 -4.71719744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:156.26, Y:50.33, Z:-0.47 [[ 4.64593318e-01 -8.85523514e-01 1.07456400e-03 1.56259222e+02] [ 8.85521236e-01 4.64594560e-01 2.00888270e-03 5.03259146e+01] [-2.27814945e-03 1.82357657e-05 9.99997405e-01 -4.72566157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:156.27, Y:50.35, Z:-0.47 [[ 4.64292493e-01 -8.85681278e-01 1.07404974e-03 1.56272450e+02] [ 8.85679000e-01 4.64293735e-01 2.00915761e-03 5.03508966e+01] [-2.27814784e-03 1.84265045e-05 9.99997405e-01 -4.72851157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:156.29, Y:50.38, Z:-0.47 [[ 4.64373808e-01 -8.85638648e-01 1.07347897e-03 1.56285751e+02] [ 8.85636368e-01 4.64375049e-01 2.00946252e-03 5.03759112e+01] [-2.27815452e-03 1.75702543e-05 9.99997405e-01 -4.72093555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:50.40, Z:-0.47 [[ 4.64879758e-01 -8.85373175e-01 1.07290407e-03 1.56298346e+02] [ 8.85370894e-01 4.64880996e-01 2.00976943e-03 5.04008594e+01] [-2.27816865e-03 1.56169143e-05 9.99997405e-01 -4.68496459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:50.43, Z:-0.47 [[ 4.64975167e-01 -8.85323073e-01 1.07234555e-03 1.56311189e+02] [ 8.85320792e-01 4.64976403e-01 2.01006739e-03 5.04260916e+01] [-2.27817442e-03 1.47383913e-05 9.99997405e-01 -4.68146318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:50.45, Z:-0.47 [[ 4.66758766e-01 -8.84384026e-01 1.07177578e-03 1.56323574e+02] [ 8.84381741e-01 4.66759997e-01 2.01037115e-03 5.04510751e+01] [-2.27820219e-03 9.50057901e-06 9.99997405e-01 -4.68166556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:156.34, Y:50.48, Z:-0.47 [[ 4.67658358e-01 -8.83908656e-01 1.07120747e-03 1.56336529e+02] [ 8.83906370e-01 4.67659585e-01 2.01067392e-03 5.04760504e+01] [-2.27821252e-03 6.53864309e-06 9.99997405e-01 -4.70559323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.1 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:156.35, Y:50.50, Z:-0.47 [[ 4.68707792e-01 -8.83352625e-01 1.07064060e-03 1.56348756e+02] [ 8.83350336e-01 4.68709015e-01 2.01097572e-03 5.04997075e+01] [-2.27821958e-03 3.19074690e-06 9.99997405e-01 -4.73570921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.36, Y:50.52, Z:-0.47 [[ 4.72202388e-01 -8.81489512e-01 1.07013638e-03 1.56360577e+02] [ 8.81487217e-01 4.72203601e-01 2.01124401e-03 5.05247095e+01] [-2.27821275e-03 -6.40268848e-06 9.99997405e-01 -4.74919768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:156.37, Y:50.55, Z:-0.47 [[ 4.74381081e-01 -8.80318946e-01 1.06956691e-03 1.56372890e+02] [ 8.80316648e-01 4.74382286e-01 2.01154680e-03 5.05497497e+01] [-2.27818636e-03 -1.26821937e-05 9.99997405e-01 -4.74579071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:156.39, Y:50.57, Z:-0.48 [[ 4.75927896e-01 -8.79483653e-01 1.06899965e-03 1.56385232e+02] [ 8.79481352e-01 4.75929096e-01 2.01184821e-03 5.05745602e+01] [-2.27815565e-03 -1.73294289e-05 9.99997405e-01 -4.77109302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:156.39, Y:50.60, Z:-0.48 [[ 4.72777499e-01 -8.81181193e-01 1.06843120e-03 1.56389815e+02] [ 8.81178896e-01 4.72778706e-01 2.01215006e-03 5.05970531e+01] [-2.27820031e-03 -9.82024252e-06 9.99997405e-01 -4.80739670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:156.40, Y:50.62, Z:-0.48 [[ 4.73267750e-01 -8.80918028e-01 1.03236072e-03 1.56402252e+02] [ 8.80915687e-01 4.73268873e-01 2.03128056e-03 5.06219699e+01] [-2.27797586e-03 -5.19168253e-05 9.99997404e-01 -4.82366541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.42, Y:50.65, Z:-0.48 [[ 4.79336375e-01 -8.77630664e-01 1.02851420e-03 1.56424506e+02] [ 8.77628311e-01 4.79337473e-01 2.03332018e-03 5.06490045e+01] [-2.27750953e-03 -7.19911452e-05 9.99997404e-01 -4.77960950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:156.44, Y:50.67, Z:-0.48 [[ 4.80369314e-01 -8.77065665e-01 1.06823515e-03 1.56438104e+02] [ 8.77063357e-01 4.80370501e-01 2.01223350e-03 5.06737880e+01] [-2.27800957e-03 -2.97053194e-05 9.99997405e-01 -4.77353693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:156.45, Y:50.70, Z:-0.48 [[ 4.80821959e-01 -8.76817600e-01 1.06766701e-03 1.56451200e+02] [ 8.76815291e-01 4.80823143e-01 2.01253490e-03 5.06982143e+01] [-2.27798503e-03 -3.15242122e-05 9.99997405e-01 -4.76357773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:156.46, Y:50.72, Z:-0.48 [[ 4.80965006e-01 -8.76739142e-01 1.06709252e-03 1.56464448e+02] [ 8.76736833e-01 4.80966189e-01 2.01283947e-03 5.07234034e+01] [-2.27797057e-03 -3.25460336e-05 9.99997405e-01 -4.76284477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.4 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:156.48, Y:50.75, Z:-0.48 [[ 4.80814446e-01 -8.76821722e-01 1.06651773e-03 1.56477554e+02] [ 8.76819411e-01 4.80815627e-01 2.01314398e-03 5.07472966e+01] [-2.27796676e-03 -3.28052607e-05 9.99997405e-01 -4.77257361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:50.77, Z:-0.48 [[ 4.76198586e-01 -8.79337120e-01 1.06600541e-03 1.56483478e+02] [ 8.79334815e-01 4.76199779e-01 2.01341523e-03 5.07696753e+01] [-2.27810229e-03 -2.14098146e-05 9.99997405e-01 -4.79583041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:156.51, Y:50.80, Z:-0.48 [[ 4.79306433e-01 -8.77647011e-01 1.03331020e-03 1.56505541e+02] [ 8.77644664e-01 4.79307542e-01 2.03070006e-03 5.07959373e+01] [-2.27751121e-03 -6.64484226e-05 9.99997404e-01 -4.76810805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:156.52, Y:50.82, Z:-0.48 [[ 4.78280928e-01 -8.78206251e-01 1.06546419e-03 1.56519083e+02] [ 8.78203942e-01 4.78282114e-01 2.01368703e-03 5.08196213e+01] [-2.27802500e-03 -2.74132506e-05 9.99997405e-01 -4.76470449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:156.53, Y:50.84, Z:-0.48 [[ 4.76874860e-01 -8.78970553e-01 1.06507146e-03 1.56533053e+02] [ 8.78968247e-01 4.76876049e-01 2.01389473e-03 5.08437947e+01] [-2.27806123e-03 -2.42117706e-05 9.99997405e-01 -4.75269888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:156.55, Y:50.87, Z:-0.47 [[ 4.75319549e-01 -8.79812590e-01 1.06449921e-03 1.56546928e+02] [ 8.79810284e-01 4.75320741e-01 2.01419716e-03 5.08678035e+01] [-2.27809457e-03 -2.08299403e-05 9.99997405e-01 -4.74793493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57999999999998 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:156.56, Y:50.89, Z:-0.48 [[ 4.71780729e-01 -8.81715267e-01 1.06393058e-03 1.56561637e+02] [ 8.81712965e-01 4.71781929e-01 2.01449748e-03 5.08912712e+01] [-2.27815640e-03 -1.23197033e-05 9.99997405e-01 -4.76558453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:156.58, Y:50.92, Z:-0.48 [[ 4.70201529e-01 -8.82558435e-01 1.06335488e-03 1.56575700e+02] [ 8.82556135e-01 4.70202732e-01 2.01480131e-03 5.09161749e+01] [-2.27817226e-03 -8.89228231e-06 9.99997405e-01 -4.76761358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:156.59, Y:50.94, Z:-0.48 [[ 4.69948835e-01 -8.82693018e-01 1.06277896e-03 1.56588984e+02] [ 8.82690718e-01 4.69950036e-01 2.01510506e-03 5.09415124e+01] [-2.27817218e-03 -8.89115425e-06 9.99997405e-01 -4.76826245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:50.97, Z:-0.47 [[ 4.69429646e-01 -8.82969240e-01 1.06220195e-03 1.56602376e+02] [ 8.82966940e-01 4.69430847e-01 2.01540917e-03 5.09651923e+01] [-2.27817466e-03 -8.20360937e-06 9.99997405e-01 -4.73517511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.7 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:156.62, Y:50.99, Z:-0.48 [[ 4.66342775e-01 -8.84603464e-01 1.06181033e-03 1.56616207e+02] [ 8.84601168e-01 4.66343984e-01 2.01561547e-03 5.09897031e+01] [-2.27818929e-03 -6.89051019e-07 9.99997405e-01 -4.78092896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:156.63, Y:51.01, Z:-0.48 [[ 4.65197047e-01 -8.85206519e-01 1.06124571e-03 1.56630075e+02] [ 8.85204224e-01 4.65198257e-01 2.01591271e-03 5.10146222e+01] [-2.27818872e-03 1.62254332e-06 9.99997405e-01 -4.76168022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:51.04, Z:-0.47 [[ 4.64315960e-01 -8.85668992e-01 1.06067917e-03 1.56643676e+02] [ 8.85666697e-01 4.64317172e-01 2.01621075e-03 5.10393034e+01] [-2.27818689e-03 3.24938324e-06 9.99997405e-01 -4.73919977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:156.66, Y:51.06, Z:-0.48 [[ 4.60699275e-01 -8.87555663e-01 1.06010519e-03 1.56657307e+02] [ 8.87553372e-01 4.60700494e-01 2.01651250e-03 5.10625958e+01] [-2.27815807e-03 1.18940888e-05 9.99997405e-01 -4.76372857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:156.67, Y:51.09, Z:-0.48 [[ 4.58533960e-01 -8.88676254e-01 1.05961177e-03 1.56670423e+02] [ 8.88673966e-01 4.58535184e-01 2.01677174e-03 5.10866787e+01] [-2.27812643e-03 1.68910658e-05 9.99997405e-01 -4.78781549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:51.11, Z:-0.47 [[ 4.58142421e-01 -8.88878170e-01 1.05910516e-03 1.56683959e+02] [ 8.88875881e-01 4.58143645e-01 2.01703775e-03 5.11119026e+01] [-2.27812312e-03 1.73224719e-05 9.99997405e-01 -4.73056734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:156.69, Y:51.13, Z:-0.48 [[ 4.49884148e-01 -8.93086297e-01 1.05855306e-03 1.56688017e+02] [ 8.93084019e-01 4.49885391e-01 2.01732745e-03 5.11340741e+01] [-2.27787506e-03 3.78131743e-05 9.99997405e-01 -4.81894814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:156.71, Y:51.16, Z:-0.47 [[ 4.55146802e-01 -8.90415832e-01 1.01678756e-03 1.56711047e+02] [ 8.90413498e-01 4.55147937e-01 2.03920384e-03 5.11620345e+01] [-2.27852814e-03 -2.27757407e-05 9.99997404e-01 -4.73375598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:156.72, Y:51.19, Z:-0.48 [[ 4.53290911e-01 -8.91362008e-01 1.05826679e-03 1.56723720e+02] [ 8.91359726e-01 4.53292145e-01 2.01744559e-03 5.11863046e+01] [-2.27797837e-03 2.88066468e-05 9.99997405e-01 -4.75457802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:156.74, Y:51.21, Z:-0.47 [[ 4.52379210e-01 -8.91825056e-01 1.05774681e-03 1.56736397e+02] [ 8.91822775e-01 4.52380446e-01 2.01771817e-03 5.12115758e+01] [-2.27795560e-03 3.05489470e-05 9.99997405e-01 -4.72882347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.0 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:156.74, Y:51.23, Z:-0.48 [[ 4.47194749e-01 -8.94435989e-01 1.05719586e-03 1.56739653e+02] [ 8.94433714e-01 4.47195996e-01 2.01800680e-03 5.12343199e+01] [-2.27775167e-03 4.31495783e-05 9.99997405e-01 -4.78344168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:156.75, Y:51.26, Z:-0.48 [[ 4.47295002e-01 -8.94385905e-01 1.01660081e-03 1.56750895e+02] [ 8.94383580e-01 4.47296158e-01 2.03924069e-03 5.12583912e+01] [-2.27858976e-03 -2.91109547e-06 9.99997404e-01 -4.81081598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:156.76, Y:51.28, Z:-0.48 [[ 4.48649951e-01 -8.93706997e-01 1.01286751e-03 1.56763767e+02] [ 8.93704666e-01 4.48651094e-01 2.04119262e-03 5.12838333e+01] [-2.27865224e-03 -1.05765513e-05 9.99997404e-01 -4.81752309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:51.31, Z:-0.48 [[ 4.53826584e-01 -8.91089443e-01 1.01810496e-03 1.56775405e+02] [ 8.91087111e-01 4.53827726e-01 2.03845035e-03 5.13083940e+01] [-2.27848585e-03 -1.78827481e-05 9.99997404e-01 -4.78803974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:51.34, Z:-0.47 [[ 4.61404173e-01 -8.87189469e-01 1.01722824e-03 1.56797051e+02] [ 8.87187127e-01 4.61405293e-01 2.03890917e-03 5.13358392e+01] [-2.27825324e-03 -3.82893990e-05 9.99997404e-01 -4.74328494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:156.81, Y:51.36, Z:-0.48 [[ 4.62357878e-01 -8.86692774e-01 1.05722701e-03 1.56809081e+02] [ 8.86690478e-01 4.62359086e-01 2.01795340e-03 5.13610255e+01] [-2.27812321e-03 4.41646918e-06 9.99997405e-01 -4.78120190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:156.82, Y:51.39, Z:-0.48 [[ 4.64417174e-01 -8.85615928e-01 1.05666882e-03 1.56820683e+02] [ 8.85613628e-01 4.64418376e-01 2.01824564e-03 5.13858797e+01] [-2.27812690e-03 -1.50763251e-06 9.99997405e-01 -4.76778211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:51.41, Z:-0.48 [[ 4.60703938e-01 -8.87553247e-01 1.05615433e-03 1.56822332e+02] [ 8.87550952e-01 4.60705148e-01 2.01851484e-03 5.14078903e+01] [-2.27811514e-03 7.45304915e-06 9.99997405e-01 -4.81463651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:156.83, Y:51.43, Z:-0.48 [[ 4.63606495e-01 -8.86040629e-01 1.01076863e-03 1.56834236e+02] [ 8.86038277e-01 4.63607594e-01 2.04221873e-03 5.14335353e+01] [-2.27808878e-03 -5.12061753e-05 9.99997404e-01 -4.84647886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:51.46, Z:-0.48 [[ 4.67173154e-01 -8.84165265e-01 1.01372570e-03 1.56847644e+02] [ 8.84162912e-01 4.67174251e-01 2.04067303e-03 5.14587024e+01] [-2.27787875e-03 -5.70489882e-05 9.99997404e-01 -4.79527459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:156.86, Y:51.48, Z:-0.48 [[ 4.67071803e-01 -8.84218805e-01 1.01778005e-03 1.56858799e+02] [ 8.84216457e-01 4.67072909e-01 2.03855350e-03 5.14827746e+01] [-2.27790483e-03 -5.22129904e-05 9.99997404e-01 -4.83714897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:156.88, Y:51.51, Z:-0.48 [[ 4.74242570e-01 -8.80393643e-01 1.00905877e-03 1.56881855e+02] [ 8.80391276e-01 4.74243636e-01 2.04310792e-03 5.15104183e+01] [-2.27727892e-03 -8.05622103e-05 9.99997404e-01 -4.76386274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:156.89, Y:51.53, Z:-0.48 [[ 4.71008825e-01 -8.82127866e-01 1.05568752e-03 1.56885349e+02] [ 8.82125556e-01 4.71010008e-01 2.01872350e-03 5.15327818e+01] [-2.27801165e-03 -1.95876411e-05 9.99997405e-01 -4.78085991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:156.91, Y:51.56, Z:-0.48 [[ 4.75878018e-01 -8.79510701e-01 1.01928785e-03 1.56906192e+02] [ 8.79508344e-01 4.75879104e-01 2.03772612e-03 5.15608747e+01] [-2.27725972e-03 -7.32369010e-05 9.99997404e-01 -4.75716610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:156.92, Y:51.59, Z:-0.47 [[ 4.76136942e-01 -8.79370513e-01 1.05513963e-03 1.56918326e+02] [ 8.79368196e-01 4.76138110e-01 2.01898971e-03 5.15858376e+01] [-2.27783221e-03 -3.34593580e-05 9.99997405e-01 -4.74207315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:156.93, Y:51.61, Z:-0.48 [[ 4.76145861e-01 -8.79365685e-01 1.05455854e-03 1.56929949e+02] [ 8.79363367e-01 4.76147027e-01 2.01929318e-03 5.16100571e+01] [-2.27782204e-03 -3.41379428e-05 9.99997405e-01 -4.75511306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:156.94, Y:51.64, Z:-0.48 [[ 4.75781961e-01 -8.79562627e-01 1.05403532e-03 1.56942027e+02] [ 8.79560309e-01 4.75783127e-01 2.01956625e-03 5.16351171e+01] [-2.27782722e-03 -3.37855625e-05 9.99997405e-01 -4.75721982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:156.95, Y:51.66, Z:-0.48 [[ 4.75804282e-01 -8.79550553e-01 1.05346131e-03 1.56953980e+02] [ 8.79548235e-01 4.75805447e-01 2.01986563e-03 5.16589831e+01] [-2.27781656e-03 -3.44906812e-05 9.99997405e-01 -4.76333507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:51.68, Z:-0.47 [[ 4.75286929e-01 -8.79830226e-01 1.05295060e-03 1.56966204e+02] [ 8.79827908e-01 4.75288094e-01 2.02013183e-03 5.16840671e+01] [-2.27782792e-03 -3.37269284e-05 9.99997405e-01 -4.74106457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:156.97, Y:51.71, Z:-0.48 [[ 4.69714751e-01 -8.82817617e-01 1.05238181e-03 1.56971673e+02] [ 8.82815305e-01 4.69715929e-01 2.02042809e-03 5.17067208e+01] [-2.27799001e-03 -1.99661110e-05 9.99997405e-01 -4.81967267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.6 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:156.99, Y:51.73, Z:-0.48 [[ 4.72683902e-01 -8.81231461e-01 1.02024421e-03 1.56991806e+02] [ 8.81229109e-01 4.72684999e-01 2.03714362e-03 5.17339300e+01] [-2.27744918e-03 -6.38560979e-05 9.99997405e-01 -4.79774837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:157.00, Y:51.76, Z:-0.48 [[ 4.71499729e-01 -8.81865579e-01 1.05188784e-03 1.57004135e+02] [ 8.81863264e-01 4.71500902e-01 2.02067110e-03 5.17582136e+01] [-2.27792636e-03 -2.51246312e-05 9.99997405e-01 -4.80677490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:157.02, Y:51.78, Z:-0.48 [[ 4.68088951e-01 -8.83680728e-01 1.05139613e-03 1.57017493e+02] [ 8.83678417e-01 4.68090132e-01 2.02092692e-03 5.17826944e+01] [-2.27800232e-03 -1.68774984e-05 9.99997405e-01 -4.82913588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:157.03, Y:51.81, Z:-0.48 [[ 4.66064480e-01 -8.84750132e-01 1.05084264e-03 1.57031335e+02] [ 8.84747823e-01 4.66065665e-01 2.02121468e-03 5.18072192e+01] [-2.27803163e-03 -1.22856271e-05 9.99997405e-01 -4.82076673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:157.05, Y:51.83, Z:-0.48 [[ 4.63669969e-01 -8.86007368e-01 1.05026816e-03 1.57045256e+02] [ 8.86005062e-01 4.63671159e-01 2.02151315e-03 5.18321241e+01] [-2.27805460e-03 -6.77202668e-06 9.99997405e-01 -4.81567451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:157.06, Y:51.86, Z:-0.48 [[ 4.61430651e-01 -8.87175661e-01 1.04969403e-03 1.57058821e+02] [ 8.87173357e-01 4.61431845e-01 2.02181123e-03 5.18561648e+01] [-2.27806396e-03 -1.66509325e-06 9.99997405e-01 -4.79237880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:157.07, Y:51.88, Z:-0.48 [[ 4.58816771e-01 -8.88530286e-01 1.04943337e-03 1.57072740e+02] [ 8.88527986e-01 4.58817971e-01 2.02194651e-03 5.18805372e+01] [-2.27805961e-03 4.74795131e-06 9.99997405e-01 -4.77736221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.09, Y:51.91, Z:-0.47 [[ 4.54502770e-01 -8.90744706e-01 1.04886915e-03 1.57087382e+02] [ 8.90742411e-01 4.54503980e-01 2.02223916e-03 5.19057152e+01] [-2.27801403e-03 1.51589320e-05 9.99997405e-01 -4.73308699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:157.10, Y:51.93, Z:-0.48 [[ 4.51933349e-01 -8.92051091e-01 1.04836424e-03 1.57100489e+02] [ 8.92048798e-01 4.51934565e-01 2.02250088e-03 5.19290751e+01] [-2.27796615e-03 2.11564669e-05 9.99997405e-01 -4.77108066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:157.11, Y:51.95, Z:-0.48 [[ 4.50400497e-01 -8.92826015e-01 1.04785658e-03 1.57113673e+02] [ 8.92823724e-01 4.50401716e-01 2.02276386e-03 5.19540082e+01] [-2.27793260e-03 2.44973622e-05 9.99997405e-01 -4.76234988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.9 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:157.13, Y:51.98, Z:-0.47 [[ 4.49505324e-01 -8.93277038e-01 1.04730472e-03 1.57126770e+02] [ 8.93274747e-01 4.49506544e-01 2.02304955e-03 5.19788044e+01] [-2.27791404e-03 2.61593128e-05 9.99997405e-01 -4.73782511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:52.00, Z:-0.47 [[ 4.48733776e-01 -8.93664871e-01 1.04673077e-03 1.57139117e+02] [ 8.93662581e-01 4.48734996e-01 2.02334647e-03 5.20031292e+01] [-2.27789839e-03 2.74802181e-05 9.99997405e-01 -4.72109673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:157.15, Y:52.03, Z:-0.47 [[ 4.48142705e-01 -8.93961421e-01 1.04621180e-03 1.57152312e+02] [ 8.93959131e-01 4.48143925e-01 2.02361478e-03 5.20284833e+01] [-2.27788701e-03 2.84023867e-05 9.99997405e-01 -4.74659164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:157.16, Y:52.05, Z:-0.48 [[ 4.48102447e-01 -8.93981601e-01 1.04563742e-03 1.57164667e+02] [ 8.93979311e-01 4.48103666e-01 2.02391153e-03 5.20529151e+01] [-2.27789363e-03 2.78585082e-05 9.99997405e-01 -4.75800984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:157.18, Y:52.08, Z:-0.48 [[ 4.48042006e-01 -8.94011895e-01 1.04513893e-03 1.57177231e+02] [ 8.94009604e-01 4.48043224e-01 2.02416891e-03 5.20781011e+01] [-2.27789850e-03 2.74515446e-05 9.99997405e-01 -4.76434426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04999999999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.18, Y:52.10, Z:-0.48 [[ 4.45106693e-01 -8.95476935e-01 1.04457421e-03 1.57183457e+02] [ 8.95474647e-01 4.45107917e-01 2.02446030e-03 5.21013923e+01] [-2.27780575e-03 3.42888904e-05 9.99997405e-01 -4.76317549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:157.20, Y:52.13, Z:-0.48 [[ 4.46997308e-01 -8.94534722e-01 1.01900089e-03 1.57195778e+02] [ 8.94532401e-01 4.46998470e-01 2.03764356e-03 5.21278300e+01] [-2.27823475e-03 7.08128264e-07 9.99997405e-01 -4.76092919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:157.21, Y:52.15, Z:-0.48 [[ 4.51263882e-01 -8.92389974e-01 1.02110499e-03 1.57212628e+02] [ 8.92387651e-01 4.51265037e-01 2.03655928e-03 5.21542132e+01] [-2.27819406e-03 -7.80416052e-06 9.99997405e-01 -4.75270671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:157.22, Y:52.18, Z:-0.48 [[ 4.46878704e-01 -8.94593949e-01 1.04405480e-03 1.57217459e+02] [ 8.94591658e-01 4.46879923e-01 2.02472515e-03 5.21777376e+01] [-2.27787400e-03 2.91961604e-05 9.99997405e-01 -4.81200617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:157.24, Y:52.21, Z:-0.48 [[ 4.52036779e-01 -8.91998726e-01 1.01165525e-03 1.57237064e+02] [ 8.91996390e-01 4.52037911e-01 2.04140504e-03 5.22054203e+01] [-2.27823722e-03 -2.03973295e-05 9.99997405e-01 -4.77928852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.2 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.24, Y:52.23, Z:-0.48 [[ 4.49793340e-01 -8.93132052e-01 1.04347914e-03 1.57242523e+02] [ 8.93129757e-01 4.49794549e-01 2.02500629e-03 5.22298626e+01] [-2.27794925e-03 2.11279270e-05 9.99997405e-01 -4.76192945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:157.26, Y:52.26, Z:-0.48 [[ 4.53591863e-01 -8.91208949e-01 1.01565336e-03 1.57261039e+02] [ 8.91206616e-01 4.53592999e-01 2.03932109e-03 5.22561906e+01] [-2.27815446e-03 -1.98624594e-05 9.99997405e-01 -4.76414850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:157.27, Y:52.28, Z:-0.48 [[ 4.53951955e-01 -8.91025553e-01 1.04274410e-03 1.57273490e+02] [ 8.91023251e-01 4.53953152e-01 2.02537368e-03 5.22815452e+01] [-2.27801668e-03 9.68689662e-06 9.99997405e-01 -4.75444494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:157.29, Y:52.31, Z:-0.48 [[ 4.54229937e-01 -8.90883875e-01 1.04217351e-03 1.57285015e+02] [ 8.90881572e-01 4.54231132e-01 2.02566724e-03 5.23059266e+01] [-2.27802194e-03 8.33447524e-06 9.99997405e-01 -4.75589445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:157.30, Y:52.33, Z:-0.47 [[ 4.54842290e-01 -8.90571393e-01 1.04165551e-03 1.57296862e+02] [ 8.90569089e-01 4.54843482e-01 2.02593358e-03 5.23314209e+01] [-2.27802871e-03 6.18593105e-06 9.99997405e-01 -4.74260971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:157.31, Y:52.36, Z:-0.47 [[ 4.55434296e-01 -8.90268790e-01 1.04110467e-03 1.57308578e+02] [ 8.90266484e-01 4.55435486e-01 2.02621661e-03 5.23566843e+01] [-2.27803342e-03 4.05205390e-06 9.99997405e-01 -4.73243122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:157.32, Y:52.38, Z:-0.48 [[ 4.56719492e-01 -8.89610152e-01 1.04054123e-03 1.57319217e+02] [ 8.89607844e-01 4.56720677e-01 2.02650592e-03 5.23817483e+01] [-2.27803693e-03 1.28890493e-07 9.99997405e-01 -4.75447894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:157.33, Y:52.41, Z:-0.47 [[ 4.57678367e-01 -8.89117220e-01 1.04003327e-03 1.57331042e+02] [ 8.89114910e-01 4.57679548e-01 2.02676658e-03 5.24070766e+01] [-2.27803502e-03 -2.89813227e-06 9.99997405e-01 -4.74584549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:157.34, Y:52.43, Z:-0.47 [[ 4.58895289e-01 -8.88489748e-01 1.03946340e-03 1.57342523e+02] [ 8.88487436e-01 4.58896467e-01 2.02705880e-03 5.24323086e+01] [-2.27802705e-03 -6.65756489e-06 9.99997405e-01 -4.73882485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:157.35, Y:52.46, Z:-0.48 [[ 4.55196361e-01 -8.90390472e-01 1.03888769e-03 1.57345545e+02] [ 8.90388164e-01 4.55197547e-01 2.02735382e-03 5.24553272e+01] [-2.27803565e-03 2.16922395e-06 9.99997405e-01 -4.80504851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.5 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:157.36, Y:52.48, Z:-0.48 [[ 4.58827964e-01 -8.88524560e-01 1.00292014e-03 1.57356303e+02] [ 8.88522206e-01 4.58829058e-01 2.04577780e-03 5.24811685e+01] [-2.27789272e-03 -4.75432520e-05 9.99997404e-01 -4.81897395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:157.37, Y:52.51, Z:-0.48 [[ 4.58898143e-01 -8.88488320e-01 1.00020610e-03 1.57368913e+02] [ 8.88485963e-01 4.58899230e-01 2.04716940e-03 5.25055573e+01] [-2.27787990e-03 -5.07731583e-05 9.99997404e-01 -4.81958675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:52.53, Z:-0.47 [[ 4.66265776e-01 -8.84644124e-01 9.99576632e-04 1.57389133e+02] [ 8.84641758e-01 4.66266842e-01 2.04749203e-03 5.25340673e+01] [-2.27737123e-03 -7.04082327e-05 9.99997404e-01 -4.72672727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:157.40, Y:52.56, Z:-0.48 [[ 4.66919476e-01 -8.84299226e-01 1.04006647e-03 1.57400286e+02] [ 8.84296904e-01 4.66920634e-01 2.02671351e-03 5.25588672e+01] [-2.27784968e-03 -2.65844494e-05 9.99997405e-01 -4.75436976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:157.41, Y:52.58, Z:-0.48 [[ 4.67612794e-01 -8.83932799e-01 1.03955877e-03 1.57411992e+02] [ 8.83930476e-01 4.67613949e-01 2.02697389e-03 5.25844174e+01] [-2.27782088e-03 -2.89412468e-05 9.99997405e-01 -4.76368775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:157.42, Y:52.61, Z:-0.48 [[ 4.68963366e-01 -8.83217007e-01 1.03897194e-03 1.57422969e+02] [ 8.83214681e-01 4.68964516e-01 2.02727463e-03 5.26090988e+01] [-2.27776441e-03 -3.30822624e-05 9.99997405e-01 -4.76719016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:157.43, Y:52.63, Z:-0.48 [[ 4.69198574e-01 -8.83092079e-01 1.03844051e-03 1.57434841e+02] [ 8.83089752e-01 4.69199722e-01 2.02754681e-03 5.26340783e+01] [-2.27774653e-03 -3.42859011e-05 9.99997405e-01 -4.75917118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70999999999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:157.45, Y:52.66, Z:-0.48 [[ 4.69006693e-01 -8.83194002e-01 1.03786705e-03 1.57447383e+02] [ 8.83191675e-01 4.69007840e-01 2.02784032e-03 5.26595917e+01] [-2.27774419e-03 -3.44351475e-05 9.99997405e-01 -4.77271867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73999999999998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:157.46, Y:52.68, Z:-0.48 [[ 4.68476960e-01 -8.83475105e-01 1.03729532e-03 1.57459377e+02] [ 8.83472778e-01 4.68478107e-01 2.02813273e-03 5.26845673e+01] [-2.27775493e-03 -3.37112818e-05 9.99997405e-01 -4.77128654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76999999999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:157.47, Y:52.71, Z:-0.48 [[ 4.68601434e-01 -8.83409091e-01 1.03671966e-03 1.57471277e+02] [ 8.83406763e-01 4.68602579e-01 2.02842695e-03 5.27096993e+01] [-2.27774031e-03 -3.46786226e-05 9.99997405e-01 -4.75065430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79999999999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:157.48, Y:52.73, Z:-0.48 [[ 4.67485193e-01 -8.84000294e-01 1.03614559e-03 1.57483577e+02] [ 8.83997967e-01 4.67486341e-01 2.02872014e-03 5.27348781e+01] [-2.27777312e-03 -3.24460306e-05 9.99997405e-01 -4.78488316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82999999999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:157.50, Y:52.76, Z:-0.48 [[ 4.66957255e-01 -8.84279283e-01 1.03556776e-03 1.57496280e+02] [ 8.84276955e-01 4.66958402e-01 2.02901506e-03 5.27601703e+01] [-2.27778305e-03 -3.17345992e-05 9.99997405e-01 -4.77306566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85999999999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:157.51, Y:52.78, Z:-0.48 [[ 4.66184419e-01 -8.84686959e-01 1.03497871e-03 1.57509041e+02] [ 8.84684632e-01 4.66185567e-01 2.02931548e-03 5.27846013e+01] [-2.27780108e-03 -3.04054984e-05 9.99997405e-01 -4.78174900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:157.52, Y:52.81, Z:-0.48 [[ 4.64983483e-01 -8.85318751e-01 1.03446339e-03 1.57522135e+02] [ 8.85316425e-01 4.64984633e-01 2.02957814e-03 5.28100109e+01] [-2.27783316e-03 -2.78928781e-05 9.99997405e-01 -4.79018545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:157.54, Y:52.83, Z:-0.48 [[ 4.64336801e-01 -8.85658098e-01 1.03391908e-03 1.57535109e+02] [ 8.85655772e-01 4.64337952e-01 2.02985539e-03 5.28347734e+01] [-2.27784573e-03 -2.68401614e-05 9.99997405e-01 -4.78267316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:157.55, Y:52.86, Z:-0.48 [[ 4.62423474e-01 -8.86658594e-01 1.03333914e-03 1.57548687e+02] [ 8.86656270e-01 4.62424628e-01 2.03015057e-03 5.28593536e+01] [-2.27789192e-03 -2.25726546e-05 9.99997405e-01 -4.79412375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:52.88, Z:-0.48 [[ 4.62239223e-01 -8.86754664e-01 1.03275794e-03 1.57561755e+02] [ 8.86752340e-01 4.62240376e-01 2.03044619e-03 5.28838123e+01] [-2.27789005e-03 -2.27513486e-05 9.99997405e-01 -4.75373004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:157.58, Y:52.91, Z:-0.48 [[ 4.60146251e-01 -8.87842532e-01 1.03223679e-03 1.57575270e+02] [ 8.87840210e-01 4.60147409e-01 2.03071110e-03 5.29083216e+01] [-2.27793277e-03 -1.79627702e-05 9.99997405e-01 -4.79294591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:157.59, Y:52.93, Z:-0.48 [[ 4.58778907e-01 -8.88549858e-01 1.03166287e-03 1.57588276e+02] [ 8.88547537e-01 4.58780067e-01 2.03100263e-03 5.29315755e+01] [-2.27795346e-03 -1.50996596e-05 9.99997405e-01 -4.79545289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:157.60, Y:52.96, Z:-0.48 [[ 4.55763592e-01 -8.90100267e-01 1.03113776e-03 1.57602884e+02] [ 8.90097949e-01 4.55764758e-01 2.03126919e-03 5.29558654e+01] [-2.27798950e-03 -7.96494122e-06 9.99997405e-01 -4.78776285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.1 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:157.62, Y:52.98, Z:-0.48 [[ 4.53745463e-01 -8.91130739e-01 1.03055727e-03 1.57616385e+02] [ 8.91128423e-01 4.53746633e-01 2.03156366e-03 5.29803582e+01] [-2.27800071e-03 -3.45391547e-06 9.99997405e-01 -4.79436517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:157.63, Y:53.00, Z:-0.48 [[ 4.51900508e-01 -8.92067750e-01 1.02997843e-03 1.57629675e+02] [ 8.92065436e-01 4.51901682e-01 2.03185708e-03 5.30045908e+01] [-2.27800316e-03 6.10906060e-07 9.99997405e-01 -4.78552489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:157.64, Y:53.03, Z:-0.48 [[ 4.49798721e-01 -8.93129359e-01 1.02940214e-03 1.57643210e+02] [ 8.93127047e-01 4.49799899e-01 2.03214901e-03 5.30288131e+01] [-2.27799691e-03 5.32886797e-06 9.99997405e-01 -4.77269476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:157.66, Y:53.05, Z:-0.48 [[ 4.47689634e-01 -8.94188421e-01 1.02889035e-03 1.57657066e+02] [ 8.94186112e-01 4.47690816e-01 2.03240809e-03 5.30538524e+01] [-2.27798055e-03 1.01314282e-05 9.99997405e-01 -4.75395219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:157.67, Y:53.08, Z:-0.47 [[ 4.42584290e-01 -8.96726318e-01 1.02834458e-03 1.57671870e+02] [ 8.96724014e-01 4.42585484e-01 2.03268420e-03 5.30783290e+01] [-2.27789180e-03 2.25071901e-05 9.99997405e-01 -4.74990922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:53.10, Z:-0.48 [[ 4.35066385e-01 -9.00397792e-01 1.02777605e-03 1.57676067e+02] [ 9.00395498e-01 4.35067597e-01 2.03297162e-03 5.31005866e+01] [-2.27763522e-03 4.09273158e-05 9.99997405e-01 -4.78194605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:157.69, Y:53.13, Z:-0.48 [[ 4.30203324e-01 -9.02731479e-01 9.88383499e-04 1.57687545e+02] [ 9.02729145e-01 4.30204459e-01 2.05285813e-03 5.31251555e+01] [-2.27838665e-03 9.09619895e-06 9.99997404e-01 -4.82658946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:157.71, Y:53.15, Z:-0.47 [[ 4.35281037e-01 -9.00294101e-01 9.74989524e-04 1.57713454e+02] [ 9.00291745e-01 4.35282128e-01 2.05961627e-03 5.31530271e+01] [-2.27865589e-03 -1.87368825e-05 9.99997404e-01 -4.72917676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:157.73, Y:53.18, Z:-0.47 [[ 4.32454674e-01 -9.01655089e-01 1.02756437e-03 1.57726810e+02] [ 9.01652798e-01 4.32455892e-01 2.03304328e-03 5.31782948e+01] [-2.27748009e-03 4.73072149e-05 9.99997405e-01 -4.73302370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:157.74, Y:53.20, Z:-0.47 [[ 4.27531753e-01 -9.03999749e-01 1.02699716e-03 1.57739875e+02] [ 9.03997464e-01 4.27532982e-01 2.03332977e-03 5.32030124e+01] [-2.27720476e-03 5.90897918e-05 9.99997405e-01 -4.74303549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.4 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:157.75, Y:53.23, Z:-0.47 [[ 4.25267085e-01 -9.05067319e-01 1.02642968e-03 1.57752703e+02] [ 9.05065037e-01 4.25268319e-01 2.03361619e-03 5.32285023e+01] [-2.27706758e-03 6.41555848e-05 9.99997405e-01 -4.74769259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:157.76, Y:53.25, Z:-0.48 [[ 4.18252581e-01 -9.08330185e-01 1.02585600e-03 1.57757072e+02] [ 9.08327912e-01 4.18253832e-01 2.03390554e-03 5.32514456e+01] [-2.27652600e-03 8.11273946e-05 9.99997405e-01 -4.80937495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45999999999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:157.78, Y:53.28, Z:-0.48 [[ 4.20196169e-01 -9.07432749e-01 9.92397001e-04 1.57777194e+02] [ 9.07430433e-01 4.20197339e-01 2.05075770e-03 5.32784834e+01] [-2.27792728e-03 3.88107106e-05 9.99997405e-01 -4.75434147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:157.79, Y:53.30, Z:-0.47 [[ 4.18900043e-01 -9.08031774e-01 1.02545176e-03 1.57788710e+02] [ 9.08029499e-01 4.18901291e-01 2.03409374e-03 5.33028952e+01] [-2.27658481e-03 7.90584909e-05 9.99997405e-01 -4.74531028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:157.80, Y:53.33, Z:-0.47 [[ 4.17537394e-01 -9.08659163e-01 1.02493416e-03 1.57800546e+02] [ 9.08656889e-01 4.17538644e-01 2.03435451e-03 5.33279222e+01] [-2.27648449e-03 8.18944041e-05 9.99997405e-01 -4.74464678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54999999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.81, Y:53.35, Z:-0.47 [[ 4.16882265e-01 -9.08959915e-01 1.02436659e-03 1.57812566e+02] [ 9.08957642e-01 4.16883515e-01 2.03464026e-03 5.33535926e+01] [-2.27644799e-03 8.29004016e-05 9.99997405e-01 -4.71885941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:157.82, Y:53.38, Z:-0.47 [[ 4.15813902e-01 -9.09449147e-01 1.02378079e-03 1.57824096e+02] [ 9.09446874e-01 4.15815153e-01 2.03493498e-03 5.33785003e+01] [-2.27637345e-03 8.49199839e-05 9.99997405e-01 -4.73263675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:157.84, Y:53.40, Z:-0.47 [[ 4.15014244e-01 -9.09814339e-01 1.02325298e-03 1.57835642e+02] [ 9.09812066e-01 4.15015496e-01 2.03520035e-03 5.34037303e+01] [-2.27632031e-03 8.63307736e-05 9.99997405e-01 -4.74297139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:157.85, Y:53.43, Z:-0.47 [[ 4.16058562e-01 -9.09337246e-01 1.02267638e-03 1.57845468e+02] [ 9.09334972e-01 4.16059810e-01 2.03549005e-03 5.34302855e+01] [-2.27644146e-03 8.30723372e-05 9.99997405e-01 -4.74428284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:157.86, Y:53.46, Z:-0.47 [[ 4.17470697e-01 -9.08689811e-01 1.02210020e-03 1.57856395e+02] [ 9.08687534e-01 4.17471940e-01 2.03577933e-03 5.34562540e+01] [-2.27659009e-03 7.88914892e-05 9.99997405e-01 -4.73576799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.7 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:157.87, Y:53.48, Z:-0.47 [[ 4.19190352e-01 -9.07897794e-01 1.02152108e-03 1.57866573e+02] [ 9.07895514e-01 4.19191590e-01 2.03606988e-03 5.34815289e+01] [-2.27675640e-03 7.39335579e-05 9.99997405e-01 -4.73706828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:157.88, Y:53.51, Z:-0.47 [[ 4.25021486e-01 -9.05182686e-01 1.02099730e-03 1.57875502e+02] [ 9.05180397e-01 4.25022708e-01 2.03633250e-03 5.35089898e+01] [-2.27719996e-03 5.87016757e-05 9.99997405e-01 -4.71859666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:157.89, Y:53.54, Z:-0.47 [[ 4.27096178e-01 -9.04205626e-01 1.02042229e-03 1.57885355e+02] [ 9.04203333e-01 4.27097394e-01 2.03662061e-03 5.35350193e+01] [-2.27734351e-03 5.28363564e-05 9.99997405e-01 -4.74659169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:157.89, Y:53.56, Z:-0.48 [[ 4.25530397e-01 -9.04943557e-01 1.01984930e-03 1.57887884e+02] [ 9.04941266e-01 4.25531615e-01 2.03690749e-03 5.35595478e+01] [-2.27726443e-03 5.61376690e-05 9.99997405e-01 -4.82131497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:157.90, Y:53.58, Z:-0.48 [[ 4.29288380e-01 -9.03166935e-01 9.87321739e-04 1.57897280e+02] [ 9.03164601e-01 4.29289515e-01 2.05316862e-03 5.35849261e+01] [-2.27820088e-03 1.03126135e-05 9.99997405e-01 -4.83602883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:53.61, Z:-0.48 [[ 4.41041830e-01 -8.97486006e-01 9.86360831e-04 1.57907675e+02] [ 8.97483657e-01 4.41042933e-01 2.05364961e-03 5.36132326e+01] [-2.27814926e-03 -2.05026553e-05 9.99997405e-01 -4.78920135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:157.92, Y:53.64, Z:-0.48 [[ 4.44789782e-01 -8.95634446e-01 9.94169219e-04 1.57917934e+02] [ 8.95632101e-01 4.44790893e-01 2.04974617e-03 5.36396462e+01] [-2.27802069e-03 -2.12962856e-05 9.99997405e-01 -4.83028414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:157.93, Y:53.67, Z:-0.48 [[ 4.52635133e-01 -8.91695265e-01 9.95482885e-04 1.57933465e+02] [ 8.91692912e-01 4.52636226e-01 2.04908987e-03 5.36671668e+01] [-2.27775535e-03 -3.98250335e-05 9.99997405e-01 -4.77691909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:157.94, Y:53.69, Z:-0.48 [[ 4.57059293e-01 -8.89435644e-01 1.01850868e-03 1.57943837e+02] [ 8.89433311e-01 4.57060427e-01 2.03758015e-03 5.36931381e+01] [-2.27781643e-03 -2.53993937e-05 9.99997405e-01 -4.76744969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:157.96, Y:53.72, Z:-0.48 [[ 4.60073097e-01 -8.87880459e-01 1.01793466e-03 1.57955163e+02] [ 8.87878121e-01 4.60074222e-01 2.03786688e-03 5.37202634e+01] [-2.27770768e-03 -3.37658152e-05 9.99997405e-01 -4.81247088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.0 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:157.97, Y:53.75, Z:-0.48 [[ 4.62808945e-01 -8.86457465e-01 1.02153933e-03 1.57965517e+02] [ 8.86455127e-01 4.62810071e-01 2.03606740e-03 5.37453858e+01] [-2.27766583e-03 -3.67614320e-05 9.99997405e-01 -4.78195575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:157.98, Y:53.77, Z:-0.48 [[ 4.66757822e-01 -8.84384589e-01 1.01665555e-03 1.57976547e+02] [ 8.84382242e-01 4.66758926e-01 2.03850307e-03 5.37715401e+01] [-2.27735375e-03 -5.23751426e-05 9.99997405e-01 -4.75623645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:157.99, Y:53.80, Z:-0.48 [[ 4.67343767e-01 -8.84075093e-01 1.01608727e-03 1.57988798e+02] [ 8.84072744e-01 4.67344869e-01 2.03878629e-03 5.37973004e+01] [-2.27730335e-03 -5.45190065e-05 9.99997405e-01 -4.76466499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:158.00, Y:53.82, Z:-0.48 [[ 4.67525533e-01 -8.83978984e-01 1.01550449e-03 1.58000866e+02] [ 8.83976634e-01 4.67526632e-01 2.03907652e-03 5.38221390e+01] [-2.27727619e-03 -5.56380977e-05 9.99997405e-01 -4.76190522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:158.01, Y:53.85, Z:-0.48 [[ 4.67246848e-01 -8.84126322e-01 1.01492062e-03 1.58013080e+02] [ 8.84123971e-01 4.67247947e-01 2.03936710e-03 5.38470051e+01] [-2.27727770e-03 -5.55721996e-05 9.99997405e-01 -4.75658282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:158.03, Y:53.87, Z:-0.48 [[ 4.66810894e-01 -8.84356580e-01 1.01433397e-03 1.58025626e+02] [ 8.84354230e-01 4.66811993e-01 2.03965884e-03 5.38726317e+01] [-2.27728898e-03 -5.51044342e-05 9.99997405e-01 -4.76201839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:158.04, Y:53.90, Z:-0.48 [[ 4.65311866e-01 -8.85146225e-01 1.01374738e-03 1.58037733e+02] [ 8.85143876e-01 4.65312968e-01 2.03995035e-03 5.38966604e+01] [-2.27736415e-03 -5.19008208e-05 9.99997405e-01 -4.76809552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20999999999998 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:158.05, Y:53.92, Z:-0.48 [[ 4.63674628e-01 -8.86004973e-01 1.01323001e-03 1.58050680e+02] [ 8.86002626e-01 4.63675733e-01 2.04020729e-03 5.39218528e+01] [-2.27744397e-03 -4.82679081e-05 9.99997405e-01 -4.79087325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23999999999998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:158.06, Y:53.95, Z:-0.48 [[ 4.63100861e-01 -8.86305008e-01 1.01266118e-03 1.58064251e+02] [ 8.86302660e-01 4.63101966e-01 2.04048959e-03 5.39464497e+01] [-2.27746152e-03 -4.74281910e-05 9.99997405e-01 -4.76440037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26999999999998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:158.08, Y:53.97, Z:-0.48 [[ 4.60866452e-01 -8.87468923e-01 1.01208151e-03 1.58077477e+02] [ 8.87466577e-01 4.60867562e-01 2.04077706e-03 5.39716838e+01] [-2.27756176e-03 -4.23371677e-05 9.99997405e-01 -4.78892296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:54.00, Z:-0.48 [[ 4.60214639e-01 -8.87807109e-01 1.01151161e-03 1.58091600e+02] [ 8.87804764e-01 4.60215748e-01 2.04105949e-03 5.39961289e+01] [-2.27758070e-03 -4.13006262e-05 9.99997405e-01 -4.75555333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32999999999998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:158.11, Y:54.02, Z:-0.48 [[ 4.54857280e-01 -8.90563772e-01 1.01093086e-03 1.58105868e+02] [ 8.90561433e-01 4.54858403e-01 2.04134710e-03 5.40201057e+01] [-2.27778017e-03 -2.82255572e-05 9.99997405e-01 -4.79660150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35999999999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:158.12, Y:54.04, Z:-0.48 [[ 4.52018185e-01 -8.92008150e-01 1.01035713e-03 1.58119486e+02] [ 8.92005814e-01 4.52019313e-01 2.04163102e-03 5.40444050e+01] [-2.27785245e-03 -2.16099168e-05 9.99997405e-01 -4.81533816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:158.13, Y:54.07, Z:-0.48 [[ 4.49841810e-01 -8.93107679e-01 1.00977092e-03 1.58133000e+02] [ 8.93105345e-01 4.49842943e-01 2.04192091e-03 5.40677044e+01] [-2.27789357e-03 -1.67095902e-05 9.99997405e-01 -4.81362397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:158.15, Y:54.09, Z:-0.48 [[ 4.47291042e-01 -8.94387894e-01 1.00937269e-03 1.58146545e+02] [ 8.94385563e-01 4.47292180e-01 2.04211775e-03 5.40910657e+01] [-2.27792991e-03 -1.06526099e-05 9.99997405e-01 -4.81510334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:158.16, Y:54.12, Z:-0.48 [[ 4.47039185e-01 -8.94513806e-01 1.00884770e-03 1.58159142e+02] [ 8.94511475e-01 4.47040323e-01 2.04237708e-03 5.41167342e+01] [-2.27793009e-03 -1.05967443e-05 9.99997405e-01 -4.81575234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:158.17, Y:54.14, Z:-0.48 [[ 4.44256856e-01 -8.95898894e-01 1.00827253e-03 1.58173159e+02] [ 8.95896566e-01 4.44258001e-01 2.04266098e-03 5.41409338e+01] [-2.27795085e-03 -4.15825313e-06 9.99997405e-01 -4.81699922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:158.19, Y:54.16, Z:-0.48 [[ 4.41705243e-01 -8.97159664e-01 1.00768944e-03 1.58186674e+02] [ 8.97157338e-01 4.41706392e-01 2.04294859e-03 5.41643243e+01] [-2.27795394e-03 1.67487074e-06 9.99997405e-01 -4.81438061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:158.19, Y:54.19, Z:-0.49 [[ 4.31882893e-01 -9.01929128e-01 1.00717196e-03 1.58193309e+02] [ 9.01926814e-01 4.31884066e-01 2.04320368e-03 5.41856835e+01] [-2.27780643e-03 2.59706875e-05 9.99997405e-01 -4.86633609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:54.21, Z:-0.47 [[ 4.36713319e-01 -8.99600209e-01 9.69458468e-04 1.58216936e+02] [ 8.99597847e-01 4.36714394e-01 2.06176139e-03 5.42121944e+01] [-2.27813744e-03 -2.82759082e-05 9.99997405e-01 -4.74024560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:54.24, Z:-0.47 [[ 4.32769541e-01 -9.01504027e-01 1.00677570e-03 1.58231595e+02] [ 9.01501712e-01 4.32770711e-01 2.04337510e-03 5.42360695e+01] [-2.27781392e-03 2.32995117e-05 9.99997406e-01 -4.73577350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:158.24, Y:54.26, Z:-0.48 [[ 4.30271884e-01 -9.02698783e-01 1.00618708e-03 1.58243948e+02] [ 9.02696471e-01 4.30273059e-01 2.04366490e-03 5.42596825e+01] [-2.27774902e-03 2.89499827e-05 9.99997406e-01 -4.75619499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:158.26, Y:54.28, Z:-0.48 [[ 4.28189396e-01 -9.03688458e-01 1.00578704e-03 1.58257343e+02] [ 9.03686148e-01 4.28190576e-01 2.04386177e-03 5.42849082e+01] [-2.27768282e-03 3.37558788e-05 9.99997406e-01 -4.76198551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:158.27, Y:54.31, Z:-0.48 [[ 4.26281885e-01 -9.04589821e-01 1.00520230e-03 1.58269969e+02] [ 9.04587512e-01 4.26283069e-01 2.04414931e-03 5.43086412e+01] [-2.27761738e-03 3.79096323e-05 9.99997406e-01 -4.75980480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:158.28, Y:54.33, Z:-0.48 [[ 4.24064429e-01 -9.05631465e-01 1.00467490e-03 1.58282715e+02] [ 9.05629158e-01 4.24065617e-01 2.04440849e-03 5.43327184e+01] [-2.27752873e-03 4.29019639e-05 9.99997406e-01 -4.76839751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:158.30, Y:54.36, Z:-0.48 [[ 4.22091009e-01 -9.06552906e-01 1.00416034e-03 1.58295960e+02] [ 9.06550602e-01 4.22092201e-01 2.04466119e-03 5.43574826e+01] [-2.27744180e-03 4.72890576e-05 9.99997406e-01 -4.76651882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:158.31, Y:54.38, Z:-0.48 [[ 4.18710615e-01 -9.08119163e-01 1.00357806e-03 1.58309989e+02] [ 9.08116862e-01 4.18711814e-01 2.04494695e-03 5.43816299e+01] [-2.27726551e-03 5.51251609e-05 9.99997406e-01 -4.75995065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:158.32, Y:54.41, Z:-0.47 [[ 4.17457840e-01 -9.08695739e-01 1.00299526e-03 1.58322729e+02] [ 9.08693439e-01 4.17459041e-01 2.04523276e-03 5.44057534e+01] [-2.27720374e-03 5.76167605e-05 9.99997406e-01 -4.74747762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:54.43, Z:-0.47 [[ 4.16049137e-01 -9.09341581e-01 1.00247197e-03 1.58335365e+02] [ 9.09339282e-01 4.16050340e-01 2.04548922e-03 5.44303336e+01] [-2.27712721e-03 6.05631211e-05 9.99997406e-01 -4.73726300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:54.45, Z:-0.47 [[ 4.14846514e-01 -9.09890854e-01 1.00188728e-03 1.58347759e+02] [ 9.09888556e-01 4.14847719e-01 2.04577556e-03 5.44545866e+01] [-2.27706313e-03 6.29229109e-05 9.99997406e-01 -4.74453453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:54.48, Z:-0.48 [[ 4.07501047e-01 -9.13204191e-01 1.00149026e-03 1.58351998e+02] [ 9.13201902e-01 4.07502270e-01 2.04596990e-03 5.44764421e+01] [-2.27649784e-03 8.08279284e-05 9.99997406e-01 -4.80915763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.37, Y:54.50, Z:-0.47 [[ 4.12278917e-01 -9.11057168e-01 9.64877230e-04 1.58373782e+02] [ 9.11054831e-01 4.12280045e-01 2.06386460e-03 5.45032952e+01] [-2.27809827e-03 2.81682014e-05 9.99997405e-01 -4.74482712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95999999999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:158.39, Y:54.53, Z:-0.48 [[ 4.10761516e-01 -9.11742274e-01 1.00111721e-03 1.58386639e+02] [ 9.11739981e-01 4.10762730e-01 2.04613337e-03 5.45287845e+01] [-2.27676793e-03 7.22857442e-05 9.99997406e-01 -4.77084440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98999999999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:158.40, Y:54.55, Z:-0.48 [[ 4.10263202e-01 -9.11966613e-01 1.00052699e-03 1.58398932e+02] [ 9.11964320e-01 4.10264416e-01 2.04642193e-03 5.45528855e+01] [-2.27674910e-03 7.28733026e-05 9.99997406e-01 -4.77965749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:54.58, Z:-0.47 [[ 4.11431886e-01 -9.11439961e-01 9.99997347e-04 1.58412049e+02] [ 9.11437666e-01 4.11433095e-01 2.04668072e-03 5.45772829e+01] [-2.27685860e-03 6.93655415e-05 9.99997406e-01 -4.73582937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04999999999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:158.42, Y:54.60, Z:-0.48 [[ 4.12486197e-01 -9.10963303e-01 9.99415925e-04 1.58423508e+02] [ 9.10961005e-01 4.12487402e-01 2.04696459e-03 5.46025150e+01] [-2.27695610e-03 6.60842968e-05 9.99997406e-01 -4.77058274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07999999999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:158.44, Y:54.63, Z:-0.48 [[ 4.14499474e-01 -9.10049003e-01 9.98833488e-04 1.58435736e+02] [ 9.10046703e-01 4.14500673e-01 2.04724876e-03 5.46280096e+01] [-2.27711384e-03 6.04015903e-05 9.99997406e-01 -4.76100790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10999999999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:158.44, Y:54.65, Z:-0.48 [[ 4.10699461e-01 -9.11770232e-01 9.98251905e-04 1.58438495e+02] [ 9.11767936e-01 4.10700669e-01 2.04753230e-03 5.46506052e+01] [-2.27686173e-03 6.92536654e-05 9.99997406e-01 -4.83147801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:158.46, Y:54.68, Z:-0.48 [[ 4.19316680e-01 -9.07839526e-01 9.57504055e-04 1.58459301e+02] [ 9.07837172e-01 4.19317773e-01 2.06736648e-03 5.46783129e+01] [-2.27833547e-03 2.37652477e-06 9.99997405e-01 -4.76922093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.46, Y:54.70, Z:-0.48 [[ 4.21041612e-01 -9.07040774e-01 9.97930399e-04 1.58461880e+02] [ 9.07038463e-01 4.21042793e-01 2.04766468e-03 5.47011432e+01] [-2.27748676e-03 4.30092158e-05 9.99997406e-01 -4.79773617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.2 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:158.48, Y:54.73, Z:-0.48 [[ 4.29525815e-01 -9.03054069e-01 9.60376590e-04 1.58481278e+02] [ 9.03051706e-01 4.29526889e-01 2.06593687e-03 5.47294179e+01] [-2.27816026e-03 -2.01034994e-05 9.99997405e-01 -4.78422949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:158.49, Y:54.75, Z:-0.48 [[ 4.33865701e-01 -9.00977002e-01 9.97488782e-04 1.58491936e+02] [ 9.00974675e-01 4.33866848e-01 2.04785995e-03 5.47539601e+01] [-2.27785203e-03 1.02159373e-05 9.99997406e-01 -4.77286368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:158.50, Y:54.78, Z:-0.48 [[ 4.37755905e-01 -8.99093306e-01 9.96966959e-04 1.58503176e+02] [ 8.99090974e-01 4.37757040e-01 2.04811396e-03 5.47800263e+01] [-2.27787486e-03 -2.09987184e-07 9.99997406e-01 -4.79705131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:54.81, Z:-0.48 [[ 4.46612136e-01 -8.94727113e-01 9.96387345e-04 1.58513615e+02] [ 8.94724769e-01 4.46613247e-01 2.04839590e-03 5.48059824e+01] [-2.27775514e-03 -2.33460306e-05 9.99997406e-01 -4.76428626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:158.52, Y:54.83, Z:-0.48 [[ 4.49202367e-01 -8.93429484e-01 9.95796988e-04 1.58524215e+02] [ 8.93427135e-01 4.49203469e-01 2.04868285e-03 5.48310260e+01] [-2.27766912e-03 -3.06011355e-05 9.99997406e-01 -4.81072935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:158.54, Y:54.86, Z:-0.48 [[ 4.51658883e-01 -8.92190150e-01 9.95269052e-04 1.58535733e+02] [ 8.92187798e-01 4.51659978e-01 2.04893930e-03 5.48563901e+01] [-2.27756665e-03 -3.74547295e-05 9.99997406e-01 -4.81632989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:54.88, Z:-0.48 [[ 4.54493514e-01 -8.90749491e-01 9.94691403e-04 1.58548239e+02] [ 8.90747135e-01 4.54494600e-01 2.04921969e-03 5.48816759e+01] [-2.27742327e-03 -4.53385382e-05 9.99997406e-01 -4.77440110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:54.91, Z:-0.48 [[ 4.55939183e-01 -8.90010378e-01 9.94118444e-04 1.58560113e+02] [ 8.90008020e-01 4.55940264e-01 2.04949760e-03 5.49069470e+01] [-2.27733276e-03 -4.96728736e-05 9.99997406e-01 -4.77697118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:158.57, Y:54.93, Z:-0.48 [[ 4.56623792e-01 -8.89659331e-01 9.93546312e-04 1.58572405e+02] [ 8.89656971e-01 4.56624870e-01 2.04977492e-03 5.49324546e+01] [-2.27727934e-03 -5.20605941e-05 9.99997406e-01 -4.81813531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:158.59, Y:54.96, Z:-0.48 [[ 4.57000888e-01 -8.89465684e-01 9.92959255e-04 1.58585065e+02] [ 8.89463323e-01 4.57001963e-01 2.05005927e-03 5.49565949e+01] [-2.27724170e-03 -5.36780655e-05 9.99997406e-01 -4.80130171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.5 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.60, Y:54.98, Z:-0.48 [[ 4.56768157e-01 -8.89585221e-01 9.92424049e-04 1.58597837e+02] [ 8.89582860e-01 4.56769231e-01 2.05031832e-03 5.49818030e+01] [-2.27724165e-03 -5.36766969e-05 9.99997406e-01 -4.78939687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:55.00, Z:-0.49 [[ 4.50168538e-01 -8.92943057e-01 9.91835353e-04 1.58603967e+02] [ 8.92940703e-01 4.50169629e-01 2.05060306e-03 5.50045924e+01] [-2.27756592e-03 -3.74668265e-05 9.99997406e-01 -4.85040600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:158.63, Y:55.03, Z:-0.49 [[ 4.53322445e-01 -8.91346086e-01 9.57246952e-04 1.58625278e+02] [ 8.91343692e-01 4.53323448e-01 2.06730811e-03 5.50312147e+01] [-2.27662948e-03 -8.39211321e-05 9.99997405e-01 -4.85025573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:158.64, Y:55.06, Z:-0.49 [[ 4.51830994e-01 -8.92103004e-01 9.91388714e-04 1.58639016e+02] [ 8.92100648e-01 4.51832079e-01 2.05080348e-03 5.50553569e+01] [-2.27746917e-03 -4.21980575e-05 9.99997406e-01 -4.85519510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:158.65, Y:55.08, Z:-0.49 [[ 4.50182633e-01 -8.92935953e-01 9.90805565e-04 1.58653022e+02] [ 8.92933598e-01 4.50183722e-01 2.05108517e-03 5.50801889e+01] [-2.27753223e-03 -3.86393463e-05 9.99997406e-01 -4.85159832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:158.67, Y:55.10, Z:-0.48 [[ 4.47343011e-01 -8.94361924e-01 9.90215692e-04 1.58669040e+02] [ 8.94359572e-01 4.47344105e-01 2.05136991e-03 5.51038217e+01] [-2.27763429e-03 -3.20571102e-05 9.99997406e-01 -4.84494929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:158.68, Y:55.13, Z:-0.48 [[ 4.46040049e-01 -8.95012456e-01 9.89620010e-04 1.58682605e+02] [ 8.95010105e-01 4.46041145e-01 2.05165724e-03 5.51271540e+01] [-2.27767003e-03 -2.94013857e-05 9.99997406e-01 -4.83613740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70999999999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:158.70, Y:55.15, Z:-0.48 [[ 4.44829131e-01 -8.95614909e-01 9.89083012e-04 1.58696837e+02] [ 8.95612559e-01 4.44830230e-01 2.05191609e-03 5.51515385e+01] [-2.27770066e-03 -2.69168825e-05 9.99997406e-01 -4.83668625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73999999999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:158.71, Y:55.18, Z:-0.48 [[ 4.43517092e-01 -8.96265369e-01 9.88500604e-04 1.58710607e+02] [ 8.96263020e-01 4.43518193e-01 2.05219662e-03 5.51759901e+01] [-2.27773076e-03 -2.42277406e-05 9.99997406e-01 -4.83980800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76999999999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:158.73, Y:55.20, Z:-0.48 [[ 4.41410478e-01 -8.97304750e-01 9.87914143e-04 1.58726763e+02] [ 8.97302403e-01 4.41411583e-01 2.05247890e-03 5.52000668e+01] [-2.27777581e-03 -1.95279589e-05 9.99997406e-01 -4.84108483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79999999999998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:158.74, Y:55.22, Z:-0.48 [[ 4.40433770e-01 -8.97784562e-01 9.87348441e-04 1.58741067e+02] [ 8.97782215e-01 4.40434877e-01 2.05275100e-03 5.52239266e+01] [-2.27779084e-03 -1.76769912e-05 9.99997406e-01 -4.83731311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:158.76, Y:55.25, Z:-0.48 [[ 4.39516583e-01 -8.98233934e-01 9.86765941e-04 1.58755750e+02] [ 8.98231588e-01 4.39517690e-01 2.05303097e-03 5.52479808e+01] [-2.27780317e-03 -1.59968182e-05 9.99997406e-01 -4.81968219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:158.77, Y:55.27, Z:-0.48 [[ 4.38664205e-01 -8.98650512e-01 9.86191189e-04 1.58770504e+02] [ 8.98648166e-01 4.38665314e-01 2.05330702e-03 5.52722074e+01] [-2.27781327e-03 -1.44733880e-05 9.99997406e-01 -4.81357280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:158.78, Y:55.30, Z:-0.48 [[ 4.37874804e-01 -8.99035419e-01 9.85622640e-04 1.58784602e+02] [ 8.99033074e-01 4.37875913e-01 2.05357990e-03 5.52958968e+01] [-2.27782148e-03 -1.31035422e-05 9.99997406e-01 -4.83107663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:55.32, Z:-0.48 [[ 4.32080124e-01 -9.01834683e-01 9.85012858e-04 1.58788928e+02] [ 9.01832345e-01 4.32081247e-01 2.05387234e-03 5.53169360e+01] [-2.27785890e-03 8.79039440e-07 9.99997406e-01 -4.84506387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:55.34, Z:-0.48 [[ 4.38927423e-01 -8.98522026e-01 9.41624823e-04 1.58812456e+02] [ 8.98519633e-01 4.38928428e-01 2.07463944e-03 5.53439627e+01] [-2.27741514e-03 -6.45477531e-05 9.99997405e-01 -4.77086337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:55.37, Z:-0.48 [[ 4.40932944e-01 -8.97539509e-01 9.84526413e-04 1.58827332e+02] [ 8.97537159e-01 4.40934042e-01 2.05407656e-03 5.53682326e+01] [-2.27772607e-03 -2.20609835e-05 9.99997406e-01 -4.76794972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:158.84, Y:55.39, Z:-0.48 [[ 4.41556213e-01 -8.97233048e-01 9.83942891e-04 1.58840448e+02] [ 8.97230697e-01 4.41557309e-01 2.05435604e-03 5.53927919e+01] [-2.27770330e-03 -2.42899057e-05 9.99997406e-01 -4.80909066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:158.85, Y:55.42, Z:-0.48 [[ 4.42602541e-01 -8.96717360e-01 9.83357849e-04 1.58853131e+02] [ 8.96715007e-01 4.42603632e-01 2.05463604e-03 5.54169567e+01] [-2.27766556e-03 -2.75953912e-05 9.99997406e-01 -4.82779763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:158.87, Y:55.44, Z:-0.48 [[ 4.42752016e-01 -8.96643567e-01 9.82842002e-04 1.58865852e+02] [ 8.96641213e-01 4.42753106e-01 2.05488277e-03 5.54418850e+01] [-2.27765376e-03 -2.85468434e-05 9.99997406e-01 -4.82675118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.1 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:158.88, Y:55.47, Z:-0.48 [[ 4.42028764e-01 -8.97000339e-01 9.82258394e-04 1.58877749e+02] [ 8.96997985e-01 4.42029854e-01 2.05516170e-03 5.54678449e+01] [-2.27766828e-03 -2.73567852e-05 9.99997406e-01 -4.83576967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:158.88, Y:55.49, Z:-0.49 [[ 4.35909418e-01 -8.99990009e-01 9.81681694e-04 1.58879992e+02] [ 8.99987662e-01 4.35910523e-01 2.05543713e-03 5.54910958e+01] [-2.27779826e-03 -1.24829917e-05 9.99997406e-01 -4.89835076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:55.52, Z:-0.49 [[ 4.35365645e-01 -9.00253225e-01 9.40915904e-04 1.58890747e+02] [ 9.00250836e-01 4.35366658e-01 2.07489027e-03 5.55165510e+01] [-2.27757007e-03 -5.62756118e-05 9.99997405e-01 -4.88481714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:158.91, Y:55.55, Z:-0.49 [[ 4.40519241e-01 -8.97742679e-01 9.38504801e-04 1.58911697e+02] [ 8.97740281e-01 4.40520235e-01 2.07604022e-03 5.55451682e+01] [-2.27718026e-03 -7.20020964e-05 9.99997405e-01 -4.85866281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:158.92, Y:55.57, Z:-0.48 [[ 4.39348563e-01 -8.98316134e-01 9.81749996e-04 1.58922652e+02] [ 8.98313783e-01 4.39349660e-01 2.05538424e-03 5.55710446e+01] [-2.27771635e-03 -2.11105612e-05 9.99997406e-01 -4.84894588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:158.93, Y:55.59, Z:-0.49 [[ 4.34328869e-01 -9.00753835e-01 9.81188723e-04 1.58926924e+02] [ 9.00751489e-01 4.34329978e-01 2.05565214e-03 5.55936421e+01] [-2.27779623e-03 -9.02186890e-06 9.99997406e-01 -4.89252454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:158.94, Y:55.62, Z:-0.49 [[ 4.33699822e-01 -9.01056919e-01 9.45431487e-04 1.58938977e+02] [ 9.01054536e-01 4.33700850e-01 2.07268729e-03 5.56190136e+01] [-2.27764366e-03 -4.70387783e-05 9.99997405e-01 -4.89821787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:158.96, Y:55.65, Z:-0.48 [[ 4.38563366e-01 -8.98699774e-01 9.43453012e-04 1.58959385e+02] [ 8.98697384e-01 4.38564377e-01 2.07362808e-03 5.56459110e+01] [-2.27733397e-03 -6.15385580e-05 9.99997405e-01 -4.83849901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:158.97, Y:55.67, Z:-0.48 [[ 4.38318495e-01 -8.98819191e-01 9.78898301e-04 1.58971584e+02] [ 8.98816838e-01 4.38319588e-01 2.05675817e-03 5.56717840e+01] [-2.27772401e-03 -2.16648697e-05 9.99997406e-01 -4.83932815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:158.97, Y:55.69, Z:-0.49 [[ 4.32275209e-01 -9.01741197e-01 9.78337856e-04 1.58974892e+02] [ 9.01738851e-01 4.32276316e-01 2.05702472e-03 5.56944930e+01] [-2.27781622e-03 -6.99553641e-06 9.99997406e-01 -4.85117426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:159.00, Y:55.72, Z:-0.48 [[ 4.37274241e-01 -8.99327725e-01 9.38646361e-04 1.58995601e+02] [ 8.99325331e-01 4.37275244e-01 2.07586423e-03 5.57221842e+01] [-2.27732907e-03 -6.35735054e-05 9.99997405e-01 -4.81431795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:159.00, Y:55.75, Z:-0.49 [[ 4.32188047e-01 -9.01782976e-01 9.77807535e-04 1.59001392e+02] [ 9.01780629e-01 4.32189153e-01 2.05725100e-03 5.57458214e+01] [-2.27779174e-03 -7.35139630e-06 9.99997406e-01 -4.85923528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:159.01, Y:55.77, Z:-0.49 [[ 4.31011079e-01 -9.02346135e-01 9.49971984e-04 1.59012128e+02] [ 9.02343760e-01 4.31012124e-01 2.07045782e-03 5.57694803e+01] [-2.27771906e-03 -3.51889657e-05 9.99997405e-01 -4.86287377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:159.02, Y:55.80, Z:-0.48 [[ 4.31454684e-01 -9.02134117e-01 9.43731735e-04 1.59024999e+02] [ 9.02131735e-01 4.31455714e-01 2.07342753e-03 5.57956059e+01] [-2.27768816e-03 -4.32196712e-05 9.99997405e-01 -4.82434820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:159.04, Y:55.82, Z:-0.48 [[ 4.34960645e-01 -9.00448967e-01 9.46308970e-04 1.59044244e+02] [ 9.00446584e-01 4.34961672e-01 2.07220167e-03 5.58237599e+01] [-2.27751998e-03 -4.92254954e-05 9.99997405e-01 -4.78780058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:55.85, Z:-0.48 [[ 4.28986618e-01 -9.03310314e-01 9.79224716e-04 1.59048143e+02] [ 9.03307973e-01 4.28987736e-01 2.05652870e-03 5.58467135e+01] [-2.27775898e-03 2.31820006e-06 9.99997406e-01 -4.83721538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:55.87, Z:-0.48 [[ 4.29736912e-01 -9.02953652e-01 9.42929148e-04 1.59062305e+02] [ 9.02951271e-01 4.29737945e-01 2.07379514e-03 5.58729715e+01] [-2.27775333e-03 -3.97672453e-05 9.99997405e-01 -4.83127283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:55.90, Z:-0.48 [[ 4.33820077e-01 -9.00999025e-01 9.48096512e-04 1.59081593e+02] [ 9.00996645e-01 4.33821110e-01 2.07133710e-03 5.59008044e+01] [-2.27757699e-03 -4.43558451e-05 9.99997405e-01 -4.78893107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:55.92, Z:-0.49 [[ 4.26643614e-01 -9.04419299e-01 9.79148422e-04 1.59085814e+02] [ 9.04416961e-01 4.26644738e-01 2.05655293e-03 5.59240727e+01] [-2.27773468e-03 8.14326351e-06 9.99997406e-01 -4.86335752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:159.11, Y:55.95, Z:-0.48 [[ 4.30137555e-01 -9.02762864e-01 9.46055060e-04 1.59105579e+02] [ 9.02760487e-01 4.30138593e-01 2.07228247e-03 5.59511044e+01] [-2.27771445e-03 -3.73053866e-05 9.99997405e-01 -4.84370505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.7 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:159.12, Y:55.98, Z:-0.49 [[ 4.28662999e-01 -9.03463932e-01 9.78573082e-04 1.59118230e+02] [ 9.03461590e-01 4.28664116e-01 2.05681131e-03 5.59766220e+01] [-2.27773399e-03 2.42429031e-06 9.99997406e-01 -4.85805469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:159.13, Y:56.00, Z:-0.49 [[ 4.27518747e-01 -9.04005954e-01 9.77992489e-04 1.59130035e+02] [ 9.04003613e-01 4.27519866e-01 2.05708734e-03 5.60005197e+01] [-2.27773042e-03 4.66534362e-06 9.99997406e-01 -4.86604941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.14, Y:56.02, Z:-0.48 [[ 4.22421276e-01 -9.06399090e-01 9.77471087e-04 1.59135495e+02] [ 9.06396755e-01 4.22422407e-01 2.05733506e-03 5.60230876e+01] [-2.27767232e-03 1.69145185e-05 9.99997406e-01 -4.83892362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:56.05, Z:-0.48 [[ 4.27369028e-01 -9.04076780e-01 9.43766666e-04 1.59155133e+02] [ 9.04074403e-01 4.27370069e-01 2.07331946e-03 5.60507437e+01] [-2.27777760e-03 -3.28372353e-05 9.99997405e-01 -4.77915616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:159.17, Y:56.08, Z:-0.48 [[ 4.27104942e-01 -9.04201534e-01 9.76778857e-04 1.59166904e+02] [ 9.04199193e-01 4.27106059e-01 2.05764836e-03 5.60762576e+01] [-2.27771697e-03 4.37087019e-06 9.99997406e-01 -4.80362088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:159.18, Y:56.10, Z:-0.48 [[ 4.27145986e-01 -9.04182146e-01 9.76195258e-04 1.59178627e+02] [ 9.04179805e-01 4.27147101e-01 2.05792519e-03 5.61013131e+01] [-2.27771819e-03 3.62155252e-06 9.99997406e-01 -4.81482078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:159.19, Y:56.13, Z:-0.48 [[ 4.28441055e-01 -9.03569206e-01 9.75605995e-04 1.59190204e+02] [ 9.03566862e-01 4.28442166e-01 2.05820451e-03 5.61270690e+01] [-2.27772096e-03 -2.94064818e-07 9.99997406e-01 -4.81414043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:159.20, Y:56.15, Z:-0.48 [[ 4.30353456e-01 -9.02659932e-01 9.75021157e-04 1.59201436e+02] [ 9.02657585e-01 4.30354560e-01 2.05848152e-03 5.61520877e+01] [-2.27771359e-03 -5.76439519e-06 9.99997406e-01 -4.81542318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:159.21, Y:56.18, Z:-0.48 [[ 4.30666934e-01 -9.02510411e-01 9.74494875e-04 1.59213145e+02] [ 9.02508063e-01 4.30668036e-01 2.05873064e-03 5.61781819e+01] [-2.27770963e-03 -7.13772941e-06 9.99997406e-01 -4.83426888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:159.22, Y:56.20, Z:-0.48 [[ 4.31555790e-01 -9.02085723e-01 9.73955148e-04 1.59224786e+02] [ 9.02083373e-01 4.31556889e-01 2.05898594e-03 5.62036344e+01] [-2.27769888e-03 -9.97855994e-06 9.99997406e-01 -4.83112265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.0 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:159.24, Y:56.23, Z:-0.48 [[ 4.31883132e-01 -9.01929051e-01 9.73376227e-04 1.59236482e+02] [ 9.01926700e-01 4.31884228e-01 2.05925959e-03 5.62294380e+01] [-2.27769189e-03 -1.14454711e-05 9.99997406e-01 -4.83786040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:56.25, Z:-0.49 [[ 4.28357834e-01 -9.03608665e-01 9.72800323e-04 1.59239888e+02] [ 9.03606318e-01 4.28358938e-01 2.05953161e-03 5.62523480e+01] [-2.27771832e-03 -3.18798173e-06 9.99997406e-01 -4.85282138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:159.26, Y:56.28, Z:-0.48 [[ 4.33992769e-01 -9.00915866e-01 9.37183890e-04 1.59259044e+02] [ 9.00913475e-01 4.33993777e-01 2.07632910e-03 5.62800312e+01] [-2.27732981e-03 -5.67902221e-05 9.99997405e-01 -4.83518655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:159.27, Y:56.31, Z:-0.48 [[ 4.33744773e-01 -9.01035253e-01 9.72533536e-04 1.59271169e+02] [ 9.01032899e-01 4.33745863e-01 2.05963747e-03 5.63059396e+01] [-2.27763837e-03 -1.70722753e-05 9.99997406e-01 -4.83601397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:56.33, Z:-0.49 [[ 4.29785418e-01 -9.02930535e-01 9.71966540e-04 1.59274012e+02] [ 9.02928185e-01 4.29786517e-01 2.05990501e-03 5.63290915e+01] [-2.27768924e-03 -7.70115030e-06 9.99997406e-01 -4.85734354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:56.35, Z:-0.49 [[ 4.29813209e-01 -9.02917343e-01 9.36597093e-04 1.59285802e+02] [ 9.02914956e-01 4.29814227e-01 2.07657249e-03 5.63539078e+01] [-2.27753607e-03 -4.68707596e-05 9.99997405e-01 -4.85779635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:159.30, Y:56.38, Z:-0.48 [[ 4.36123477e-01 -8.99886347e-01 9.35379890e-04 1.59304509e+02] [ 8.99883952e-01 4.36124476e-01 2.07714584e-03 5.63819275e+01] [-2.27713725e-03 -6.41587158e-05 9.99997405e-01 -4.83105198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:56.41, Z:-0.48 [[ 4.37082103e-01 -8.99421087e-01 9.71438778e-04 1.59316413e+02] [ 8.99418728e-01 4.37083181e-01 2.06014265e-03 5.64077607e+01] [-2.27753529e-03 -2.67212507e-05 9.99997406e-01 -4.79570613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:159.33, Y:56.43, Z:-0.48 [[ 4.36600539e-01 -8.99654949e-01 9.70860452e-04 1.59328087e+02] [ 8.99652590e-01 4.36601617e-01 2.06041516e-03 5.64332599e+01] [-2.27754194e-03 -2.61412476e-05 9.99997406e-01 -4.83224630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:56.46, Z:-0.48 [[ 4.37344331e-01 -8.99293609e-01 9.70284852e-04 1.59340090e+02] [ 8.99291248e-01 4.37345406e-01 2.06068618e-03 5.64589626e+01] [-2.27751153e-03 -2.86607425e-05 9.99997406e-01 -4.79941232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:159.35, Y:56.48, Z:-0.48 [[ 4.36771474e-01 -8.99571976e-01 9.69703542e-04 1.59351693e+02] [ 8.99569615e-01 4.36772549e-01 2.06095969e-03 5.64843420e+01] [-2.27752147e-03 -2.78525607e-05 9.99997406e-01 -4.83364956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:159.36, Y:56.51, Z:-0.48 [[ 4.36421549e-01 -8.99741792e-01 9.69124522e-04 1.59362629e+02] [ 8.99739432e-01 4.36422624e-01 2.06123193e-03 5.65088784e+01] [-2.27752438e-03 -2.76064839e-05 9.99997406e-01 -4.84370017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:159.37, Y:56.53, Z:-0.48 [[ 4.36073828e-01 -8.99910373e-01 9.68506540e-04 1.59373780e+02] [ 8.99908012e-01 4.36074902e-01 2.06152226e-03 5.65348468e+01] [-2.27752666e-03 -2.74091070e-05 9.99997406e-01 -4.84913312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:159.39, Y:56.56, Z:-0.49 [[ 4.35876633e-01 -9.00005902e-01 9.67940241e-04 1.59385093e+02] [ 9.00003541e-01 4.35877706e-01 2.06178812e-03 5.65605011e+01] [-2.27752505e-03 -2.75356163e-05 9.99997406e-01 -4.86247967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:159.40, Y:56.59, Z:-0.48 [[ 4.36382164e-01 -8.99760897e-01 9.67370139e-04 1.59396686e+02] [ 8.99758534e-01 4.36383235e-01 2.06205557e-03 5.65865155e+01] [-2.27750108e-03 -2.94447330e-05 9.99997406e-01 -4.82835086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:159.41, Y:56.61, Z:-0.49 [[ 4.36260560e-01 -8.99819865e-01 9.66767710e-04 1.59407635e+02] [ 8.99817502e-01 4.36261630e-01 2.06233797e-03 5.66115530e+01] [-2.27749633e-03 -2.98022113e-05 9.99997406e-01 -4.87185726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:56.63, Z:-0.49 [[ 4.30380598e-01 -9.02647000e-01 9.66276309e-04 1.59409157e+02] [ 9.02644644e-01 4.30381682e-01 2.06256818e-03 5.66329924e+01] [-2.27763861e-03 -1.54851921e-05 9.99997406e-01 -4.88571920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.42, Y:56.66, Z:-0.49 [[ 4.30544491e-01 -9.02568885e-01 9.21283619e-04 1.59421962e+02] [ 9.02566482e-01 4.30545472e-01 2.08362560e-03 5.66588171e+01] [-2.27727013e-03 -6.55738097e-05 9.99997405e-01 -4.91629781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:159.44, Y:56.69, Z:-0.49 [[ 4.35345853e-01 -9.00262814e-01 9.24138949e-04 1.59442948e+02] [ 9.00260409e-01 4.35346827e-01 2.08228912e-03 5.66873162e+01] [-2.27692842e-03 -7.45502227e-05 9.99997405e-01 -4.86424179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:56.71, Z:-0.48 [[ 4.34777983e-01 -9.00537157e-01 9.66484463e-04 1.59454891e+02] [ 9.00534796e-01 4.34779057e-01 2.06244555e-03 5.67129499e+01] [-2.27751606e-03 -2.63530295e-05 9.99997406e-01 -4.82515855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.6 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.47, Y:56.74, Z:-0.48 [[ 4.33088128e-01 -9.01351064e-01 9.65914954e-04 1.59467275e+02] [ 9.01348704e-01 4.33089204e-01 2.06271224e-03 5.67387160e+01] [-2.27755521e-03 -2.27099889e-05 9.99997406e-01 -4.84247194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:56.76, Z:-0.48 [[ 4.30530818e-01 -9.02575362e-01 9.65332143e-04 1.59479647e+02] [ 9.02573004e-01 4.30531899e-01 2.06298495e-03 5.67637362e+01] [-2.27760567e-03 -1.68958654e-05 9.99997406e-01 -4.80497441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:159.48, Y:56.79, Z:-0.49 [[ 4.23149835e-01 -9.06059207e-01 9.64810814e-04 1.59481900e+02] [ 9.06056858e-01 4.23150934e-01 2.06322874e-03 5.67850885e+01] [-2.27766799e-03 1.11855567e-06 9.99997406e-01 -4.90069688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:159.49, Y:56.81, Z:-0.49 [[ 4.21631921e-01 -9.06766603e-01 9.22477865e-04 1.59492422e+02] [ 9.06764211e-01 4.21632928e-01 2.08299699e-03 5.68101589e+01] [-2.27773915e-03 -4.17881096e-05 9.99997405e-01 -4.87412557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:159.51, Y:56.83, Z:-0.49 [[ 4.23037944e-01 -9.06111504e-01 9.16400619e-04 1.59506207e+02] [ 9.06109105e-01 4.23038934e-01 2.08584003e-03 5.68348039e+01] [-2.27767679e-03 -5.20305348e-05 9.99997405e-01 -4.86655401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:159.52, Y:56.86, Z:-0.49 [[ 4.23160654e-01 -9.06054199e-01 9.21899189e-04 1.59519190e+02] [ 9.06051805e-01 4.23161656e-01 2.08326399e-03 5.68611044e+01] [-2.27766247e-03 -4.62669288e-05 9.99997405e-01 -4.89218786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.53, Y:56.89, Z:-0.49 [[ 4.22298353e-01 -9.06456419e-01 9.28310513e-04 1.59530693e+02] [ 9.06454032e-01 4.22299372e-01 2.08025939e-03 5.68866920e+01] [-2.27768942e-03 -3.70193048e-05 9.99997405e-01 -4.90371137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:56.91, Z:-0.49 [[ 4.22366851e-01 -9.06424506e-01 9.26458202e-04 1.59542921e+02] [ 9.06422118e-01 4.22367865e-01 2.08112722e-03 5.69120823e+01] [-2.27769088e-03 -3.92369424e-05 9.99997405e-01 -4.89241194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:56.94, Z:-0.48 [[ 4.27839641e-01 -9.03854180e-01 9.28427064e-04 1.59564776e+02] [ 9.03851788e-01 4.27840646e-01 2.08020600e-03 5.69407459e+01] [-2.27742173e-03 -5.08341287e-05 9.99997405e-01 -4.81562673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:159.58, Y:56.97, Z:-0.49 [[ 4.27057695e-01 -9.04223861e-01 9.66220941e-04 1.59577137e+02] [ 9.04221509e-01 4.27058788e-01 2.06250069e-03 5.69655532e+01] [-2.27759548e-03 -7.12903171e-06 9.99997406e-01 -4.85578068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.9 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.59, Y:56.99, Z:-0.48 [[ 4.27155060e-01 -9.04177871e-01 9.65640397e-04 1.59588879e+02] [ 9.04175518e-01 4.27156151e-01 2.06277245e-03 5.69901885e+01] [-2.27759244e-03 -8.01528495e-06 9.99997406e-01 -4.84903547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:159.60, Y:57.02, Z:-0.49 [[ 4.26838195e-01 -9.04327498e-01 9.65215757e-04 1.59599671e+02] [ 9.04325145e-01 4.26839286e-01 2.06297113e-03 5.70156540e+01] [-2.27759353e-03 -7.68599636e-06 9.99997406e-01 -4.87363868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:159.61, Y:57.04, Z:-0.49 [[ 4.27257347e-01 -9.04129542e-01 9.64638185e-04 1.59611101e+02] [ 9.04127188e-01 4.27258436e-01 2.06324117e-03 5.70410479e+01] [-2.27758710e-03 -9.37933948e-06 9.99997406e-01 -4.85660992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:159.62, Y:57.07, Z:-0.49 [[ 4.26688363e-01 -9.04398204e-01 9.64063117e-04 1.59622691e+02] [ 9.04395850e-01 4.26689452e-01 2.06350984e-03 5.70654448e+01] [-2.27759015e-03 -8.58095146e-06 9.99997406e-01 -4.88024811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:57.09, Z:-0.49 [[ 4.20805751e-01 -9.07150259e-01 9.63455103e-04 1.59623038e+02] [ 9.07147911e-01 4.20806854e-01 2.06379368e-03 5.70856822e+01] [-2.27759948e-03 5.54003365e-06 9.99997406e-01 -4.91996397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:57.11, Z:-0.48 [[ 4.27251233e-01 -9.04132478e-01 9.19957564e-04 1.59646692e+02] [ 9.04130078e-01 4.27252219e-01 2.08410408e-03 5.71141736e+01] [-2.27736010e-03 -5.86747340e-05 9.99997405e-01 -4.80888440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:57.14, Z:-0.49 [[ 4.20557011e-01 -9.07265600e-01 9.64689840e-04 1.59650069e+02] [ 9.07263254e-01 4.20558118e-01 2.06318851e-03 5.71368970e+01] [-2.27756810e-03 7.53925002e-06 9.99997406e-01 -4.86843812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:159.67, Y:57.16, Z:-0.48 [[ 4.25552394e-01 -9.04933315e-01 9.24766991e-04 1.59671731e+02] [ 9.04930922e-01 4.25553396e-01 2.08181740e-03 5.71645423e+01] [-2.27744366e-03 -4.90721342e-05 9.99997405e-01 -4.84472469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:159.67, Y:57.19, Z:-0.49 [[ 4.19743148e-01 -9.07642419e-01 9.64138937e-04 1.59674274e+02] [ 9.07640073e-01 4.19744255e-01 2.06342076e-03 5.71874157e+01] [-2.27753999e-03 8.98441114e-06 9.99997406e-01 -4.89505031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:159.69, Y:57.22, Z:-0.48 [[ 4.26092302e-01 -9.04679224e-01 9.23441434e-04 1.59694999e+02] [ 9.04676829e-01 4.26093299e-01 2.08240368e-03 5.72153283e+01] [-2.27737955e-03 -5.18801102e-05 9.99997405e-01 -4.82772573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.2 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:159.71, Y:57.24, Z:-0.48 [[ 4.26557662e-01 -9.04459856e-01 9.63807219e-04 1.59706278e+02] [ 9.04457502e-01 4.26558751e-01 2.06355034e-03 5.72407958e+01] [-2.27751884e-03 -8.50053679e-06 9.99997406e-01 -4.81495933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:57.26, Z:-0.49 [[ 4.20369330e-01 -9.07352577e-01 9.63224317e-04 1.59705895e+02] [ 9.07350230e-01 4.20370433e-01 2.06382239e-03 5.72620650e+01] [-2.27752558e-03 6.41417123e-06 9.99997406e-01 -4.86781729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:57.29, Z:-0.49 [[ 4.20568736e-01 -9.07260219e-01 9.12917065e-04 1.59717713e+02] [ 9.07257819e-01 4.20569724e-01 2.08726605e-03 5.72870600e+01] [-2.27763873e-03 -4.95877001e-05 9.99997405e-01 -4.86820436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:159.74, Y:57.32, Z:-0.48 [[ 4.27817329e-01 -9.03864759e-01 9.11074663e-04 1.59740899e+02] [ 9.03862350e-01 4.27818293e-01 2.08812445e-03 5.73163319e+01] [-2.27715651e-03 -6.98497374e-05 9.99997405e-01 -4.83481805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:57.34, Z:-0.49 [[ 4.19842960e-01 -9.07596254e-01 9.63349338e-04 1.59737584e+02] [ 9.07593908e-01 4.19844065e-01 2.06372254e-03 5.73360441e+01] [-2.27748335e-03 7.89061075e-06 9.99997406e-01 -4.88462631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:159.76, Y:57.37, Z:-0.49 [[ 4.28719071e-01 -9.03437410e-01 8.96361037e-04 1.59764077e+02] [ 9.03434986e-01 4.28719999e-01 2.09489021e-03 5.73666021e+01] [-2.27689009e-03 -8.83154624e-05 9.99997404e-01 -4.85109099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:159.78, Y:57.39, Z:-0.48 [[ 4.28406585e-01 -9.03585564e-01 9.62832020e-04 1.59775931e+02] [ 9.03583207e-01 4.28407667e-01 2.06388047e-03 5.73926085e+01] [-2.27737722e-03 -1.41811419e-05 9.99997407e-01 -4.84809948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.78, Y:57.41, Z:-0.49 [[ 4.20781886e-01 -9.07161330e-01 9.62247447e-04 1.59776101e+02] [ 9.07158982e-01 4.20782986e-01 2.06415299e-03 5.74140427e+01] [-2.27741712e-03 4.35322914e-06 9.99997407e-01 -4.91218488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:159.80, Y:57.44, Z:-0.49 [[ 4.27145434e-01 -9.04182475e-01 9.10847245e-04 1.59799511e+02] [ 9.04180067e-01 4.27146400e-01 2.08804765e-03 5.74430455e+01] [-2.27704121e-03 -6.83300959e-05 9.99997405e-01 -4.86029837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.80, Y:57.47, Z:-0.49 [[ 4.19243516e-01 -9.07873311e-01 9.61410234e-04 1.59800610e+02] [ 9.07870964e-01 4.19244619e-01 2.06450115e-03 5.74651219e+01] [-2.27737156e-03 7.30771387e-06 9.99997407e-01 -4.93359138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:57.49, Z:-0.48 [[ 4.26474070e-01 -9.04499329e-01 9.11721181e-04 1.59823176e+02] [ 9.04496922e-01 4.26475039e-01 2.08758622e-03 5.74934500e+01] [-2.27704667e-03 -6.56523905e-05 9.99997405e-01 -4.82496138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:159.84, Y:57.52, Z:-0.49 [[ 4.24828333e-01 -9.05273420e-01 9.60982422e-04 1.59835332e+02] [ 9.05271065e-01 4.24829419e-01 2.06465788e-03 5.75186460e+01] [-2.27733351e-03 -7.17558536e-06 9.99997407e-01 -4.86743138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.84, Y:57.54, Z:-0.49 [[ 4.17191782e-01 -9.08817966e-01 9.60400201e-04 1.59835978e+02] [ 9.08815620e-01 4.17192887e-01 2.06492867e-03 5.75398823e+01] [-2.27731641e-03 1.13554308e-05 9.99997407e-01 -4.88524943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:57.57, Z:-0.48 [[ 4.24182404e-01 -9.05576313e-01 9.10757293e-04 1.59858801e+02] [ 9.05573908e-01 4.24183378e-01 2.08796441e-03 5.75687665e+01] [-2.27713921e-03 -6.09197210e-05 9.99997405e-01 -4.81300508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:57.59, Z:-0.49 [[ 4.16257844e-01 -9.09246109e-01 9.60011854e-04 1.59859222e+02] [ 9.09243764e-01 4.16258951e-01 2.06506686e-03 5.75900607e+01] [-2.27726754e-03 1.32845116e-05 9.99997407e-01 -4.88893133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.87, Y:57.62, Z:-0.49 [[ 4.16883397e-01 -9.08959519e-01 9.08521005e-04 1.59872441e+02] [ 9.08957120e-01 4.16884385e-01 2.08897649e-03 5.76158136e+01] [-2.27754329e-03 -4.50529813e-05 9.99997405e-01 -4.89207399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:159.90, Y:57.64, Z:-0.49 [[ 4.21999294e-01 -9.06595700e-01 9.12747059e-04 1.59895998e+02] [ 9.06593299e-01 4.22000278e-01 2.08701433e-03 5.76443485e+01] [-2.27725773e-03 -5.32282080e-05 9.99997406e-01 -4.88257587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:159.91, Y:57.67, Z:-0.49 [[ 4.21277549e-01 -9.06931257e-01 9.60303821e-04 1.59908535e+02] [ 9.06928906e-01 4.21278643e-01 2.06489753e-03 5.76696071e+01] [-2.27727560e-03 1.03232392e-06 9.99997407e-01 -4.88965986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:159.92, Y:57.69, Z:-0.49 [[ 4.20453809e-01 -9.07313437e-01 9.59725702e-04 1.59921109e+02] [ 9.07311087e-01 4.20454904e-01 2.06516619e-03 5.76947143e+01] [-2.27727441e-03 2.46277770e-06 9.99997407e-01 -4.87967176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:159.93, Y:57.72, Z:-0.49 [[ 4.19275476e-01 -9.07858555e-01 9.59145958e-04 1.59933572e+02] [ 9.07856205e-01 4.19276573e-01 2.06543541e-03 5.77194056e+01] [-2.27727064e-03 4.78019299e-06 9.99997407e-01 -4.88721244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79999999999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:159.95, Y:57.74, Z:-0.49 [[ 4.17244978e-01 -9.08793546e-01 9.58557842e-04 1.59946520e+02] [ 9.08791199e-01 4.17246079e-01 2.06570832e-03 5.77441936e+01] [-2.27725689e-03 9.22250861e-06 9.99997407e-01 -4.89898803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:159.96, Y:57.77, Z:-0.49 [[ 4.16623501e-01 -9.09078622e-01 9.57968426e-04 1.59958497e+02] [ 9.09076274e-01 4.16624603e-01 2.06598162e-03 5.77688457e+01] [-2.27725294e-03 1.01298695e-05 9.99997407e-01 -4.88915740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:159.96, Y:57.79, Z:-0.50 [[ 4.07771121e-01 -9.13083674e-01 9.57434772e-04 1.59957962e+02] [ 9.13081337e-01 4.07772244e-01 2.06622890e-03 5.77891564e+01] [-2.27705521e-03 3.16673447e-05 9.99997407e-01 -4.98440616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:159.97, Y:57.81, Z:-0.50 [[ 4.07481710e-01 -9.13212926e-01 8.98348510e-04 1.59969569e+02] [ 9.13210527e-01 4.07482699e-01 2.09357098e-03 5.78143700e+01] [-2.27793755e-03 -3.27105664e-05 9.99997405e-01 -4.98204233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:160.00, Y:57.84, Z:-0.49 [[ 4.17569877e-01 -9.08644376e-01 8.91851486e-04 1.59996156e+02] [ 9.08641960e-01 4.17570825e-01 2.09657615e-03 5.78444250e+01] [-2.27745329e-03 -6.50933645e-05 9.99997404e-01 -4.88181448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:160.01, Y:57.87, Z:-0.49 [[ 4.18330332e-01 -9.08294454e-01 9.57969213e-04 1.60007893e+02] [ 9.08292105e-01 4.18331429e-01 2.06591726e-03 5.78703377e+01] [-2.27720982e-03 5.88001991e-06 9.99997407e-01 -4.85300754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:160.02, Y:57.89, Z:-0.49 [[ 4.18296391e-01 -9.08310086e-01 9.57388129e-04 1.60019625e+02] [ 9.08307736e-01 4.18297487e-01 2.06618651e-03 5.78949787e+01] [-2.27721110e-03 5.32468216e-06 9.99997407e-01 -4.87166778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:160.03, Y:57.92, Z:-0.49 [[ 4.19546235e-01 -9.07733464e-01 9.56772298e-04 1.60031849e+02] [ 9.07731112e-01 4.19547326e-01 2.06647164e-03 5.79204473e+01] [-2.27721672e-03 1.51158480e-06 9.99997407e-01 -4.85902207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:160.03, Y:57.94, Z:-0.49 [[ 4.12379764e-01 -9.11011535e-01 9.56205154e-04 1.60030995e+02] [ 9.11009190e-01 4.12380872e-01 2.06673404e-03 5.79409444e+01] [-2.27713926e-03 1.88323884e-05 9.99997407e-01 -4.92101928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:160.04, Y:57.97, Z:-0.49 [[ 4.13201422e-01 -9.10639212e-01 8.99917456e-04 1.60042172e+02] [ 9.10636809e-01 4.13202399e-01 2.09270977e-03 5.79660795e+01] [-2.27755163e-03 -4.52126945e-05 9.99997405e-01 -4.90403303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.1 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:160.05, Y:57.99, Z:-0.49 [[ 4.14579417e-01 -9.10012691e-01 8.99045788e-04 1.60054852e+02] [ 9.10010286e-01 4.14580389e-01 2.09311256e-03 5.79913274e+01] [-2.27748575e-03 -4.96204708e-05 9.99997405e-01 -4.91447423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.08, Y:58.02, Z:-0.48 [[ 4.24194257e-01 -9.05570770e-01 9.01308326e-04 1.60078057e+02] [ 9.05568357e-01 4.24195208e-01 2.09206741e-03 5.80203299e+01] [-2.27684577e-03 -7.12466814e-05 9.99997405e-01 -4.81366531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:160.09, Y:58.05, Z:-0.48 [[ 4.24470436e-01 -9.05441293e-01 9.56441014e-04 1.60089664e+02] [ 9.05438934e-01 4.24471513e-01 2.06655091e-03 5.80456529e+01] [-2.27712249e-03 -1.11908312e-05 9.99997407e-01 -4.83679240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:160.10, Y:58.07, Z:-0.49 [[ 4.25067573e-01 -9.05161115e-01 9.55858969e-04 1.60101255e+02] [ 9.05158756e-01 4.25068648e-01 2.06682009e-03 5.80716746e+01] [-2.27711086e-03 -1.33340849e-05 9.99997407e-01 -4.85786016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:160.11, Y:58.10, Z:-0.49 [[ 4.25771300e-01 -9.04830309e-01 9.55275634e-04 1.60112037e+02] [ 9.04827948e-01 4.25772372e-01 2.06708967e-03 5.80968151e+01] [-2.27709536e-03 -1.57473658e-05 9.99997407e-01 -4.87071916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:160.11, Y:58.12, Z:-0.49 [[ 4.20636687e-01 -9.07228674e-01 9.54661180e-04 1.60111205e+02] [ 9.07226318e-01 4.20637770e-01 2.06737341e-03 5.81187859e+01] [-2.27714699e-03 -3.51935356e-06 9.99997407e-01 -4.93060189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:160.13, Y:58.15, Z:-0.49 [[ 4.28471899e-01 -9.03554657e-01 9.02104893e-04 1.60134237e+02] [ 9.03552240e-01 4.28472841e-01 2.09159258e-03 5.81485568e+01] [-2.27639566e-03 -8.10897471e-05 9.99997406e-01 -4.86664072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:58.17, Z:-0.49 [[ 4.21363133e-01 -9.06891503e-01 9.54668563e-04 1.60132778e+02] [ 9.06889147e-01 4.21364214e-01 2.06731917e-03 5.81691137e+01] [-2.27709736e-03 -5.31352354e-06 9.99997407e-01 -4.92167479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:160.16, Y:58.20, Z:-0.49 [[ 4.27633884e-01 -9.03951578e-01 8.97525916e-04 1.60157442e+02] [ 9.03949157e-01 4.27634818e-01 2.09364454e-03 5.81986394e+01] [-2.27636661e-03 -8.39955508e-05 9.99997406e-01 -4.88964886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:58.22, Z:-0.49 [[ 4.17927783e-01 -9.08479751e-01 9.54450542e-04 1.60157227e+02] [ 9.08477398e-01 4.17928873e-01 2.06736386e-03 5.82193099e+01] [-2.27705064e-03 3.08795318e-06 9.99997408e-01 -4.93046013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.4 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.18, Y:58.25, Z:-0.49 [[ 4.23223034e-01 -9.06025087e-01 8.97943326e-04 1.60182250e+02] [ 9.06022671e-01 4.23223980e-01 2.09338967e-03 5.82483379e+01] [-2.27669471e-03 -7.24137175e-05 9.99997406e-01 -4.87004322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:58.27, Z:-0.49 [[ 4.20716074e-01 -9.07191862e-01 9.54030793e-04 1.60193877e+02] [ 9.07189506e-01 4.20717156e-01 2.06750869e-03 5.82722971e+01] [-2.27700418e-03 -4.34741480e-06 9.99997408e-01 -4.85196792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:58.29, Z:-0.49 [[ 4.10929188e-01 -9.11666766e-01 9.53605658e-04 1.60195192e+02] [ 9.11664422e-01 4.10930294e-01 2.06770476e-03 5.82937166e+01] [-2.27692316e-03 1.96881137e-05 9.99997408e-01 -4.91728481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48999999999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:160.21, Y:58.32, Z:-0.49 [[ 4.04474909e-01 -9.14548644e-01 9.08378654e-04 1.60208377e+02] [ 9.14546260e-01 4.04475929e-01 2.08857847e-03 5.83175764e+01] [-2.27752391e-03 -1.40232842e-05 9.99997406e-01 -4.94020624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:160.22, Y:58.34, Z:-0.49 [[ 4.03230819e-01 -9.15097856e-01 9.05726031e-04 1.60221418e+02] [ 9.15095470e-01 4.03231836e-01 2.08980400e-03 5.83443300e+01] [-2.27759273e-03 -1.38475916e-05 9.99997406e-01 -4.91595790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:160.23, Y:58.37, Z:-0.49 [[ 4.00668056e-01 -9.16222832e-01 9.12030294e-04 1.60232170e+02] [ 9.16220455e-01 4.00669094e-01 2.08689063e-03 5.83702340e+01] [-2.27747920e-03 -5.29600602e-07 9.99997407e-01 -4.92306609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57999999999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:160.24, Y:58.40, Z:-0.49 [[ 3.98780466e-01 -9.17045973e-01 9.06947683e-04 1.60244318e+02] [ 9.17043593e-01 3.98781498e-01 2.08924080e-03 5.83963165e+01] [-2.27760382e-03 -1.43785759e-06 9.99997406e-01 -4.93689382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:160.26, Y:58.42, Z:-0.49 [[ 3.97353006e-01 -9.17665386e-01 9.09852047e-04 1.60255760e+02] [ 9.17663011e-01 3.97354048e-01 2.08789745e-03 5.84221007e+01] [-2.27752461e-03 5.30524060e-06 9.99997406e-01 -4.93634564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.27, Y:58.45, Z:-0.49 [[ 3.95943167e-01 -9.18274570e-01 9.07369704e-04 1.60268378e+02] [ 9.18272193e-01 3.95944207e-01 2.08904549e-03 5.84484396e+01] [-2.27758512e-03 6.06908204e-06 9.99997406e-01 -4.92413857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:160.28, Y:58.47, Z:-0.49 [[ 3.95096123e-01 -9.18639327e-01 9.16774022e-04 1.60279595e+02] [ 9.18636962e-01 3.95097187e-01 2.08469076e-03 5.84734167e+01] [-2.27729376e-03 1.85292626e-05 9.99997407e-01 -4.93670686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.7 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:160.30, Y:58.50, Z:-0.49 [[ 4.00122643e-01 -9.16461147e-01 9.14400715e-04 1.60300361e+02] [ 9.16458774e-01 4.00123688e-01 2.08578925e-03 5.85018132e+01] [-2.27741820e-03 3.43904945e-06 9.99997407e-01 -4.89827542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:160.30, Y:58.53, Z:-0.50 [[ 3.94625560e-01 -9.18841526e-01 9.57517104e-04 1.60301101e+02] [ 9.18839206e-01 3.94626717e-01 2.06580446e-03 5.85253677e+01] [-2.27600875e-03 6.45850148e-05 9.99997408e-01 -4.96479997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:160.32, Y:58.55, Z:-0.49 [[ 4.01259290e-01 -9.15964047e-01 9.20401180e-04 1.60319831e+02] [ 9.15961678e-01 4.01260346e-01 2.08297672e-03 5.85538073e+01] [-2.27725228e-03 7.23844771e-06 9.99997407e-01 -4.89350570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:160.33, Y:58.58, Z:-0.49 [[ 4.01921471e-01 -9.15673640e-01 9.56911362e-04 1.60329892e+02] [ 9.15671310e-01 4.01922608e-01 2.06606681e-03 5.85793631e+01] [-2.27644723e-03 4.58196673e-05 9.99997408e-01 -4.90239241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:58.60, Z:-0.49 [[ 3.98806043e-01 -9.17034801e-01 9.56295252e-04 1.60331791e+02] [ 9.17032474e-01 3.98807186e-01 2.06635194e-03 5.86021255e+01] [-2.27629406e-03 5.28801593e-05 9.99997408e-01 -4.91718065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:160.35, Y:58.63, Z:-0.49 [[ 4.06768359e-01 -9.13530874e-01 9.18809097e-04 1.60350243e+02] [ 9.13528498e-01 4.06769397e-01 2.08367026e-03 5.86308769e+01] [-2.27724053e-03 -8.21283719e-06 9.99997407e-01 -4.87763040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:160.36, Y:58.66, Z:-0.49 [[ 4.08126812e-01 -9.12924746e-01 9.55732720e-04 1.60360632e+02] [ 9.12922407e-01 4.08127930e-01 2.06659428e-03 5.86566085e+01] [-2.27670628e-03 2.90772791e-05 9.99997408e-01 -4.88562458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:160.36, Y:58.68, Z:-0.49 [[ 4.03716539e-01 -9.14883623e-01 9.55142590e-04 1.60360977e+02] [ 9.14881289e-01 4.03717667e-01 2.06686699e-03 5.86787961e+01] [-2.27655070e-03 3.94136937e-05 9.99997408e-01 -4.94529762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.38, Y:58.71, Z:-0.49 [[ 4.12241283e-01 -9.11074255e-01 9.09502093e-04 1.60381816e+02] [ 9.11071863e-01 4.12242285e-01 2.08791298e-03 5.87077425e+01] [-2.27717898e-03 -3.21021596e-05 9.99997407e-01 -4.86899950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:160.39, Y:58.73, Z:-0.49 [[ 4.14658094e-01 -9.09976788e-01 9.54691122e-04 1.60391313e+02] [ 9.09974440e-01 4.14659192e-01 2.06704182e-03 5.87333378e+01] [-2.27683153e-03 1.16288978e-05 9.99997408e-01 -4.89595453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:58.76, Z:-0.49 [[ 4.17239237e-01 -9.08796186e-01 9.54291928e-04 1.60402376e+02] [ 9.08793835e-01 4.17240329e-01 2.06722610e-03 5.87589303e+01] [-2.27685627e-03 4.72677942e-06 9.99997408e-01 -4.85078095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:160.41, Y:58.78, Z:-0.49 [[ 4.17316966e-01 -9.08760497e-01 9.53699707e-04 1.60412658e+02] [ 9.08758145e-01 4.17318055e-01 2.06749928e-03 5.87834746e+01] [-2.27685778e-03 3.87984966e-06 9.99997408e-01 -4.88920570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.42, Y:58.81, Z:-0.49 [[ 4.19704040e-01 -9.07660515e-01 9.53297483e-04 1.60423214e+02] [ 9.07658159e-01 4.19705123e-01 2.06768473e-03 5.88080759e+01] [-2.27685962e-03 -2.54739472e-06 9.99997408e-01 -4.85602070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:160.42, Y:58.83, Z:-0.50 [[ 4.13635145e-01 -9.10442233e-01 9.52681048e-04 1.60424320e+02] [ 9.10439884e-01 4.13636242e-01 2.06796871e-03 5.88302675e+01] [-2.27682946e-03 1.19742883e-05 9.99997408e-01 -4.95797040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.44, Y:58.86, Z:-0.49 [[ 4.18032106e-01 -9.08431799e-01 9.08384967e-04 1.60437621e+02] [ 9.08429400e-01 4.18033090e-01 2.08834221e-03 5.88570043e+01] [-2.27685144e-03 -4.77904798e-05 9.99997407e-01 -4.94718430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.45, Y:58.88, Z:-0.49 [[ 4.18101502e-01 -9.08399854e-01 9.16619833e-04 1.60449153e+02] [ 9.08397463e-01 4.18102505e-01 2.08455267e-03 5.88819228e+01] [-2.27684839e-03 -3.88994718e-05 9.99997407e-01 -4.94784809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17999999999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:160.47, Y:58.91, Z:-0.49 [[ 4.23571120e-01 -9.05862388e-01 9.16325131e-04 1.60468721e+02] [ 9.05859991e-01 4.23572108e-01 2.08468825e-03 5.89098241e+01] [-2.27657044e-03 -5.29514613e-05 9.99997407e-01 -4.90943552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:58.93, Z:-0.49 [[ 4.19260611e-01 -9.07865426e-01 9.52493017e-04 1.60471581e+02] [ 9.07863071e-01 4.19261693e-01 2.06803005e-03 5.89320719e+01] [-2.27683682e-03 -2.31030701e-06 9.99997408e-01 -4.92946004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23999999999998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:160.48, Y:58.96, Z:-0.50 [[ 4.18107484e-01 -9.08397103e-01 9.13480403e-04 1.60483803e+02] [ 9.08394709e-01 4.18108480e-01 2.08596446e-03 5.89572763e+01] [-2.27681797e-03 -4.23565854e-05 9.99997407e-01 -4.96265839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:160.50, Y:58.98, Z:-0.49 [[ 4.16776081e-01 -9.09008723e-01 9.16598826e-04 1.60495995e+02] [ 9.09006333e-01 4.16777088e-01 2.08453001e-03 5.89826494e+01] [-2.27687335e-03 -3.55881126e-05 9.99997407e-01 -4.94561232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:160.52, Y:59.01, Z:-0.49 [[ 4.20877047e-01 -9.07117232e-01 9.15390815e-04 1.60516658e+02] [ 9.07114837e-01 4.20878040e-01 2.08508548e-03 5.90108046e+01] [-2.27668486e-03 -4.72000306e-05 9.99997407e-01 -4.89469630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:160.52, Y:59.03, Z:-0.49 [[ 4.14016296e-01 -9.10268971e-01 9.52140930e-04 1.60520707e+02] [ 9.10266622e-01 4.14017391e-01 2.06816649e-03 5.90337219e+01] [-2.27679069e-03 1.04474778e-05 9.99997408e-01 -4.94903403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35999999999999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:160.54, Y:59.06, Z:-0.49 [[ 4.12428837e-01 -9.10989361e-01 9.15859757e-04 1.60535056e+02] [ 9.10986976e-01 4.12429853e-01 2.08484390e-03 5.90591230e+01] [-2.27699851e-03 -2.55134334e-05 9.99997407e-01 -4.93766540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:160.55, Y:59.08, Z:-0.49 [[ 4.11502755e-01 -9.11408052e-01 9.19663814e-04 1.60547590e+02] [ 9.11405671e-01 4.11503782e-01 2.08309415e-03 5.90843571e+01] [-2.27699392e-03 -1.90121649e-05 9.99997407e-01 -4.94581546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:160.57, Y:59.11, Z:-0.49 [[ 4.15845467e-01 -9.09434826e-01 9.18566545e-04 1.60567337e+02] [ 9.09432440e-01 4.15846481e-01 2.08359863e-03 5.91115288e+01] [-2.27687982e-03 -3.10808315e-05 9.99997407e-01 -4.90767963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:160.57, Y:59.13, Z:-0.50 [[ 4.10514290e-01 -9.11853668e-01 9.51803529e-04 1.60571259e+02] [ 9.11851322e-01 4.10515393e-01 2.06830345e-03 5.91342713e+01] [-2.27672009e-03 1.88351839e-05 9.99997408e-01 -4.96398195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:59.16, Z:-0.49 [[ 4.17019769e-01 -9.08896954e-01 9.16108379e-04 1.60591818e+02] [ 9.08894564e-01 4.17020773e-01 2.08469926e-03 5.91617879e+01] [-2.27681304e-03 -3.67148786e-05 9.99997407e-01 -4.89464761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:160.60, Y:59.18, Z:-0.50 [[ 4.10636788e-01 -9.11798510e-01 9.51259301e-04 1.60595297e+02] [ 9.11796164e-01 4.10637890e-01 2.06853437e-03 5.91844545e+01] [-2.27670967e-03 1.79382712e-05 9.99997408e-01 -4.99461670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:160.61, Y:59.21, Z:-0.50 [[ 4.11350217e-01 -9.11476916e-01 9.11533163e-04 1.60608875e+02] [ 9.11474527e-01 4.11351226e-01 2.08677075e-03 5.92098515e+01] [-2.27700365e-03 -2.75543436e-05 9.99997407e-01 -5.00051678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:160.63, Y:59.24, Z:-0.50 [[ 4.16275835e-01 -9.09237917e-01 9.16221697e-04 1.60629357e+02] [ 9.09235528e-01 4.16276842e-01 2.08461912e-03 5.92372594e+01] [-2.27681662e-03 -3.47152470e-05 9.99997407e-01 -4.97424807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.6 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:160.64, Y:59.26, Z:-0.50 [[ 4.12506575e-01 -9.10954128e-01 9.50321718e-04 1.60635206e+02] [ 9.10951778e-01 4.12507669e-01 2.06895616e-03 5.92598957e+01] [-2.27673915e-03 1.22392416e-05 9.99997408e-01 -5.03176173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:59.28, Z:-0.50 [[ 4.11954182e-01 -9.11204095e-01 9.21295707e-04 1.60645323e+02] [ 9.11201716e-01 4.11955212e-01 2.08227970e-03 5.92842095e+01] [-2.27691435e-03 -1.83176000e-05 9.99997408e-01 -5.02422129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:160.66, Y:59.31, Z:-0.50 [[ 4.12796408e-01 -9.10822868e-01 9.10395355e-04 1.60660444e+02] [ 9.10820477e-01 4.12797410e-01 2.08728871e-03 5.93101096e+01] [-2.27695914e-03 -3.24185502e-05 9.99997407e-01 -5.03170142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:160.67, Y:59.33, Z:-0.50 [[ 4.11147932e-01 -9.11568175e-01 9.16785817e-04 1.60672539e+02] [ 9.11565792e-01 4.11148953e-01 2.08435239e-03 5.93332626e+01] [-2.27696484e-03 -2.12665862e-05 9.99997407e-01 -5.03526068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:160.70, Y:59.36, Z:-0.50 [[ 4.17181689e-01 -9.08822653e-01 9.07687994e-04 1.60695023e+02] [ 9.08820255e-01 4.17182673e-01 2.08852672e-03 5.93614234e+01] [-2.27677210e-03 -4.63698711e-05 9.99997407e-01 -4.95362239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:59.39, Z:-0.49 [[ 4.18197404e-01 -9.08355672e-01 9.50595968e-04 1.60708251e+02] [ 9.08353316e-01 4.18198485e-01 2.06881098e-03 5.93867457e+01] [-2.27675398e-03 -1.69438246e-06 9.99997408e-01 -4.90719839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:160.72, Y:59.41, Z:-0.49 [[ 4.17698679e-01 -9.08585115e-01 9.50015487e-04 1.60720675e+02] [ 9.08582759e-01 4.17699760e-01 2.06907751e-03 5.94118161e+01] [-2.27675427e-03 -1.08325084e-06 9.99997408e-01 -4.94134659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:160.73, Y:59.44, Z:-0.49 [[ 4.19862926e-01 -9.07587033e-01 9.49436341e-04 1.60733821e+02] [ 9.07584674e-01 4.19863999e-01 2.06934323e-03 5.94365196e+01] [-2.27674322e-03 -7.14663104e-06 9.99997408e-01 -4.91396933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:59.46, Z:-0.49 [[ 4.15617524e-01 -9.09538990e-01 9.48853654e-04 1.60737459e+02] [ 9.09536635e-01 4.15618607e-01 2.06961037e-03 5.94589567e+01] [-2.27675256e-03 2.85082098e-06 9.99997408e-01 -4.94441144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:160.76, Y:59.49, Z:-0.49 [[ 4.21737275e-01 -9.06717619e-01 9.11014151e-04 1.60758451e+02] [ 9.06715219e-01 4.21738255e-01 2.08692538e-03 5.94869274e+01] [-2.27646153e-03 -5.41038267e-05 9.99997407e-01 -4.90479543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.9 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:160.77, Y:59.51, Z:-0.49 [[ 4.21252273e-01 -9.06943010e-01 9.48184540e-04 1.60769999e+02] [ 9.06940648e-01 4.21253340e-01 2.06989827e-03 5.95127461e+01] [-2.27670567e-03 -1.20022499e-05 9.99997408e-01 -4.94363376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:59.54, Z:-0.50 [[ 4.16241596e-01 -9.09253560e-01 9.47588733e-04 1.60772420e+02] [ 9.09251203e-01 4.16242675e-01 2.07017099e-03 5.95353970e+01] [-2.27673721e-03 -9.50825775e-08 9.99997408e-01 -4.97228355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:59.56, Z:-0.50 [[ 4.16221397e-01 -9.09262846e-01 9.08365672e-04 1.60782821e+02] [ 9.09260450e-01 4.16222386e-01 2.08809946e-03 5.95609153e+01] [-2.27671338e-03 -4.31706936e-05 9.99997407e-01 -4.99506068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:59.59, Z:-0.50 [[ 4.22242848e-01 -9.06482298e-01 9.05806536e-04 1.60800192e+02] [ 9.06479893e-01 4.22243815e-01 2.08926850e-03 5.95903917e+01] [-2.27635612e-03 -6.10832705e-05 9.99997407e-01 -4.95883003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01999999999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:160.81, Y:59.62, Z:-0.50 [[ 4.21440828e-01 -9.06855408e-01 9.47015534e-04 1.60809430e+02] [ 9.06853045e-01 4.21441892e-01 2.07041939e-03 5.96157967e+01] [-2.27668304e-03 -1.37553432e-05 9.99997408e-01 -5.00686492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:160.82, Y:59.64, Z:-0.50 [[ 4.21531641e-01 -9.06813200e-01 9.46514925e-04 1.60819673e+02] [ 9.06810836e-01 4.21532704e-01 2.07064823e-03 5.96421220e+01] [-2.27667814e-03 -1.45337558e-05 9.99997408e-01 -5.01031210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:160.82, Y:59.67, Z:-0.51 [[ 4.17719101e-01 -9.08575730e-01 9.45926846e-04 1.60824516e+02] [ 9.08573370e-01 4.17720172e-01 2.07091684e-03 5.96660870e+01] [-2.27671751e-03 -5.61757990e-06 9.99997408e-01 -5.06044260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:160.84, Y:59.69, Z:-0.50 [[ 4.22354016e-01 -9.06430500e-01 9.13468829e-04 1.60842296e+02] [ 9.06428102e-01 4.22355000e-01 2.08571373e-03 5.96930640e+01] [-2.27636267e-03 -5.29157543e-05 9.99997408e-01 -4.99939317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:59.72, Z:-0.50 [[ 4.22225715e-01 -9.06490238e-01 9.45218541e-04 1.60853995e+02] [ 9.06487872e-01 4.22226773e-01 2.07122452e-03 5.97181509e+01] [-2.27664138e-03 -1.76951116e-05 9.99997408e-01 -4.97226587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:160.86, Y:59.74, Z:-0.50 [[ 4.18625244e-01 -9.08158584e-01 9.44630949e-04 1.60864645e+02] [ 9.08156221e-01 4.18626310e-01 2.07149247e-03 5.97425864e+01] [-2.27669104e-03 -9.30656818e-06 9.99997408e-01 -5.01979516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:59.77, Z:-0.50 [[ 4.17044646e-01 -9.08885511e-01 9.44232354e-04 1.60876463e+02] [ 9.08883150e-01 4.17045715e-01 2.07167414e-03 5.97681384e+01] [-2.27670267e-03 -5.78373330e-06 9.99997408e-01 -4.98948458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:160.89, Y:59.79, Z:-0.50 [[ 4.13988306e-01 -9.10281710e-01 9.43652907e-04 1.60887328e+02] [ 9.10279352e-01 4.13989382e-01 2.07193805e-03 5.97927795e+01] [-2.27670960e-03 1.22963245e-06 9.99997408e-01 -5.02504733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:160.90, Y:59.82, Z:-0.50 [[ 4.11440023e-01 -9.11436349e-01 9.43041756e-04 1.60898933e+02] [ 9.11433993e-01 4.11441104e-01 2.07221618e-03 5.98179868e+01] [-2.27669929e-03 6.92764049e-06 9.99997408e-01 -5.00292726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:59.84, Z:-0.50 [[ 4.09144098e-01 -9.12469298e-01 9.42448769e-04 1.60910996e+02] [ 9.12466944e-01 4.09145183e-01 2.07248583e-03 5.98426345e+01] [-2.27667807e-03 1.20080005e-05 9.99997408e-01 -4.97848321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:160.91, Y:59.86, Z:-0.51 [[ 3.97087263e-01 -9.17780376e-01 9.41913794e-04 1.60914474e+02] [ 9.17778036e-01 3.97088378e-01 2.07272894e-03 5.98641878e+01] [-2.27633297e-03 4.14135279e-05 9.99997408e-01 -5.05087729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:59.89, Z:-0.50 [[ 3.95448150e-01 -9.18487862e-01 8.98999975e-04 1.60926973e+02] [ 9.18485479e-01 3.95449171e-01 2.09219792e-03 5.98899449e+01] [-2.27716719e-03 -1.63737154e-06 9.99997407e-01 -5.02224903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:160.95, Y:59.92, Z:-0.50 [[ 3.99054293e-01 -9.16926858e-01 8.99513545e-04 1.60948107e+02] [ 9.16924471e-01 3.99055307e-01 2.09196495e-03 5.99179416e+01] [-2.27713450e-03 -1.00216115e-05 9.99997407e-01 -4.99140281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:160.95, Y:59.94, Z:-0.51 [[ 3.90859137e-01 -9.20450025e-01 9.41535969e-04 1.60950486e+02] [ 9.20447693e-01 3.90860267e-01 2.07287766e-03 5.99407697e+01] [-2.27598929e-03 5.64314384e-05 9.99997408e-01 -5.07704063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:160.96, Y:59.97, Z:-0.51 [[ 3.89088082e-01 -9.21200116e-01 9.00174620e-04 1.60960981e+02] [ 9.21197742e-01 3.89089123e-01 2.09164419e-03 5.99658222e+01] [-2.27707102e-03 1.54050018e-05 9.99997407e-01 -5.08528463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.97, Y:59.99, Z:-0.51 [[ 3.89582679e-01 -9.20991063e-01 8.93261272e-04 1.60974939e+02] [ 9.20988681e-01 3.89583703e-01 2.09478166e-03 5.99931120e+01] [-2.27727523e-03 6.59286836e-06 9.99997407e-01 -5.06171420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.5 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:160.99, Y:60.02, Z:-0.51 [[ 3.89382475e-01 -9.21075711e-01 9.06739007e-04 1.60986416e+02] [ 9.21073343e-01 3.89383530e-01 2.08866111e-03 6.00181308e+01] [-2.27688425e-03 2.18850965e-05 9.99997408e-01 -5.07879753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:161.01, Y:60.05, Z:-0.50 [[ 3.94667491e-01 -9.18823570e-01 9.04858933e-04 1.61006579e+02] [ 9.18821194e-01 3.94668529e-01 2.08951462e-03 6.00466400e+01] [-2.27701463e-03 6.74006973e-06 9.99997408e-01 -5.03730433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:161.01, Y:60.07, Z:-0.51 [[ 3.90453904e-01 -9.20621997e-01 9.42012261e-04 1.61010653e+02] [ 9.20619666e-01 3.90455036e-01 2.07262839e-03 6.00698824e+01] [-2.27592072e-03 5.79691665e-05 9.99997408e-01 -5.07027296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:161.03, Y:60.10, Z:-0.50 [[ 3.97249064e-01 -9.17710387e-01 9.09425111e-04 1.61028849e+02] [ 9.17708013e-01 3.97250105e-01 2.08741340e-03 6.00981748e+01] [-2.27691018e-03 5.36369357e-06 9.99997408e-01 -5.01361168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:161.03, Y:60.12, Z:-0.51 [[ 3.94070747e-01 -9.19079627e-01 9.41456392e-04 1.61032641e+02] [ 9.19077290e-01 3.94071868e-01 2.07286539e-03 6.01219895e+01] [-2.27612983e-03 4.84155762e-05 9.99997408e-01 -5.06523330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:161.05, Y:60.15, Z:-0.50 [[ 4.00555578e-01 -9.16272012e-01 9.10807026e-04 1.61050448e+02] [ 9.16269636e-01 4.00556613e-01 2.08676687e-03 6.01500187e+01] [-2.27687586e-03 -1.32128915e-06 9.99997408e-01 -5.00933082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:60.17, Z:-0.50 [[ 3.98100940e-01 -9.17341134e-01 9.41064596e-04 1.61053875e+02] [ 9.17338792e-01 3.98102051e-01 2.07303128e-03 6.01739444e+01] [-2.27631661e-03 3.79993597e-05 9.99997408e-01 -5.02383710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:161.06, Y:60.20, Z:-0.51 [[ 4.01701695e-01 -9.15770126e-01 9.08339676e-04 1.61063262e+02] [ 9.15767746e-01 4.01702722e-01 2.08787001e-03 6.01988840e+01] [-2.27689151e-03 -6.87274646e-06 9.99997408e-01 -5.05240848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:161.08, Y:60.23, Z:-0.50 [[ 4.09135127e-01 -9.12473362e-01 9.00991621e-04 1.61082969e+02] [ 9.12470966e-01 4.09136117e-01 2.09120048e-03 6.02273414e+01] [-2.27679294e-03 -3.34548770e-05 9.99997408e-01 -4.98724381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:161.09, Y:60.25, Z:-0.50 [[ 4.10352354e-01 -9.11926565e-01 9.40893197e-04 1.61093830e+02] [ 9.11924209e-01 4.10353433e-01 2.07309075e-03 6.02530642e+01] [-2.27660528e-03 7.32561607e-06 9.99997409e-01 -5.00626818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:161.10, Y:60.28, Z:-0.50 [[ 4.13188023e-01 -9.10645251e-01 9.40310449e-04 1.61104155e+02] [ 9.10642891e-01 4.13189093e-01 2.07335503e-03 6.02788279e+01] [-2.27661694e-03 -3.98442683e-07 9.99997409e-01 -5.00222201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:161.11, Y:60.30, Z:-0.51 [[ 4.08160638e-01 -9.12909640e-01 9.39728199e-04 1.61105768e+02] [ 9.12907285e-01 4.08161720e-01 2.07361890e-03 6.03005235e+01] [-2.27658776e-03 1.15151055e-05 9.99997409e-01 -5.07404375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:161.12, Y:60.33, Z:-0.51 [[ 4.09661601e-01 -9.12237121e-01 8.98687370e-04 1.61117531e+02] [ 9.12234723e-01 4.09662585e-01 2.09220399e-03 6.03266650e+01] [-2.27674473e-03 -3.72818102e-05 9.99997408e-01 -5.06535958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:60.35, Z:-0.50 [[ 4.10878601e-01 -9.11689622e-01 8.98427511e-04 1.61128750e+02] [ 9.11687222e-01 4.10879582e-01 2.09232164e-03 6.03521529e+01] [-2.27669344e-03 -4.06053060e-05 9.99997408e-01 -5.03683771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:161.14, Y:60.38, Z:-0.51 [[ 4.11045704e-01 -9.11614293e-01 9.00224939e-04 1.61140760e+02] [ 9.11611895e-01 4.11046688e-01 2.09150683e-03 6.03780200e+01] [-2.27668200e-03 -3.90491337e-05 9.99997408e-01 -5.07622037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:161.15, Y:60.40, Z:-0.51 [[ 4.09821694e-01 -9.12165209e-01 9.00171961e-04 1.61150991e+02] [ 9.12162812e-01 4.09822681e-01 2.09153083e-03 6.04024614e+01] [-2.27673255e-03 -3.60513220e-05 9.99997408e-01 -5.07314707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:161.17, Y:60.43, Z:-0.50 [[ 4.15495478e-01 -9.09594806e-01 8.92188589e-04 1.61173751e+02] [ 9.09592395e-01 4.15496432e-01 2.09514559e-03 6.04311173e+01] [-2.27643472e-03 -5.89955609e-05 9.99997407e-01 -4.99862079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:60.45, Z:-0.50 [[ 4.06714512e-01 -9.13554827e-01 9.40232090e-04 1.61176903e+02] [ 9.13552474e-01 4.06715599e-01 2.07335870e-03 6.04525611e+01] [-2.27653390e-03 1.56862807e-05 9.99997409e-01 -5.01979736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:161.20, Y:60.48, Z:-0.50 [[ 4.10986923e-01 -9.11640797e-01 8.97399400e-04 1.61199127e+02] [ 9.11638396e-01 4.10987901e-01 2.09274119e-03 6.04800649e+01] [-2.27664855e-03 -4.19855154e-05 9.99997408e-01 -4.99154908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:161.21, Y:60.51, Z:-0.50 [[ 4.10732108e-01 -9.11755588e-01 9.39642887e-04 1.61210847e+02] [ 9.11753230e-01 4.10733183e-01 2.07359873e-03 6.05061606e+01] [-2.27655774e-03 5.02885939e-06 9.99997409e-01 -4.99240544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.21, Y:60.53, Z:-0.50 [[ 4.02781929e-01 -9.15295491e-01 9.39063251e-04 1.61212151e+02] [ 9.15293142e-01 4.02783023e-01 2.07386120e-03 6.05275477e+01] [-2.27643454e-03 2.42043402e-05 9.99997409e-01 -5.01826141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:161.24, Y:60.56, Z:-0.50 [[ 4.07985035e-01 -9.12988182e-01 8.89448383e-04 1.61235823e+02] [ 9.12985776e-01 4.07986002e-01 2.09627742e-03 6.05568374e+01] [-2.27675900e-03 -4.31960947e-05 9.99997407e-01 -4.99862395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:161.25, Y:60.58, Z:-0.50 [[ 4.06592040e-01 -9.13609343e-01 9.38737315e-04 1.61248063e+02] [ 9.13606989e-01 4.06593124e-01 2.07396784e-03 6.05821173e+01] [-2.27648053e-03 1.43781559e-05 9.99997409e-01 -5.02428734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:161.25, Y:60.60, Z:-0.51 [[ 3.99341546e-01 -9.16801750e-01 9.38157797e-04 1.61248602e+02] [ 9.16799405e-01 3.99342647e-01 2.07422995e-03 6.06029716e+01] [-2.27630407e-03 3.17763141e-05 9.99997409e-01 -5.10837102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:161.27, Y:60.63, Z:-0.50 [[ 4.07422937e-01 -9.13239161e-01 8.86849551e-04 1.61272178e+02] [ 9.13236753e-01 4.07423899e-01 2.09738816e-03 6.06316862e+01] [-2.27674070e-03 -4.46204369e-05 9.99997407e-01 -5.02489629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.27, Y:60.65, Z:-0.51 [[ 4.02350954e-01 -9.15485024e-01 9.38022147e-04 1.61274297e+02] [ 9.15482675e-01 4.02352047e-01 2.07424673e-03 6.06538522e+01] [-2.27635695e-03 2.41678730e-05 9.99997409e-01 -5.06250757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:161.29, Y:60.68, Z:-0.51 [[ 4.04589628e-01 -9.14497911e-01 8.96705768e-04 1.61286481e+02] [ 9.14495516e-01 4.04590621e-01 2.09292032e-03 6.06783449e+01] [-2.27677000e-03 -2.67404492e-05 9.99997408e-01 -5.08522249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:60.70, Z:-0.51 [[ 4.06465731e-01 -9.13665589e-01 8.94316033e-04 1.61298491e+02] [ 9.13663191e-01 4.06466714e-01 2.09400040e-03 6.07044616e+01] [-2.27672581e-03 -3.40357644e-05 9.99997408e-01 -5.06868222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:161.31, Y:60.73, Z:-0.51 [[ 4.07875134e-01 -9.13037277e-01 8.97162713e-04 1.61311256e+02] [ 9.13034880e-01 4.07876120e-01 2.09271330e-03 6.07305907e+01] [-2.27665650e-03 -3.44248689e-05 9.99997408e-01 -5.10363571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:161.33, Y:60.76, Z:-0.51 [[ 4.14836661e-01 -9.09895453e-01 8.99673662e-04 1.61331900e+02] [ 9.09893050e-01 4.14837633e-01 2.09157845e-03 6.07591690e+01] [-2.27633621e-03 -4.90566058e-05 9.99997408e-01 -5.05024248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:161.34, Y:60.78, Z:-0.51 [[ 4.17663513e-01 -9.08601293e-01 9.38376710e-04 1.61344364e+02] [ 9.08598925e-01 4.17664567e-01 2.07406791e-03 6.07835829e+01] [-2.27642749e-03 -1.36544219e-05 9.99997409e-01 -5.05984612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42999999999998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:161.36, Y:60.81, Z:-0.51 [[ 4.18687161e-01 -9.08130047e-01 9.37853850e-04 1.61356055e+02] [ 9.08127678e-01 4.18688211e-01 2.07430431e-03 6.08080030e+01] [-2.27640642e-03 -1.67935452e-05 9.99997409e-01 -5.06931475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:60.83, Z:-0.50 [[ 4.20374086e-01 -9.07350400e-01 9.37326486e-04 1.61368357e+02] [ 9.07348029e-01 4.20375131e-01 2.07454259e-03 6.08338272e+01] [-2.27636579e-03 -2.16026062e-05 9.99997409e-01 -5.01444354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:60.86, Z:-0.50 [[ 4.21795706e-01 -9.06690413e-01 9.36760314e-04 1.61380870e+02] [ 9.06688039e-01 4.21796746e-01 2.07479821e-03 6.08588769e+01] [-2.27632210e-03 -2.57916051e-05 9.99997409e-01 -5.00260473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.39, Y:60.88, Z:-0.50 [[ 4.21538217e-01 -9.06810154e-01 9.36196353e-04 1.61392570e+02] [ 9.06807780e-01 4.21539256e-01 2.07505265e-03 6.08849844e+01] [-2.27632233e-03 -2.57638591e-05 9.99997409e-01 -5.00325322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:60.91, Z:-0.50 [[ 4.16485570e-01 -9.09141845e-01 9.35607024e-04 1.61396420e+02] [ 9.09139477e-01 4.16486620e-01 2.07531834e-03 6.09077501e+01] [-2.27642655e-03 -1.37428604e-05 9.99997409e-01 -5.04171903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:161.41, Y:60.93, Z:-0.51 [[ 4.15262085e-01 -9.09701372e-01 9.02024489e-04 1.61408239e+02] [ 9.09698972e-01 4.15263062e-01 2.09043709e-03 6.09334808e+01] [-2.27625094e-03 -4.75085129e-05 9.99997408e-01 -5.05887411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:161.43, Y:60.96, Z:-0.50 [[ 4.18226781e-01 -9.08342198e-01 9.00287430e-04 1.61427387e+02] [ 9.08339793e-01 4.18227746e-01 2.09121875e-03 6.09617220e+01] [-2.27606742e-03 -5.68367895e-05 9.99997408e-01 -5.02697548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:161.44, Y:60.99, Z:-0.50 [[ 4.15414024e-01 -9.09631967e-01 9.34938117e-04 1.61438901e+02] [ 9.09629599e-01 4.15415076e-01 2.07561070e-03 6.09876438e+01] [-2.27642923e-03 -1.17904067e-05 9.99997409e-01 -5.01130515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:61.01, Z:-0.50 [[ 4.09900068e-01 -9.12129959e-01 9.34356224e-04 1.61442605e+02] [ 9.12127596e-01 4.09901133e-01 2.07587261e-03 6.10110975e+01] [-2.27645927e-03 1.35177397e-06 9.99997409e-01 -5.03120108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:61.04, Z:-0.50 [[ 4.09993531e-01 -9.12087984e-01 9.01963932e-04 1.61454661e+02] [ 9.12085589e-01 4.09994522e-01 2.09043366e-03 6.10369653e+01] [-2.27645969e-03 -3.43959729e-05 9.99997408e-01 -5.03267190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:61.06, Z:-0.50 [[ 4.14879217e-01 -9.09876045e-01 9.04604628e-04 1.61472545e+02] [ 9.09873647e-01 4.14880201e-01 2.08924718e-03 6.10639412e+01] [-2.27625851e-03 -4.37093210e-05 9.99997408e-01 -4.98572726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:61.09, Z:-0.50 [[ 4.12029613e-01 -9.11169977e-01 9.33700042e-04 1.61476253e+02] [ 9.11167611e-01 4.12030671e-01 2.07616227e-03 6.10880449e+01] [-2.27644978e-03 -4.68310039e-06 9.99997409e-01 -5.04716645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:61.11, Z:-0.50 [[ 4.13415289e-01 -9.10542134e-01 9.06536925e-04 1.61487124e+02] [ 9.10539739e-01 4.13416281e-01 2.08837303e-03 6.11133503e+01] [-2.27632876e-03 -3.79274453e-05 9.99997408e-01 -5.04845595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:161.50, Y:61.14, Z:-0.51 [[ 4.17982240e-01 -9.08454748e-01 9.04341242e-04 1.61504877e+02] [ 9.08452347e-01 4.17983215e-01 2.08936000e-03 6.11407002e+01] [-2.27608847e-03 -5.17644468e-05 9.99997408e-01 -5.05402327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:161.52, Y:61.17, Z:-0.51 [[ 4.18039610e-01 -9.08428320e-01 9.33978339e-04 1.61515701e+02] [ 9.08425948e-01 4.18040653e-01 2.07602664e-03 6.11671282e+01] [-2.27636231e-03 -1.94112088e-05 9.99997409e-01 -5.06204950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:61.19, Z:-0.50 [[ 4.18684170e-01 -9.08131430e-01 9.33395196e-04 1.61526406e+02] [ 9.08129057e-01 4.18685210e-01 2.07628879e-03 6.11932642e+01] [-2.27634187e-03 -2.16659495e-05 9.99997409e-01 -5.02963072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:61.22, Z:-0.50 [[ 4.17876558e-01 -9.08503336e-01 9.32812475e-04 1.61536704e+02] [ 9.08500963e-01 4.17877599e-01 2.07655056e-03 6.12181404e+01] [-2.27635455e-03 -2.02807669e-05 9.99997409e-01 -5.04264287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:61.24, Z:-0.51 [[ 4.12557023e-01 -9.10931300e-01 9.32198181e-04 1.61540679e+02] [ 9.10928933e-01 4.12558076e-01 2.07682629e-03 6.12409827e+01] [-2.27643196e-03 -7.64297627e-06 9.99997409e-01 -5.08821917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:61.27, Z:-0.50 [[ 4.17024470e-01 -9.08894813e-01 9.00214759e-04 1.61559802e+02] [ 9.08892409e-01 4.17025438e-01 2.09116150e-03 6.12681925e+01] [-2.27605830e-03 -5.38671580e-05 9.99997408e-01 -5.03061155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.0 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:161.57, Y:61.29, Z:-0.51 [[ 4.15963146e-01 -9.09380994e-01 9.31959948e-04 1.61571423e+02] [ 9.09378623e-01 4.15964190e-01 2.07691672e-03 6.12935091e+01] [-2.27637055e-03 -1.64163578e-05 9.99997409e-01 -5.06130857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:161.58, Y:61.32, Z:-0.51 [[ 4.15371782e-01 -9.09651260e-01 9.31363838e-04 1.61582958e+02] [ 9.09648889e-01 4.15372826e-01 2.07718400e-03 6.13191339e+01] [-2.27637627e-03 -1.55895379e-05 9.99997409e-01 -5.05998575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:61.34, Z:-0.50 [[ 4.15294358e-01 -9.09686611e-01 9.30769580e-04 1.61594022e+02] [ 9.09684239e-01 4.15295401e-01 2.07745025e-03 6.13445249e+01] [-2.27637300e-03 -1.60469508e-05 9.99997409e-01 -5.01233880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:61.37, Z:-0.51 [[ 4.11071805e-01 -9.11602493e-01 9.30241993e-04 1.61599561e+02] [ 9.11600126e-01 4.11072857e-01 2.07768646e-03 6.13688175e+01] [-2.27642139e-03 -6.06960621e-06 9.99997409e-01 -5.06088097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:161.61, Y:61.39, Z:-0.51 [[ 4.10068496e-01 -9.12054278e-01 9.07350015e-04 1.61610300e+02] [ 9.12051888e-01 4.10069499e-01 2.08791942e-03 6.13946505e+01] [-2.27637240e-03 -2.86396831e-05 9.99997409e-01 -5.10135102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:161.63, Y:61.42, Z:-0.51 [[ 4.13517132e-01 -9.10495891e-01 9.01847648e-04 1.61627769e+02] [ 9.10493493e-01 4.13518113e-01 2.09037745e-03 6.14219772e+01] [-2.27621042e-03 -4.32804727e-05 9.99997408e-01 -5.06786915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:161.64, Y:61.45, Z:-0.51 [[ 4.13107747e-01 -9.10681682e-01 9.29200554e-04 1.61639824e+02] [ 9.10679311e-01 4.13108792e-01 2.07814716e-03 6.14476521e+01] [-2.27639147e-03 -1.22949722e-05 9.99997409e-01 -5.05517389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:161.65, Y:61.47, Z:-0.51 [[ 4.11915351e-01 -9.11221642e-01 9.28607632e-04 1.61651788e+02] [ 9.11219272e-01 4.11916397e-01 2.07841207e-03 6.14729009e+01] [-2.27640277e-03 -9.96466804e-06 9.99997409e-01 -5.05955693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:61.50, Z:-0.51 [[ 4.04916740e-01 -9.14353090e-01 9.28020244e-04 1.61656153e+02] [ 9.14350727e-01 4.04917803e-01 2.07867431e-03 6.14952755e+01] [-2.27641420e-03 6.84595922e-06 9.99997409e-01 -5.08145976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:161.68, Y:61.52, Z:-0.51 [[ 4.08593307e-01 -9.12716117e-01 8.93569462e-04 1.61675595e+02] [ 9.12713716e-01 4.08594282e-01 2.09402810e-03 6.15229504e+01] [-2.27636057e-03 -4.00327635e-05 9.99997408e-01 -5.06236865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:161.69, Y:61.55, Z:-0.51 [[ 4.07535291e-01 -9.13188987e-01 9.27399472e-04 1.61687232e+02] [ 9.13186621e-01 4.07536346e-01 2.07893677e-03 6.15487624e+01] [-2.27641115e-03 -3.51311995e-07 9.99997409e-01 -5.05948737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:61.57, Z:-0.51 [[ 4.01731493e-01 -9.15757036e-01 9.26814728e-04 1.61691786e+02] [ 9.15754675e-01 4.01732562e-01 2.07919742e-03 6.15735149e+01] [-2.27637132e-03 1.34558346e-05 9.99997409e-01 -5.10081909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:161.70, Y:61.60, Z:-0.51 [[ 4.02017378e-01 -9.15631584e-01 9.11216826e-04 1.61702220e+02] [ 9.15629208e-01 4.02018410e-01 2.08614956e-03 6.15973078e+01] [-2.27647037e-03 -4.33163681e-06 9.99997409e-01 -5.11561265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:161.71, Y:61.62, Z:-0.51 [[ 4.01199302e-01 -9.15990348e-01 8.96051821e-04 1.61713021e+02] [ 9.15987957e-01 4.01200302e-01 2.09290631e-03 6.16228147e+01] [-2.27657824e-03 -1.88998727e-05 9.99997408e-01 -5.11240698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:161.73, Y:61.65, Z:-0.51 [[ 4.05356435e-01 -9.14158281e-01 8.93371769e-04 1.61731524e+02] [ 9.14155883e-01 4.05357418e-01 2.09410236e-03 6.16509288e+01] [-2.27647589e-03 -3.21768087e-05 9.99997408e-01 -5.07251050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:61.67, Z:-0.51 [[ 3.99490237e-01 -9.16736979e-01 9.28509594e-04 1.61734290e+02] [ 9.16734623e-01 3.99491316e-01 2.07840484e-03 6.16745192e+01] [-2.27628209e-03 2.08944507e-05 9.99997409e-01 -5.10069450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:61.70, Z:-0.50 [[ 4.03103041e-01 -9.15154163e-01 8.92603060e-04 1.61753770e+02] [ 9.15151766e-01 4.03104028e-01 2.09441289e-03 6.17022127e+01] [-2.27652256e-03 -2.73969372e-05 9.99997408e-01 -5.02886531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:161.76, Y:61.73, Z:-0.51 [[ 4.00830312e-01 -9.16151843e-01 9.27901454e-04 1.61764996e+02] [ 9.16149485e-01 4.00831386e-01 2.07865586e-03 6.17278820e+01] [-2.27629643e-03 1.69081605e-05 9.99997409e-01 -5.06587336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:161.78, Y:61.75, Z:-0.51 [[ 3.98981703e-01 -9.16958418e-01 9.27310301e-04 1.61776119e+02] [ 9.16956062e-01 3.98982780e-01 2.07891955e-03 6.17530965e+01] [-2.27626363e-03 2.08519402e-05 9.99997409e-01 -5.06009041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.79, Y:61.78, Z:-0.50 [[ 3.95316647e-01 -9.18544441e-01 9.26687341e-04 1.61787278e+02] [ 9.18542088e-01 3.95317732e-01 2.07919720e-03 6.17783274e+01] [-2.27617097e-03 2.92600577e-05 9.99997409e-01 -5.02079916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:61.80, Z:-0.50 [[ 3.95058462e-01 -9.18655514e-01 9.26257553e-04 1.61798852e+02] [ 9.18653161e-01 3.95059546e-01 2.07938865e-03 6.18044899e+01] [-2.27616874e-03 2.94293490e-05 9.99997409e-01 -5.02144829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:161.81, Y:61.83, Z:-0.51 [[ 3.89721953e-01 -9.20932105e-01 9.25673036e-04 1.61809672e+02] [ 9.20929758e-01 3.89723050e-01 2.07964882e-03 6.18302122e+01] [-2.27597149e-03 4.19950437e-05 9.99997409e-01 -5.05768605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:161.81, Y:61.85, Z:-0.51 [[ 3.81336314e-01 -9.24435914e-01 9.25085801e-04 1.61811139e+02] [ 9.24433577e-01 3.81337431e-01 2.07991001e-03 6.18522730e+01] [-2.27551335e-03 6.20351585e-05 9.99997409e-01 -5.11828180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:161.82, Y:61.88, Z:-0.51 [[ 3.80146146e-01 -9.24926013e-01 8.81448766e-04 1.61822837e+02] [ 9.24923631e-01 3.80147168e-01 2.09928180e-03 6.18777035e+01] [-2.27676060e-03 1.72389063e-05 9.99997408e-01 -5.11601091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:161.84, Y:61.91, Z:-0.50 [[ 3.82960934e-01 -9.23764114e-01 8.85648313e-04 1.61841207e+02] [ 9.23761733e-01 3.82961958e-01 2.09741825e-03 6.19065807e+01] [-2.27668932e-03 1.48987699e-05 9.99997408e-01 -5.04331894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:61.93, Z:-0.51 [[ 3.77598790e-01 -9.25968844e-01 9.24415953e-04 1.61844441e+02] [ 9.25966510e-01 3.77599915e-01 2.08019030e-03 6.19307496e+01] [-2.27525079e-03 7.05008751e-05 9.99997409e-01 -5.08840713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.85, Y:61.96, Z:-0.51 [[ 3.77480044e-01 -9.26017284e-01 8.97874815e-04 1.61854545e+02] [ 9.26014922e-01 3.77481109e-01 2.09198220e-03 6.19561658e+01] [-2.27614246e-03 4.17639450e-05 9.99997409e-01 -5.09223882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:61.98, Z:-0.51 [[ 3.78245159e-01 -9.25705027e-01 8.95669205e-04 1.61863271e+02] [ 9.25702662e-01 3.78246217e-01 2.09296219e-03 6.19831556e+01] [-2.27624911e-03 3.74705520e-05 9.99997409e-01 -5.10198408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:161.87, Y:62.01, Z:-0.51 [[ 3.78399549e-01 -9.25641932e-01 8.91454739e-04 1.61872774e+02] [ 9.25639562e-01 3.78400598e-01 2.09483046e-03 6.20094108e+01] [-2.27638992e-03 3.24828732e-05 9.99997408e-01 -5.13822514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.88, Y:62.04, Z:-0.51 [[ 3.80933115e-01 -9.24602171e-01 8.86897870e-04 1.61883597e+02] [ 9.24599794e-01 3.80934147e-01 2.09684977e-03 6.20359811e+01] [-2.27660154e-03 2.12660715e-05 9.99997408e-01 -5.10171040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:62.06, Z:-0.50 [[ 3.88600337e-01 -9.21405983e-01 8.90327262e-04 1.61901447e+02] [ 9.21403601e-01 3.88601357e-01 2.09532702e-03 6.20644337e+01] [-2.27662924e-03 6.10595802e-06 9.99997408e-01 -5.03361252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:62.09, Z:-0.50 [[ 3.90772376e-01 -9.20486880e-01 9.24496894e-04 1.61910641e+02] [ 9.20484530e-01 3.90773467e-01 2.08014069e-03 6.20898753e+01] [-2.27601107e-03 3.81235712e-05 9.99997409e-01 -5.03380291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.92, Y:62.12, Z:-0.50 [[ 3.90514526e-01 -9.20596302e-01 9.23960735e-04 1.61922185e+02] [ 9.20593952e-01 3.90515617e-01 2.08037881e-03 6.21160462e+01] [-2.27601014e-03 3.81745193e-05 9.99997409e-01 -5.03445149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98999999999998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:161.93, Y:62.14, Z:-0.51 [[ 3.94908663e-01 -9.18719922e-01 9.23377935e-04 1.61930327e+02] [ 9.18717567e-01 3.94909741e-01 2.08063746e-03 6.21436545e+01] [-2.27617402e-03 2.66617743e-05 9.99997409e-01 -5.07897899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:62.17, Z:-0.50 [[ 3.98499872e-01 -9.17167924e-01 9.22794918e-04 1.61940235e+02] [ 9.17165563e-01 3.98500940e-01 2.08089600e-03 6.21694177e+01] [-2.27626571e-03 1.71189319e-05 9.99997409e-01 -5.04213848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:161.95, Y:62.20, Z:-0.51 [[ 4.00846275e-01 -9.16144865e-01 9.22180157e-04 1.61950243e+02] [ 9.16142501e-01 4.00847336e-01 2.08116841e-03 6.21957829e+01] [-2.27630521e-03 1.06198317e-05 9.99997409e-01 -5.07559993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:62.22, Z:-0.51 [[ 4.07860766e-01 -9.13043672e-01 9.21602131e-04 1.61959176e+02] [ 9.13041299e-01 4.07861807e-01 2.08142434e-03 6.22227522e+01] [-2.27631763e-03 -7.47051831e-06 9.99997409e-01 -5.05420708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:62.25, Z:-0.51 [[ 4.10911129e-01 -9.11674940e-01 9.21012301e-04 1.61968552e+02] [ 9.11672564e-01 4.10912160e-01 2.08168530e-03 6.22477934e+01] [-2.27627548e-03 -1.57260119e-05 9.99997409e-01 -5.06065101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:62.27, Z:-0.51 [[ 4.13662287e-01 -9.10429934e-01 9.20481276e-04 1.61978580e+02] [ 9.10427554e-01 4.13663311e-01 2.08192009e-03 6.22741669e+01] [-2.27621170e-03 -2.31803082e-05 9.99997409e-01 -5.05764908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:62.30, Z:-0.51 [[ 4.16298944e-01 -9.09227333e-01 9.19884549e-04 1.61988823e+02] [ 9.09224949e-01 4.16299960e-01 2.08218371e-03 6.23005522e+01] [-2.27612624e-03 -3.04288990e-05 9.99997409e-01 -5.06100467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.2 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:162.00, Y:62.33, Z:-0.51 [[ 4.17381066e-01 -9.08731094e-01 9.19288196e-04 1.61998510e+02] [ 9.08728708e-01 4.17382077e-01 2.08244697e-03 6.23262118e+01] [-2.27607873e-03 -3.37903605e-05 9.99997409e-01 -5.10843694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.01, Y:62.35, Z:-0.51 [[ 4.19633339e-01 -9.07693239e-01 9.18766930e-04 1.62009079e+02] [ 9.07690851e-01 4.19634343e-01 2.08267692e-03 6.23521858e+01] [-2.27597792e-03 -4.00043348e-05 9.99997409e-01 -5.07587207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:162.02, Y:62.38, Z:-0.51 [[ 4.20214443e-01 -9.07424365e-01 9.18170286e-04 1.62020791e+02] [ 9.07421976e-01 4.20215444e-01 2.08293993e-03 6.23784387e+01] [-2.27593978e-03 -4.21135474e-05 9.99997409e-01 -5.12093880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:162.03, Y:62.40, Z:-0.51 [[ 4.20095054e-01 -9.07479643e-01 9.17817274e-04 1.62032058e+02] [ 9.07477253e-01 4.20096055e-01 2.08309547e-03 6.24025549e+01] [-2.27593815e-03 -4.21998050e-05 9.99997409e-01 -5.11871583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:62.43, Z:-0.51 [[ 4.19959292e-01 -9.07542479e-01 9.17279090e-04 1.62043843e+02] [ 9.07540089e-01 4.19960291e-01 2.08333243e-03 6.24283203e+01] [-2.27593347e-03 -4.24472631e-05 9.99997409e-01 -5.07463201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:162.06, Y:62.45, Z:-0.51 [[ 4.17153981e-01 -9.08835362e-01 9.16677683e-04 1.62055504e+02] [ 9.08832975e-01 4.17154987e-01 2.08359701e-03 6.24526575e+01] [-2.27604331e-03 -3.60738846e-05 9.99997409e-01 -5.10809464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:62.48, Z:-0.51 [[ 4.16139079e-01 -9.09300515e-01 9.16136744e-04 1.62067976e+02] [ 9.09298128e-01 4.16140087e-01 2.08383483e-03 6.24782996e+01] [-2.27607331e-03 -3.41236831e-05 9.99997409e-01 -5.08282867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:162.08, Y:62.50, Z:-0.51 [[ 4.13509383e-01 -9.10499397e-01 9.15524154e-04 1.62080251e+02] [ 9.10497012e-01 4.13510395e-01 2.08410394e-03 6.25039126e+01] [-2.27615413e-03 -2.82145253e-05 9.99997409e-01 -5.12055499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:62.53, Z:-0.52 [[ 4.06011022e-01 -9.13867722e-01 9.14914054e-04 1.62083026e+02] [ 9.13865345e-01 4.06012053e-01 2.08437173e-03 6.25251621e+01] [-2.27630618e-03 -1.01696507e-05 9.99997409e-01 -5.15853183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:62.55, Z:-0.52 [[ 4.03563078e-01 -9.14951412e-01 8.69566153e-04 1.62095071e+02] [ 9.14948993e-01 4.03564012e-01 2.10424780e-03 6.25501133e+01] [-2.27621010e-03 -5.35880447e-05 9.99997408e-01 -5.16274830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:62.58, Z:-0.51 [[ 4.08731388e-01 -9.12654320e-01 8.63433460e-04 1.62119174e+02] [ 9.12651891e-01 4.08732293e-01 2.10693439e-03 6.25784020e+01] [-2.27581591e-03 -7.31560352e-05 9.99997408e-01 -5.09767358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:62.60, Z:-0.51 [[ 4.03943304e-01 -9.14783565e-01 9.14802895e-04 1.62134076e+02] [ 9.14781190e-01 4.03944340e-01 2.08438922e-03 6.26012481e+01] [-2.27629445e-03 -5.13058773e-06 9.99997409e-01 -5.09368741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:162.15, Y:62.63, Z:-0.51 [[ 4.00755389e-01 -9.16184633e-01 9.14264765e-04 1.62147463e+02] [ 9.16182262e-01 4.00756432e-01 2.08462523e-03 6.26265148e+01] [-2.27629909e-03 2.20836521e-06 9.99997409e-01 -5.12514624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:62.65, Z:-0.51 [[ 3.92784561e-01 -9.19630063e-01 9.13676988e-04 1.62150824e+02] [ 9.19627700e-01 3.92785624e-01 2.08488282e-03 6.26478607e+01] [-2.27620010e-03 2.13328840e-05 9.99997409e-01 -5.14719008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:162.16, Y:62.67, Z:-0.52 [[ 3.90787219e-01 -9.20480632e-01 8.69274533e-04 1.62164800e+02] [ 9.20478227e-01 3.90788185e-01 2.10431795e-03 6.26732068e+01] [-2.27668613e-03 -2.21922783e-05 9.99997408e-01 -5.16346185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:162.19, Y:62.70, Z:-0.51 [[ 3.94250295e-01 -9.19002692e-01 8.69966360e-04 1.62186989e+02] [ 9.19000284e-01 3.94251253e-01 2.10401518e-03 6.27014317e+01] [-2.27658094e-03 -3.00092740e-05 9.99997408e-01 -5.11701655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.19, Y:62.72, Z:-0.52 [[ 3.84615692e-01 -9.23076343e-01 9.13765297e-04 1.62190310e+02] [ 9.23073989e-01 3.84616775e-01 2.08481833e-03 6.27212841e+01] [-2.27589594e-03 4.16191326e-05 9.99997409e-01 -5.16253597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:62.75, Z:-0.51 [[ 3.90453779e-01 -9.20622126e-01 8.64917779e-04 1.62212487e+02] [ 9.20619717e-01 3.90454736e-01 2.10618431e-03 6.27508793e+01] [-2.27671112e-03 -2.61072634e-05 9.99997408e-01 -5.10127482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:162.22, Y:62.78, Z:-0.51 [[ 3.89211971e-01 -9.21147766e-01 9.13403024e-04 1.62223402e+02] [ 9.21145407e-01 3.89213041e-01 2.08494318e-03 6.27767324e+01] [-2.27604912e-03 2.98921579e-05 9.99997409e-01 -5.13509933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:162.23, Y:62.80, Z:-0.51 [[ 3.88884012e-01 -9.21286270e-01 9.12808686e-04 1.62233977e+02] [ 9.21283911e-01 3.88885082e-01 2.08520335e-03 6.28017551e+01] [-2.27604690e-03 3.00537107e-05 9.99997409e-01 -5.13916048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:62.82, Z:-0.52 [[ 3.83213900e-01 -9.23659177e-01 9.12277749e-04 1.62236519e+02] [ 9.23656823e-01 3.83214983e-01 2.08543561e-03 6.28244242e+01] [-2.27583024e-03 4.34636537e-05 9.99997409e-01 -5.15994398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:162.26, Y:62.85, Z:-0.51 [[ 3.87377644e-01 -9.21920713e-01 8.71420444e-04 1.62256365e+02] [ 9.21918314e-01 3.87378624e-01 2.10327418e-03 6.28528939e+01] [-2.27662169e-03 -1.13829306e-05 9.99997408e-01 -5.13880890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:162.27, Y:62.88, Z:-0.51 [[ 3.86835556e-01 -9.22148264e-01 9.11964787e-04 1.62266794e+02] [ 9.22145906e-01 3.86836629e-01 2.08554500e-03 6.28777345e+01] [-2.27596308e-03 3.42016365e-05 9.99997409e-01 -5.13749011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:62.90, Z:-0.52 [[ 3.81365807e-01 -9.24423761e-01 9.11425600e-04 1.62269175e+02] [ 9.24421409e-01 3.81366894e-01 2.08578061e-03 6.29006108e+01] [-2.27573270e-03 4.70959331e-05 9.99997409e-01 -5.16253577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:162.29, Y:62.93, Z:-0.51 [[ 3.86524845e-01 -9.22278582e-01 8.72670363e-04 1.62287955e+02] [ 9.22276185e-01 3.86525830e-01 2.10268161e-03 6.29302909e+01] [-2.27656785e-03 -7.89558848e-06 9.99997409e-01 -5.12266196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:162.29, Y:62.95, Z:-0.52 [[ 3.80824184e-01 -9.24647020e-01 9.10711780e-04 1.62289335e+02] [ 9.24644668e-01 3.80825269e-01 2.08607397e-03 6.29530567e+01] [-2.27570414e-03 4.76573749e-05 9.99997409e-01 -5.19382774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:162.30, Y:62.98, Z:-0.52 [[ 3.81527075e-01 -9.24357255e-01 8.69699889e-04 1.62298971e+02] [ 9.24354860e-01 3.81528066e-01 2.10394373e-03 6.29782684e+01] [-2.27661057e-03 1.19982061e-06 9.99997409e-01 -5.18535020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:162.31, Y:63.00, Z:-0.52 [[ 3.83145975e-01 -9.23687396e-01 8.69338596e-04 1.62309636e+02] [ 9.23685000e-01 3.83146961e-01 2.10410129e-03 6.30044997e+01] [-2.27661629e-03 -3.18292138e-06 9.99997408e-01 -5.18856080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:63.03, Z:-0.51 [[ 3.91449164e-01 -9.20199325e-01 8.68219300e-04 1.62328925e+02] [ 9.20196919e-01 3.91450126e-01 2.10458913e-03 6.30333898e+01] [-2.27650605e-03 -2.49069300e-05 9.99997408e-01 -5.09518916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:63.06, Z:-0.51 [[ 3.93425739e-01 -9.19355948e-01 9.10525096e-04 1.62339172e+02] [ 9.19353581e-01 3.93426792e-01 2.08612403e-03 6.30597777e+01] [-2.27611551e-03 1.63596185e-05 9.99997410e-01 -5.09139049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.1 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:162.35, Y:63.09, Z:-0.51 [[ 3.97754431e-01 -9.17491463e-01 9.09930569e-04 1.62348220e+02] [ 9.17489091e-01 3.97755472e-01 2.08638332e-03 6.30856451e+01] [-2.27616875e-03 4.98315905e-06 9.99997410e-01 -5.12620059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:63.11, Z:-0.51 [[ 4.01101027e-01 -9.16033372e-01 9.09526658e-04 1.62357667e+02] [ 9.16030996e-01 4.01102058e-01 2.08655939e-03 6.31105086e+01] [-2.27617105e-03 -3.76650301e-06 9.99997410e-01 -5.09703426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:162.36, Y:63.13, Z:-0.52 [[ 3.95102363e-01 -9.18636651e-01 9.09139870e-04 1.62356459e+02] [ 9.18634281e-01 3.95103409e-01 2.08672790e-03 6.31322536e+01] [-2.27614899e-03 1.06959247e-05 9.99997410e-01 -5.19612092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:63.16, Z:-0.52 [[ 3.98114340e-01 -9.17335400e-01 8.57629985e-04 1.62367090e+02] [ 9.17332977e-01 3.98115261e-01 2.10914107e-03 6.31586738e+01] [-2.27622535e-03 -5.29470371e-05 9.99997408e-01 -5.16833608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:63.19, Z:-0.51 [[ 4.08528241e-01 -9.12745276e-01 8.58403293e-04 1.62388067e+02] [ 9.12742843e-01 4.08529136e-01 2.10880467e-03 6.31889912e+01] [-2.27548426e-03 -7.80048020e-05 9.99997408e-01 -5.10955323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:63.22, Z:-0.51 [[ 4.09289300e-01 -9.12404210e-01 9.09437673e-04 1.62398982e+02] [ 9.12401824e-01 4.09290309e-01 2.08656110e-03 6.32153197e+01] [-2.27601116e-03 -2.42345384e-05 9.99997410e-01 -5.11435583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:63.24, Z:-0.51 [[ 4.09748129e-01 -9.12198249e-01 9.08847692e-04 1.62409136e+02] [ 9.12195862e-01 4.09749136e-01 2.08681804e-03 6.32399647e+01] [-2.27599132e-03 -2.60226851e-05 9.99997410e-01 -5.11546301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:162.42, Y:63.26, Z:-0.51 [[ 4.08670239e-01 -9.12681659e-01 9.08415192e-04 1.62419383e+02] [ 9.12679273e-01 4.08671248e-01 2.08700630e-03 6.32646594e+01] [-2.27601554e-03 -2.38056460e-05 9.99997410e-01 -5.14510138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:63.29, Z:-0.52 [[ 4.03005352e-01 -9.15197171e-01 9.07795650e-04 1.62421146e+02] [ 9.15194791e-01 4.03006375e-01 2.08727575e-03 6.32874752e+01] [-2.27611630e-03 -1.03734489e-05 9.99997410e-01 -5.17172208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:63.32, Z:-0.51 [[ 4.07918513e-01 -9.13017927e-01 8.66464864e-04 1.62441226e+02] [ 9.13015503e-01 4.07919428e-01 2.10521286e-03 6.33157840e+01] [-2.27554493e-03 -6.76594457e-05 9.99997409e-01 -5.11170743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.4 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:162.45, Y:63.34, Z:-0.51 [[ 4.05811900e-01 -9.13956169e-01 9.07168060e-04 1.62452114e+02] [ 9.13953785e-01 4.05812914e-01 2.08752462e-03 6.33408741e+01] [-2.27604652e-03 -1.80326513e-05 9.99997410e-01 -5.14973004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:63.37, Z:-0.51 [[ 4.05399488e-01 -9.14139176e-01 9.06737685e-04 1.62462953e+02] [ 9.14136792e-01 4.05400502e-01 2.08771154e-03 6.33663673e+01] [-2.27605082e-03 -1.74749123e-05 9.99997410e-01 -5.11621745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:162.47, Y:63.39, Z:-0.52 [[ 4.02576398e-01 -9.15385942e-01 9.06144764e-04 1.62474088e+02] [ 9.15383561e-01 4.02577418e-01 2.08796886e-03 6.33920870e+01] [-2.27609076e-03 -1.10969631e-05 9.99997410e-01 -5.15395398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:63.42, Z:-0.51 [[ 4.02224067e-01 -9.15540813e-01 9.05555900e-04 1.62485472e+02] [ 9.15538431e-01 4.02225086e-01 2.08822422e-03 6.34182106e+01] [-2.27609180e-03 -1.08628101e-05 9.99997410e-01 -5.14221350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:63.44, Z:-0.52 [[ 3.94843355e-01 -9.18748010e-01 9.04962538e-04 1.62487362e+02] [ 9.18745636e-01 3.94844392e-01 2.08848133e-03 6.34407477e+01] [-2.27610745e-03 6.80740807e-06 9.99997410e-01 -5.21501942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:162.51, Y:63.47, Z:-0.52 [[ 4.00456822e-01 -9.16315226e-01 8.60785398e-04 1.62509361e+02] [ 9.16312803e-01 4.00457744e-01 2.10758361e-03 6.34698277e+01] [-2.27591913e-03 -5.52475557e-05 9.99997409e-01 -5.18137728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:63.50, Z:-0.52 [[ 4.00998352e-01 -9.16078328e-01 9.04529438e-04 1.62521026e+02] [ 9.16075947e-01 4.00999372e-01 2.08863933e-03 6.34951685e+01] [-2.27607297e-03 -8.92326948e-06 9.99997410e-01 -5.15642588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:162.52, Y:63.52, Z:-0.53 [[ 3.94303362e-01 -9.18979892e-01 9.03934344e-04 1.62521938e+02] [ 9.18977518e-01 3.94304398e-01 2.08889685e-03 6.35161521e+01] [-2.27607949e-03 7.03628849e-06 9.99997410e-01 -5.25962837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:162.54, Y:63.55, Z:-0.52 [[ 4.02351782e-01 -9.15484745e-01 8.51342333e-04 1.62544893e+02] [ 9.15482313e-01 4.02352676e-01 2.11160431e-03 6.35457681e+01] [-2.27568140e-03 -7.02189067e-05 9.99997408e-01 -5.20702188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:162.56, Y:63.57, Z:-0.52 [[ 4.03125320e-01 -9.15144338e-01 9.03870145e-04 1.62556142e+02] [ 9.15141954e-01 4.03126333e-01 2.08887518e-03 6.35711553e+01] [-2.27599615e-03 -1.49089847e-05 9.99997410e-01 -5.21042283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.57, Y:63.60, Z:-0.52 [[ 4.05114335e-01 -9.14265585e-01 9.03273359e-04 1.62567653e+02] [ 9.14263198e-01 4.05115341e-01 2.08913321e-03 6.35963039e+01] [-2.27595249e-03 -2.05082193e-05 9.99997410e-01 -5.18680593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:162.57, Y:63.62, Z:-0.53 [[ 3.98415265e-01 -9.17204700e-01 9.02681639e-04 1.62569182e+02] [ 9.17202320e-01 3.98416288e-01 2.08938885e-03 6.36183541e+01] [-2.27604034e-03 -4.50271931e-06 9.99997410e-01 -5.29516770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:162.59, Y:63.65, Z:-0.52 [[ 4.05858138e-01 -9.13935688e-01 8.54721289e-04 1.62591396e+02] [ 9.13933255e-01 4.05859031e-01 2.11005915e-03 6.36475069e+01] [-2.27535471e-03 -7.52264656e-05 9.99997409e-01 -5.20921487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:162.60, Y:63.67, Z:-0.52 [[ 4.05851278e-01 -9.13938688e-01 9.02088804e-04 1.62604708e+02] [ 9.13936300e-01 4.05852280e-01 2.08961051e-03 6.36728897e+01] [-2.27589068e-03 -2.36193913e-05 9.99997410e-01 -5.21478070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:63.69, Z:-0.52 [[ 3.99842701e-01 -9.16583330e-01 9.01492771e-04 1.62607505e+02] [ 9.16580948e-01 3.99843718e-01 2.08986761e-03 6.36948389e+01] [-2.27599404e-03 -9.32721356e-06 9.99997410e-01 -5.24594214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.63, Y:63.72, Z:-0.52 [[ 4.05530402e-01 -9.14081155e-01 8.57331732e-04 1.62629414e+02] [ 9.14078725e-01 4.05531302e-01 2.10887571e-03 6.37229726e+01] [-2.27535840e-03 -7.15445186e-05 9.99997409e-01 -5.18187296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.64, Y:63.75, Z:-0.52 [[ 4.05273941e-01 -9.14194849e-01 9.01051076e-04 1.62640649e+02] [ 9.14192460e-01 4.05274941e-01 2.09002746e-03 6.37492777e+01] [-2.27586576e-03 -2.32995656e-05 9.99997410e-01 -5.18273160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:63.77, Z:-0.52 [[ 4.04047041e-01 -9.14737764e-01 9.00464646e-04 1.62654159e+02] [ 9.14735376e-01 4.04048044e-01 2.09028009e-03 6.37739238e+01] [-2.27588911e-03 -2.08846179e-05 9.99997410e-01 -5.15719530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:162.67, Y:63.80, Z:-0.52 [[ 4.02074029e-01 -9.15606720e-01 8.99878930e-04 1.62666484e+02] [ 9.15604333e-01 4.02075036e-01 2.09053221e-03 6.37993393e+01] [-2.27592419e-03 -1.66156609e-05 9.99997410e-01 -5.18285546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:63.82, Z:-0.51 [[ 4.01751163e-01 -9.15748434e-01 8.99286815e-04 1.62678532e+02] [ 9.15746047e-01 4.01752169e-01 2.09078689e-03 6.38239188e+01] [-2.27592525e-03 -1.64577189e-05 9.99997410e-01 -5.14418262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:63.85, Z:-0.52 [[ 3.94458263e-01 -9.18913419e-01 8.98661824e-04 1.62680827e+02] [ 9.18911040e-01 3.94459287e-01 2.09105549e-03 6.38456727e+01] [-2.27598445e-03 9.56153794e-07 9.99997410e-01 -5.20474500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.70, Y:63.87, Z:-0.51 [[ 3.99764975e-01 -9.16617277e-01 8.56211197e-04 1.62702378e+02] [ 9.16614852e-01 3.99765888e-01 2.10926037e-03 6.38737419e+01] [-2.27566852e-03 -5.83925194e-05 9.99997409e-01 -5.14479778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:63.90, Z:-0.51 [[ 3.99435085e-01 -9.16761041e-01 8.98181414e-04 1.62714180e+02] [ 9.16758656e-01 3.99436094e-01 2.09123424e-03 6.38989721e+01] [-2.27592815e-03 -1.18967382e-05 9.99997410e-01 -5.13508246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:162.73, Y:63.92, Z:-0.52 [[ 3.98618765e-01 -9.17116282e-01 8.97587050e-04 1.62726491e+02] [ 9.17113897e-01 3.98619776e-01 2.09148932e-03 6.39243680e+01] [-2.27593485e-03 -1.05173307e-05 9.99997410e-01 -5.16415849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:63.95, Z:-0.51 [[ 3.99676628e-01 -9.16655763e-01 8.96992102e-04 1.62737790e+02] [ 9.16653377e-01 3.99677634e-01 2.09174444e-03 6.39495555e+01] [-2.27591728e-03 -1.37905262e-05 9.99997410e-01 -5.14484521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:63.98, Z:-0.52 [[ 4.00359549e-01 -9.16357697e-01 8.96364980e-04 1.62748377e+02] [ 9.16355309e-01 4.00360552e-01 2.09201315e-03 6.39756236e+01] [-2.27590153e-03 -1.61686322e-05 9.99997410e-01 -5.15125057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:162.76, Y:64.00, Z:-0.52 [[ 4.01578077e-01 -9.15824353e-01 8.95781899e-04 1.62757329e+02] [ 9.15821963e-01 4.01579076e-01 2.09226279e-03 6.40022177e+01] [-2.27587248e-03 -1.98301292e-05 9.99997410e-01 -5.19909991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:64.02, Z:-0.52 [[ 3.96790764e-01 -9.17908649e-01 8.95192431e-04 1.62757481e+02] [ 9.17906264e-01 3.96791774e-01 2.09251497e-03 6.40240231e+01] [-2.27594258e-03 -8.58787232e-06 9.99997410e-01 -5.24635043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:64.05, Z:-0.52 [[ 4.04267116e-01 -9.14640575e-01 8.47557061e-04 1.62778030e+02] [ 9.14638138e-01 4.04267997e-01 2.11284461e-03 6.40535201e+01] [-2.27513360e-03 -7.89455860e-05 9.99997409e-01 -5.18348160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.79, Y:64.08, Z:-0.52 [[ 4.04443665e-01 -9.14562475e-01 8.94643228e-04 1.62788242e+02] [ 9.14560082e-01 4.04444653e-01 2.09271511e-03 6.40793120e+01] [-2.27575238e-03 -2.81803847e-05 9.99997410e-01 -5.19947403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:64.11, Z:-0.52 [[ 4.05174315e-01 -9.14239014e-01 8.94054968e-04 1.62798748e+02] [ 9.14236619e-01 4.05175300e-01 2.09296640e-03 6.41053566e+01] [-2.27572052e-03 -3.06384340e-05 9.99997410e-01 -5.18645162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:162.81, Y:64.13, Z:-0.52 [[ 4.04716515e-01 -9.14441767e-01 8.93463101e-04 1.62809440e+02] [ 9.14439371e-01 4.04717500e-01 2.09321903e-03 6.41314105e+01] [-2.27572706e-03 -3.01424724e-05 9.99997410e-01 -5.21730414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:64.15, Z:-0.53 [[ 3.98365744e-01 -9.17226219e-01 8.92866852e-04 1.62808912e+02] [ 9.17223830e-01 3.98366745e-01 2.09347333e-03 6.41528299e+01] [-2.27587709e-03 -1.50093064e-05 9.99997410e-01 -5.25752024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:162.83, Y:64.18, Z:-0.52 [[ 4.04663686e-01 -9.14465196e-01 8.40361431e-04 1.62831099e+02] [ 9.14462753e-01 4.04664549e-01 2.11581928e-03 6.41825011e+01] [-2.27490758e-03 -8.77160036e-05 9.99997409e-01 -5.21504176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:162.84, Y:64.21, Z:-0.52 [[ 4.04634816e-01 -9.14477921e-01 8.92893886e-04 1.62841992e+02] [ 9.14475526e-01 4.04635800e-01 2.09341286e-03 6.42085442e+01] [-2.27567667e-03 -3.05381206e-05 9.99997410e-01 -5.20133702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:64.23, Z:-0.52 [[ 4.04039718e-01 -9.14741007e-01 8.92297730e-04 1.62853142e+02] [ 9.14738612e-01 4.04040702e-01 2.09366693e-03 6.42344880e+01] [-2.27568760e-03 -2.97054117e-05 9.99997410e-01 -5.18083750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:162.86, Y:64.26, Z:-0.52 [[ 4.02273925e-01 -9.15518921e-01 8.91701501e-04 1.62863930e+02] [ 9.15516527e-01 4.02274912e-01 2.09392084e-03 6.42603998e+01] [-2.27573329e-03 -2.59622930e-05 9.99997410e-01 -5.21645878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:162.87, Y:64.29, Z:-0.52 [[ 4.01161728e-01 -9.16006809e-01 8.91108426e-04 1.62874883e+02] [ 9.16004415e-01 4.01162717e-01 2.09417320e-03 6.42860341e+01] [-2.27575639e-03 -2.38428884e-05 9.99997410e-01 -5.21776070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.89, Y:64.31, Z:-0.52 [[ 4.00612565e-01 -9.16247117e-01 8.90519545e-04 1.62886252e+02] [ 9.16244724e-01 4.00613554e-01 2.09442359e-03 6.43118453e+01] [-2.27576377e-03 -2.31185711e-05 9.99997410e-01 -5.19144345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:162.90, Y:64.34, Z:-0.52 [[ 3.98202545e-01 -9.17297084e-01 8.89934873e-04 1.62897539e+02] [ 9.17294693e-01 3.98203539e-01 2.09467199e-03 6.43375773e+01] [-2.27581172e-03 -1.77711810e-05 9.99997410e-01 -5.21964708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.6 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:162.91, Y:64.36, Z:-0.52 [[ 3.96465359e-01 -9.18049252e-01 8.89343683e-04 1.62908556e+02] [ 9.18046861e-01 3.96466356e-01 2.09492296e-03 6.43632258e+01] [-2.27583731e-03 -1.41052078e-05 9.99997410e-01 -5.21228640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.92, Y:64.39, Z:-0.52 [[ 3.93248562e-01 -9.19431769e-01 8.88750022e-04 1.62919994e+02] [ 9.19429382e-01 3.93249566e-01 2.09517479e-03 6.43888844e+01] [-2.27587082e-03 -6.78158884e-06 9.99997410e-01 -5.18514212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:162.93, Y:64.41, Z:-0.52 [[ 3.90138289e-01 -9.20755845e-01 8.88157892e-04 1.62931147e+02] [ 9.20753461e-01 3.90139300e-01 2.09542576e-03 6.44144863e+01] [-2.27588082e-03 2.68628799e-07 9.99997410e-01 -5.20024141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:64.44, Z:-0.52 [[ 3.88299186e-01 -9.21532937e-01 8.87558569e-04 1.62942605e+02] [ 9.21530554e-01 3.88300200e-01 2.09567959e-03 6.44392616e+01] [-2.27587694e-03 4.16166166e-06 9.99997410e-01 -5.18086718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:162.95, Y:64.47, Z:-0.52 [[ 3.85675976e-01 -9.22633868e-01 8.86926006e-04 1.62954161e+02] [ 9.22631488e-01 3.85676996e-01 2.09594727e-03 6.44651991e+01] [-2.27585889e-03 9.94935306e-06 9.99997410e-01 -5.17500648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:162.97, Y:64.49, Z:-0.52 [[ 3.80810605e-01 -9.24652636e-01 8.86325043e-04 1.62966478e+02] [ 9.24650260e-01 3.80811636e-01 2.09620137e-03 6.44903903e+01] [-2.27578101e-03 2.12849707e-05 9.99997410e-01 -5.17527318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:162.97, Y:64.51, Z:-0.53 [[ 3.70510601e-01 -9.28827815e-01 8.85720087e-04 1.62965722e+02] [ 9.28825450e-01 3.70511657e-01 2.09645695e-03 6.45111613e+01] [-2.27541715e-03 4.59198319e-05 9.99997410e-01 -5.27640196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.99, Y:64.54, Z:-0.52 [[ 3.77452448e-01 -9.26028596e-01 8.30051601e-04 1.62988314e+02] [ 9.26026170e-01 3.77453359e-01 2.11992167e-03 6.45407713e+01] [-2.27641386e-03 -3.15201205e-05 9.99997408e-01 -5.17127274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:163.00, Y:64.57, Z:-0.52 [[ 3.75199000e-01 -9.26943863e-01 8.85622123e-04 1.62997652e+02] [ 9.26941493e-01 3.75200044e-01 2.09644649e-03 6.45659033e+01] [-2.27557366e-03 3.43352675e-05 9.99997410e-01 -5.20482564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.00, Y:64.59, Z:-0.53 [[ 3.66963535e-01 -9.30234906e-01 8.85116442e-04 1.62995917e+02] [ 9.30232545e-01 3.66964598e-01 2.09665996e-03 6.45865718e+01] [-2.27519268e-03 5.39663689e-05 9.99997410e-01 -5.25671331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.02, Y:64.62, Z:-0.52 [[ 3.73551496e-01 -9.27609074e-01 8.28228103e-04 1.63018517e+02] [ 9.27606650e-01 3.73552414e-01 2.12060912e-03 6.46165400e+01] [-2.27648287e-03 -2.38868150e-05 9.99997409e-01 -5.18399346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:163.03, Y:64.64, Z:-0.52 [[ 3.69940624e-01 -9.29054978e-01 8.84484310e-04 1.63028560e+02] [ 9.29052613e-01 3.69941678e-01 2.09687971e-03 6.46427460e+01] [-2.27532414e-03 4.60114716e-05 9.99997410e-01 -5.20320052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:163.03, Y:64.66, Z:-0.53 [[ 3.60925599e-01 -9.32594194e-01 8.83899364e-04 1.63026377e+02] [ 9.32591838e-01 3.60926675e-01 2.09712625e-03 6.46633924e+01] [-2.27479063e-03 6.74107825e-05 9.99997410e-01 -5.27424102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:163.04, Y:64.69, Z:-0.53 [[ 3.60262385e-01 -9.32850647e-01 8.26936864e-04 1.63038648e+02] [ 9.32848236e-01 3.60263334e-01 2.12110086e-03 6.46907228e+01] [-2.27658534e-03 7.25373784e-06 9.99997409e-01 -5.27337123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.05, Y:64.72, Z:-0.53 [[ 3.58873248e-01 -9.33385929e-01 8.36136232e-04 1.63048379e+02] [ 9.33383528e-01 3.58874221e-01 2.11722563e-03 6.47169014e+01] [-2.27625635e-03 2.06201494e-05 9.99997409e-01 -5.26434744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:163.06, Y:64.74, Z:-0.53 [[ 3.57079291e-01 -9.34073705e-01 8.32784486e-04 1.63059543e+02] [ 9.34071303e-01 3.57080261e-01 2.11863803e-03 6.47448730e+01] [-2.27633497e-03 2.13583264e-05 9.99997409e-01 -5.26129861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:64.77, Z:-0.52 [[ 3.58070679e-01 -9.33694101e-01 8.45606783e-04 1.63070675e+02] [ 9.33691710e-01 3.58071676e-01 2.11323353e-03 6.47720245e+01] [-2.27590152e-03 3.28490772e-05 9.99997410e-01 -5.20870538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:163.08, Y:64.80, Z:-0.52 [[ 3.58553575e-01 -9.33508762e-01 8.51268661e-04 1.63081790e+02] [ 9.33506377e-01 3.58554583e-01 2.11084469e-03 6.47992014e+01] [-2.27571829e-03 3.78138157e-05 9.99997410e-01 -5.19534588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:64.83, Z:-0.52 [[ 3.58728038e-01 -9.33441726e-01 8.59945388e-04 1.63089931e+02] [ 9.33439348e-01 3.58729066e-01 2.10718142e-03 6.48254645e+01] [-2.27541846e-03 4.68018071e-05 9.99997410e-01 -5.19971463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:163.10, Y:64.85, Z:-0.52 [[ 3.59949513e-01 -9.32971392e-01 8.53915609e-04 1.63100522e+02] [ 9.32969008e-01 3.59950524e-01 2.10972648e-03 6.48526873e+01] [-2.27568182e-03 3.72817795e-05 9.99997410e-01 -5.20752281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.11, Y:64.88, Z:-0.52 [[ 3.67448545e-01 -9.30043453e-01 8.60974970e-04 1.63112514e+02] [ 9.30041068e-01 3.67449553e-01 2.10674795e-03 6.48823093e+01] [-2.27573201e-03 2.66206091e-05 9.99997410e-01 -5.16363295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:163.12, Y:64.91, Z:-0.52 [[ 3.67881518e-01 -9.29872252e-01 8.85161825e-04 1.63120025e+02] [ 9.29869890e-01 3.67882579e-01 2.09653622e-03 6.49081755e+01] [-2.27514647e-03 5.18084042e-05 9.99997411e-01 -5.19037840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:163.13, Y:64.94, Z:-0.52 [[ 3.69545391e-01 -9.29212259e-01 8.84537406e-04 1.63128561e+02] [ 9.29209894e-01 3.69546447e-01 2.09679963e-03 6.49350529e+01] [-2.27524957e-03 4.70582710e-05 9.99997411e-01 -5.18681420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:163.13, Y:64.96, Z:-0.52 [[ 3.70764866e-01 -9.28726350e-01 8.83945331e-04 1.63134673e+02] [ 9.28723983e-01 3.70765918e-01 2.09704920e-03 6.49619397e+01] [-2.27532165e-03 4.34290631e-05 9.99997411e-01 -5.21839594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:163.14, Y:64.99, Z:-0.53 [[ 3.67933089e-01 -9.29851850e-01 8.83338256e-04 1.63139057e+02] [ 9.29849486e-01 3.67934146e-01 2.09730488e-03 6.49870357e+01] [-2.27519313e-03 4.97037594e-05 9.99997411e-01 -5.25111248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:163.15, Y:65.01, Z:-0.52 [[ 3.71672987e-01 -9.28363319e-01 8.59148833e-04 1.63153281e+02] [ 9.28360927e-01 3.71673980e-01 2.10747689e-03 6.50146811e+01] [-2.27582750e-03 1.43079782e-05 9.99997410e-01 -5.21747072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:65.04, Z:-0.52 [[ 3.72729690e-01 -9.27939545e-01 8.82507724e-04 1.63162971e+02] [ 9.27937175e-01 3.72730733e-01 2.09764951e-03 6.50411301e+01] [-2.27542968e-03 3.70554742e-05 9.99997411e-01 -5.19482916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:65.07, Z:-0.52 [[ 3.71165712e-01 -9.28566226e-01 8.81919658e-04 1.63167707e+02] [ 9.28563857e-01 3.71166758e-01 2.09789672e-03 6.50673789e+01] [-2.27537530e-03 4.02513881e-05 9.99997411e-01 -5.23634911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:163.18, Y:65.09, Z:-0.52 [[ 3.73513768e-01 -9.27624233e-01 8.64306429e-04 1.63180198e+02] [ 9.27621844e-01 3.73514768e-01 2.10529137e-03 6.50948396e+01] [-2.27575051e-03 1.53942101e-05 9.99997410e-01 -5.21318800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:163.19, Y:65.12, Z:-0.52 [[ 3.73749249e-01 -9.27529365e-01 8.81138126e-04 1.63188801e+02] [ 9.27526992e-01 3.73750286e-01 2.09822299e-03 6.51202215e+01] [-2.27548906e-03 3.30701299e-05 9.99997411e-01 -5.22258451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:65.15, Z:-0.52 [[ 3.75391157e-01 -9.26866066e-01 8.80514425e-04 1.63198642e+02] [ 9.26863691e-01 3.75392188e-01 2.09848469e-03 6.51471122e+01] [-2.27555248e-03 2.83642542e-05 9.99997411e-01 -5.19607965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:163.21, Y:65.17, Z:-0.52 [[ 3.76842510e-01 -9.26276929e-01 8.79941359e-04 1.63206069e+02] [ 9.26274551e-01 3.76843536e-01 2.09872496e-03 6.51731077e+01] [-2.27560072e-03 2.41785062e-05 9.99997411e-01 -5.21136466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:65.20, Z:-0.52 [[ 3.78444644e-01 -9.25623508e-01 8.79412966e-04 1.63216315e+02] [ 9.25621128e-01 3.78445666e-01 2.09894635e-03 6.51995580e+01] [-2.27564410e-03 1.96682184e-05 9.99997411e-01 -5.18907310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:163.23, Y:65.23, Z:-0.52 [[ 3.78559455e-01 -9.25576559e-01 8.78825628e-04 1.63225541e+02] [ 9.25574179e-01 3.78560474e-01 2.09919223e-03 6.52254792e+01] [-2.27565177e-03 1.87492412e-05 9.99997411e-01 -5.21057757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:163.23, Y:65.25, Z:-0.52 [[ 3.79750606e-01 -9.25088485e-01 8.78303807e-04 1.63234936e+02] [ 9.25086103e-01 3.79751621e-01 2.09941054e-03 6.52509802e+01] [-2.27567781e-03 1.52542203e-05 9.99997411e-01 -5.20662795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:163.24, Y:65.28, Z:-0.52 [[ 3.80927677e-01 -9.24604421e-01 8.77681771e-04 1.63244497e+02] [ 9.24602037e-01 3.80928688e-01 2.09967056e-03 6.52776060e+01] [-2.27569885e-03 1.16837257e-05 9.99997411e-01 -5.19703078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67999999999998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.25, Y:65.30, Z:-0.52 [[ 3.83383795e-01 -9.23588705e-01 8.77088887e-04 1.63252262e+02] [ 9.23586318e-01 3.83384798e-01 2.09991819e-03 6.53039415e+01] [-2.27572327e-03 4.99268873e-06 9.99997411e-01 -5.19947028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:65.33, Z:-0.52 [[ 3.84833440e-01 -9.22985620e-01 8.76686294e-04 1.63262128e+02] [ 9.22983231e-01 3.84834438e-01 2.10008626e-03 6.53305571e+01] [-2.27572849e-03 9.83329834e-07 9.99997411e-01 -5.19032731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73999999999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:163.27, Y:65.36, Z:-0.52 [[ 3.85016064e-01 -9.22909456e-01 8.76087275e-04 1.63271777e+02] [ 9.22907066e-01 3.85017061e-01 2.10033612e-03 6.53573039e+01] [-2.27572861e-03 -1.16009038e-07 9.99997411e-01 -5.20995703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76999999999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:163.28, Y:65.38, Z:-0.52 [[ 3.84751326e-01 -9.23019854e-01 8.75484903e-04 1.63282717e+02] [ 9.23017464e-01 3.84752322e-01 2.10058718e-03 6.53837234e+01] [-2.27572852e-03 -1.15845188e-07 9.99997411e-01 -5.21060522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79999999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.29, Y:65.41, Z:-0.52 [[ 3.85884270e-01 -9.22546782e-01 8.74882308e-04 1.63292254e+02] [ 9.22544390e-01 3.85885262e-01 2.10083812e-03 6.54090341e+01] [-2.27572564e-03 -3.56262069e-06 9.99997411e-01 -5.20799366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82999999999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.30, Y:65.44, Z:-0.52 [[ 3.86014306e-01 -9.22492380e-01 8.74342596e-04 1.63301239e+02] [ 9.22489987e-01 3.86015297e-01 2.10106272e-03 6.54355026e+01] [-2.27572397e-03 -4.46797823e-06 9.99997411e-01 -5.23395703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:163.31, Y:65.46, Z:-0.52 [[ 3.86699257e-01 -9.22205466e-01 8.73742731e-04 1.63311209e+02] [ 9.22203072e-01 3.86700244e-01 2.10131215e-03 6.54605785e+01] [-2.27571808e-03 -6.80761649e-06 9.99997411e-01 -5.23954096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:65.49, Z:-0.52 [[ 3.87643141e-01 -9.21809108e-01 8.73329874e-04 1.63321569e+02] [ 9.21806713e-01 3.87644125e-01 2.10148372e-03 6.54862773e+01] [-2.27570803e-03 -9.58441156e-06 9.99997411e-01 -5.22963157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.33, Y:65.51, Z:-0.53 [[ 3.86880524e-01 -9.22129437e-01 8.72743232e-04 1.63331638e+02] [ 9.22127042e-01 3.86881508e-01 2.10172733e-03 6.55130329e+01] [-2.27571285e-03 -8.33723410e-06 9.99997411e-01 -5.25995708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.34, Y:65.54, Z:-0.53 [[ 3.83455258e-01 -9.23559042e-01 8.72192976e-04 1.63336199e+02] [ 9.23556650e-01 3.83456250e-01 2.10195565e-03 6.55371108e+01] [-2.27572800e-03 -4.86323597e-07 9.99997411e-01 -5.31613373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.35, Y:65.56, Z:-0.53 [[ 3.87443141e-01 -9.21893216e-01 8.43173775e-04 1.63352406e+02] [ 9.21890793e-01 3.87444056e-01 2.11397092e-03 6.55647635e+01] [-2.27553811e-03 -4.17293920e-05 9.99997410e-01 -5.26710248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:65.59, Z:-0.52 [[ 3.88936587e-01 -9.21264116e-01 8.71212682e-04 1.63364694e+02] [ 9.21261718e-01 3.88937563e-01 2.10235162e-03 6.55903474e+01] [-2.27566844e-03 -1.50665727e-05 9.99997411e-01 -5.24192397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:163.38, Y:65.62, Z:-0.53 [[ 3.87999552e-01 -9.21659150e-01 8.70624871e-04 1.63375824e+02] [ 9.21656752e-01 3.88000529e-01 2.10259502e-03 6.56158794e+01] [-2.27567885e-03 -1.33886337e-05 9.99997411e-01 -5.25076280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.39, Y:65.64, Z:-0.52 [[ 3.87808487e-01 -9.21739562e-01 8.70022677e-04 1.63387550e+02] [ 9.21737164e-01 3.87809463e-01 2.10284417e-03 6.56413317e+01] [-2.27567769e-03 -1.35685801e-05 9.99997411e-01 -5.23940364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.1 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.40, Y:65.67, Z:-0.52 [[ 3.87676517e-01 -9.21795076e-01 8.69422472e-04 1.63399042e+02] [ 9.21792677e-01 3.87677492e-01 2.10309229e-03 6.56664939e+01] [-2.27567564e-03 -1.38922271e-05 9.99997411e-01 -5.23314908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:65.69, Z:-0.52 [[ 3.88799809e-01 -9.21321851e-01 8.68881401e-04 1.63411257e+02] [ 9.21319450e-01 3.88800780e-01 2.10331581e-03 6.56923882e+01] [-2.27565258e-03 -1.72514507e-05 9.99997411e-01 -5.19994603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.42, Y:65.72, Z:-0.52 [[ 3.89101061e-01 -9.21194665e-01 8.68296956e-04 1.63422734e+02] [ 9.21192263e-01 3.89102029e-01 2.10355705e-03 6.57184128e+01] [-2.27564164e-03 -1.86278432e-05 9.99997411e-01 -5.20916317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:163.43, Y:65.74, Z:-0.52 [[ 3.89731971e-01 -9.20927922e-01 8.67685285e-04 1.63433298e+02] [ 9.20925519e-01 3.89732936e-01 2.10380933e-03 6.57432196e+01] [-2.27562229e-03 -2.08482344e-05 9.99997411e-01 -5.21570470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:65.77, Z:-0.52 [[ 3.91576865e-01 -9.20144992e-01 8.67270395e-04 1.63445182e+02] [ 9.20142587e-01 3.91577825e-01 2.10398035e-03 6.57688439e+01] [-2.27557083e-03 -2.58576034e-05 9.99997411e-01 -5.19993332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.46, Y:65.79, Z:-0.52 [[ 3.91658033e-01 -9.20110447e-01 8.66659830e-04 1.63455616e+02] [ 9.20108041e-01 3.91658991e-01 2.10423182e-03 6.57943596e+01] [-2.27556079e-03 -2.67186166e-05 9.99997411e-01 -5.23060784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:163.47, Y:65.82, Z:-0.52 [[ 3.94092560e-01 -9.19070347e-01 8.66113073e-04 1.63467393e+02] [ 9.19067939e-01 3.94093511e-01 2.10445684e-03 6.58199520e+01] [-2.27547342e-03 -3.33340279e-05 9.99997411e-01 -5.24643604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:65.84, Z:-0.52 [[ 3.96144834e-01 -9.18187629e-01 8.65507184e-04 1.63478486e+02] [ 9.18185217e-01 3.96145778e-01 2.10470600e-03 6.58445422e+01] [-2.27538203e-03 -3.90725075e-05 9.99997411e-01 -5.22814646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:65.87, Z:-0.52 [[ 3.97163286e-01 -9.17747556e-01 8.64962616e-04 1.63489505e+02] [ 9.17745143e-01 3.97164225e-01 2.10492977e-03 6.58704314e+01] [-2.27532636e-03 -4.21855849e-05 9.99997411e-01 -5.23503839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:65.90, Z:-0.52 [[ 3.97919003e-01 -9.17420144e-01 8.64355756e-04 1.63500950e+02] [ 9.17417729e-01 3.97919940e-01 2.10517894e-03 6.58964195e+01] [-2.27527796e-03 -4.47154107e-05 9.99997411e-01 -5.24233907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:65.92, Z:-0.52 [[ 3.98244570e-01 -9.17278865e-01 8.63745844e-04 1.63511747e+02] [ 9.17276450e-01 3.98245504e-01 2.10542916e-03 6.59209559e+01] [-2.27524857e-03 -4.61820074e-05 9.99997411e-01 -5.24762588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:65.95, Z:-0.53 [[ 3.98499087e-01 -9.17168323e-01 8.63201504e-04 1.63523169e+02] [ 9.17165907e-01 3.98500019e-01 2.10565230e-03 6.59461082e+01] [-2.27522341e-03 -4.74015308e-05 9.99997411e-01 -5.25241942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:65.97, Z:-0.53 [[ 3.97928314e-01 -9.17416107e-01 8.62592984e-04 1.63535792e+02] [ 9.17413691e-01 3.97929246e-01 2.10590156e-03 6.59703780e+01] [-2.27523899e-03 -4.66432443e-05 9.99997411e-01 -5.25991881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.55, Y:66.00, Z:-0.53 [[ 3.97002736e-01 -9.17817021e-01 8.62046874e-04 1.63547735e+02] [ 9.17814606e-01 3.97003669e-01 2.10612508e-03 6.59959923e+01] [-2.27527322e-03 -4.49382073e-05 9.99997411e-01 -5.25742585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:66.02, Z:-0.53 [[ 3.95752057e-01 -9.18356993e-01 8.61451661e-04 1.63559714e+02] [ 9.18354579e-01 3.95752992e-01 2.10636851e-03 6.60213698e+01] [-2.27532033e-03 -4.24815943e-05 9.99997411e-01 -5.25125451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.57, Y:66.05, Z:-0.52 [[ 3.94354709e-01 -9.18957900e-01 8.60855869e-04 1.63571614e+02] [ 9.18955487e-01 3.94355646e-01 2.10661198e-03 6.60464482e+01] [-2.27537109e-03 -3.96641299e-05 9.99997411e-01 -5.24107771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:66.07, Z:-0.52 [[ 3.91400283e-01 -9.20220125e-01 8.60251850e-04 1.63585107e+02] [ 9.20217714e-01 3.91401227e-01 2.10685861e-03 6.60712769e+01] [-2.27547732e-03 -3.30060648e-05 9.99997411e-01 -5.23462407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:66.10, Z:-0.52 [[ 3.89662333e-01 -9.20957397e-01 8.59649411e-04 1.63597272e+02] [ 9.20954987e-01 3.89663280e-01 2.10710439e-03 6.60962564e+01] [-2.27552718e-03 -2.93608000e-05 9.99997411e-01 -5.23326722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:66.12, Z:-0.52 [[ 3.87857514e-01 -9.21718943e-01 8.59050837e-04 1.63609281e+02] [ 9.21716535e-01 3.87858465e-01 2.10734839e-03 6.61202221e+01] [-2.27557307e-03 -2.55495485e-05 9.99997411e-01 -5.23225979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:66.15, Z:-0.52 [[ 3.85958431e-01 -9.22515774e-01 8.58418513e-04 1.63621859e+02] [ 9.22513366e-01 3.85959385e-01 2.10760594e-03 6.61454922e+01] [-2.27561440e-03 -2.15457277e-05 9.99997411e-01 -5.23024849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:66.17, Z:-0.52 [[ 3.83038861e-01 -9.23731831e-01 8.57812246e-04 1.63635674e+02] [ 9.23729426e-01 3.83039822e-01 2.10785266e-03 6.61691622e+01] [-2.27566685e-03 -1.50030705e-05 9.99997411e-01 -5.23762517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:66.19, Z:-0.52 [[ 3.81483984e-01 -9.24375051e-01 8.57267886e-04 1.63648028e+02] [ 9.24372647e-01 3.81484947e-01 2.10807403e-03 6.61944313e+01] [-2.27568583e-03 -1.17614941e-05 9.99997411e-01 -5.24104695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:66.22, Z:-0.53 [[ 3.79811612e-01 -9.25063460e-01 8.56671317e-04 1.63660023e+02] [ 9.25061058e-01 3.79812578e-01 2.10831643e-03 6.62186453e+01] [-2.27570104e-03 -8.28978915e-06 9.99997411e-01 -5.25104310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:66.24, Z:-0.53 [[ 3.78646113e-01 -9.25541132e-01 8.56041775e-04 1.63672758e+02] [ 9.25538731e-01 3.78647081e-01 2.10857202e-03 6.62439042e+01] [-2.27570785e-03 -6.10278130e-06 9.99997411e-01 -5.25628159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:66.27, Z:-0.53 [[ 3.77492059e-01 -9.26012426e-01 8.55453797e-04 1.63685340e+02] [ 9.26010025e-01 3.77493029e-01 2.10881054e-03 6.62686734e+01] [-2.27571260e-03 -3.90044020e-06 9.99997411e-01 -5.25971722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:66.29, Z:-0.53 [[ 3.75667441e-01 -9.26754144e-01 8.54861307e-04 1.63700533e+02] [ 9.26751744e-01 3.75668414e-01 2.10905069e-03 6.62932316e+01] [-2.27571586e-03 -5.74692909e-08 9.99997411e-01 -5.26827724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:66.32, Z:-0.53 [[ 3.74602454e-01 -9.27185133e-01 8.54266364e-04 1.63712512e+02] [ 9.27182734e-01 3.74603428e-01 2.10929164e-03 6.63184248e+01] [-2.27571496e-03 1.91519718e-06 9.99997411e-01 -5.27418191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:66.34, Z:-0.53 [[ 3.73647800e-01 -9.27570263e-01 8.53673885e-04 1.63724716e+02] [ 9.27567864e-01 3.73648776e-01 2.10953140e-03 6.63442370e+01] [-2.27571280e-03 3.61869360e-06 9.99997411e-01 -5.27449924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:66.37, Z:-0.53 [[ 3.71561842e-01 -9.28407814e-01 8.53073950e-04 1.63737606e+02] [ 9.28405417e-01 3.71562821e-01 2.10977398e-03 6.63682742e+01] [-2.27570122e-03 8.08696818e-06 9.99997411e-01 -5.26917140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.75, Y:66.39, Z:-0.53 [[ 3.70380438e-01 -9.28879758e-01 8.52441751e-04 1.63749486e+02] [ 9.28877361e-01 3.70381419e-01 2.11002939e-03 6.63936341e+01] [-2.27569217e-03 1.03002344e-05 9.99997411e-01 -5.25821413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:66.42, Z:-0.53 [[ 3.68963518e-01 -9.29443488e-01 8.51843151e-04 1.63760712e+02] [ 9.29441092e-01 3.68964501e-01 2.11027102e-03 6.64184889e+01] [-2.27567754e-03 1.31250089e-05 9.99997411e-01 -5.25017494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:66.44, Z:-0.52 [[ 3.68649926e-01 -9.29567915e-01 8.51213187e-04 1.63771416e+02] [ 9.29565519e-01 3.68650908e-01 2.11052510e-03 6.64436927e+01] [-2.27567693e-03 1.32135070e-05 9.99997411e-01 -5.24200051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:66.47, Z:-0.52 [[ 3.70049021e-01 -9.29011840e-01 8.50590663e-04 1.63781262e+02] [ 9.29009442e-01 3.70049998e-01 2.11077596e-03 6.64698321e+01] [-2.27569693e-03 9.11617988e-06 9.99997411e-01 -5.23719593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:66.50, Z:-0.52 [[ 3.71308518e-01 -9.28509161e-01 8.50013394e-04 1.63791070e+02] [ 9.28506761e-01 3.71309490e-01 2.11100840e-03 6.64965183e+01] [-2.27570868e-03 5.40778359e-06 9.99997411e-01 -5.23840672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:66.52, Z:-0.53 [[ 3.70897231e-01 -9.28673528e-01 8.49437766e-04 1.63797152e+02] [ 9.28671129e-01 3.70898204e-01 2.11124000e-03 6.65223975e+01] [-2.27570764e-03 5.79525843e-06 9.99997411e-01 -5.28002144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.81, Y:66.55, Z:-0.53 [[ 3.74330189e-01 -9.27295103e-01 8.37685478e-04 1.63809666e+02] [ 9.27292689e-01 3.74331126e-01 2.11596330e-03 6.65487957e+01] [-2.27569416e-03 -1.52893251e-05 9.99997410e-01 -5.25455598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:66.57, Z:-0.53 [[ 3.73893044e-01 -9.27471440e-01 8.48652277e-04 1.63815479e+02] [ 9.27469036e-01 3.73894007e-01 2.11155565e-03 6.65743266e+01] [-2.27571356e-03 -2.39726228e-06 9.99997411e-01 -5.30169873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:66.60, Z:-0.53 [[ 3.76465726e-01 -9.26430170e-01 8.35192559e-04 1.63829059e+02] [ 9.26427751e-01 3.76466652e-01 2.11695832e-03 6.66009817e+01] [-2.27563620e-03 -2.32166872e-05 9.99997410e-01 -5.28137280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:66.63, Z:-0.53 [[ 3.73002833e-01 -9.27829816e-01 8.47656010e-04 1.63833308e+02] [ 9.27827413e-01 3.73003796e-01 2.11195598e-03 6.66259343e+01] [-2.27571464e-03 -1.28708325e-06 9.99997411e-01 -5.33544461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:66.65, Z:-0.53 [[ 3.76325361e-01 -9.26487205e-01 8.25664159e-04 1.63849018e+02] [ 9.26484778e-01 3.76326265e-01 2.12077174e-03 6.66543843e+01] [-2.27558699e-03 -3.31349164e-05 9.99997410e-01 -5.29184882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:66.68, Z:-0.53 [[ 3.75661043e-01 -9.26756744e-01 8.47124649e-04 1.63858321e+02] [ 9.26754338e-01 3.75661998e-01 2.11216460e-03 6.66793914e+01] [-2.27569532e-03 -8.38151193e-06 9.99997411e-01 -5.29735833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:66.71, Z:-0.53 [[ 3.74436763e-01 -9.27252066e-01 8.46501643e-04 1.63868137e+02] [ 9.27249660e-01 3.74437720e-01 2.11241425e-03 6.67054610e+01] [-2.27570262e-03 -6.04719468e-06 9.99997411e-01 -5.29391246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:66.73, Z:-0.53 [[ 3.71563056e-01 -9.28407335e-01 8.45911598e-04 1.63878465e+02] [ 9.28404931e-01 3.71564019e-01 2.11265051e-03 6.67309823e+01] [-2.27571054e-03 3.65619880e-07 9.99997411e-01 -5.29180929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:66.76, Z:-0.53 [[ 3.69243416e-01 -9.29332333e-01 8.45289939e-04 1.63888564e+02] [ 9.29329931e-01 3.69244384e-01 2.11289921e-03 6.67562141e+01] [-2.27570411e-03 5.37911849e-06 9.99997411e-01 -5.29342386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:66.78, Z:-0.53 [[ 3.64336848e-01 -9.31266851e-01 8.44692546e-04 1.63898918e+02] [ 9.31264454e-01 3.64337827e-01 2.11313801e-03 6.67818050e+01] [-2.27564883e-03 1.67381008e-05 9.99997411e-01 -5.27873423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:66.81, Z:-0.53 [[ 3.61788241e-01 -9.32259919e-01 8.44094616e-04 1.63908993e+02] [ 9.32257524e-01 3.61789225e-01 2.11337682e-03 6.68077915e+01] [-2.27560084e-03 2.23186734e-05 9.99997411e-01 -5.27819282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:66.83, Z:-0.53 [[ 3.59800628e-01 -9.33028830e-01 8.43536321e-04 1.63919393e+02] [ 9.33026436e-01 3.59801615e-01 2.11359964e-03 6.68335651e+01] [-2.27555513e-03 2.65672103e-05 9.99997411e-01 -5.26543659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:66.86, Z:-0.53 [[ 3.58026392e-01 -9.33711086e-01 8.42946156e-04 1.63929179e+02] [ 9.33708694e-01 3.58027383e-01 2.11383498e-03 6.68585534e+01] [-2.27550896e-03 3.02574406e-05 9.99997411e-01 -5.27152443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:66.88, Z:-0.53 [[ 3.53267447e-01 -9.35521994e-01 8.42515446e-04 1.63934996e+02] [ 9.35519606e-01 3.53268449e-01 2.11400664e-03 6.68833061e+01] [-2.27533383e-03 4.13799915e-05 9.99997411e-01 -5.29407930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:66.91, Z:-0.53 [[ 3.56380553e-01 -9.34340529e-01 8.22901271e-04 1.63949770e+02] [ 9.34338120e-01 3.56381503e-01 2.12181314e-03 6.69112525e+01] [-2.27576281e-03 1.26950847e-05 9.99997410e-01 -5.27086279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:66.94, Z:-0.53 [[ 3.56806074e-01 -9.34178097e-01 8.41850526e-04 1.63959756e+02] [ 9.34175705e-01 3.56807065e-01 2.11426801e-03 6.69372824e+01] [-2.27548108e-03 3.20526426e-05 9.99997411e-01 -5.27775874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:66.96, Z:-0.53 [[ 3.57694988e-01 -9.33838095e-01 8.41245969e-04 1.63969394e+02] [ 9.33835702e-01 3.57695976e-01 2.11450853e-03 6.69627177e+01] [-2.27551891e-03 2.92364178e-05 9.99997411e-01 -5.28928533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:66.99, Z:-0.53 [[ 3.58869171e-01 -9.33387493e-01 8.40608399e-04 1.63978885e+02] [ 9.33385098e-01 3.58870154e-01 2.11476196e-03 6.69884462e+01] [-2.27556163e-03 2.56884825e-05 9.99997411e-01 -5.30391631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:67.02, Z:-0.53 [[ 3.58613856e-01 -9.33485617e-01 8.39983369e-04 1.63989366e+02] [ 9.33483221e-01 3.58614839e-01 2.11501019e-03 6.70150580e+01] [-2.27556209e-03 2.56384220e-05 9.99997411e-01 -5.30456427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:67.04, Z:-0.53 [[ 3.60245122e-01 -9.32857303e-01 8.39404805e-04 1.63999138e+02] [ 9.32854905e-01 3.60246100e-01 2.11523979e-03 6.70411142e+01] [-2.27560919e-03 2.10380744e-05 9.99997411e-01 -5.31633018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:67.07, Z:-0.53 [[ 3.63953188e-01 -9.31416863e-01 8.38811527e-04 1.64008239e+02] [ 9.31414461e-01 3.63954155e-01 2.11547503e-03 6.70675140e+01] [-2.27567805e-03 1.13473059e-05 9.99997411e-01 -5.34011128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:67.09, Z:-0.54 [[ 3.61409961e-01 -9.32406637e-01 8.38235178e-04 1.64011539e+02] [ 9.32404237e-01 3.61410933e-01 2.11570337e-03 6.70911381e+01] [-2.27564323e-03 1.69377577e-05 9.99997411e-01 -5.37888334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:67.12, Z:-0.54 [[ 3.67647826e-01 -9.29964744e-01 8.06944946e-04 1.64028161e+02] [ 9.29962310e-01 3.67648710e-01 2.12808073e-03 6.71200656e+01] [-2.27571232e-03 -3.19558696e-05 9.99997410e-01 -5.36693820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:67.15, Z:-0.54 [[ 3.68747103e-01 -9.29529382e-01 8.37659844e-04 1.64038166e+02] [ 9.29526974e-01 3.68748055e-01 2.11592119e-03 6.71459414e+01] [-2.27569636e-03 -1.61239026e-06 9.99997411e-01 -5.36289774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:67.17, Z:-0.54 [[ 3.70112208e-01 -9.28986680e-01 8.37062375e-04 1.64048438e+02] [ 9.28984270e-01 3.70113155e-01 2.11615753e-03 6.71721574e+01] [-2.27568995e-03 -5.59795541e-06 9.99997411e-01 -5.35869500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:67.20, Z:-0.54 [[ 3.70059933e-01 -9.29007506e-01 8.36459146e-04 1.64058381e+02] [ 9.29005095e-01 3.70060878e-01 2.11639594e-03 6.71971267e+01] [-2.27568852e-03 -6.11853049e-06 9.99997411e-01 -5.36258473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:67.22, Z:-0.53 [[ 3.69670664e-01 -9.29162473e-01 8.35822392e-04 1.64068841e+02] [ 9.29160062e-01 3.69671609e-01 2.11664738e-03 6.72229767e+01] [-2.27568912e-03 -5.84965578e-06 9.99997411e-01 -5.33458615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:67.25, Z:-0.53 [[ 3.69304795e-01 -9.29307952e-01 8.35277174e-04 1.64080304e+02] [ 9.29305541e-01 3.69305740e-01 2.11686251e-03 6.72483328e+01] [-2.27568982e-03 -5.53977063e-06 9.99997411e-01 -5.30093952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:67.27, Z:-0.53 [[ 3.69426184e-01 -9.29259704e-01 8.34724237e-04 1.64091006e+02] [ 9.29257293e-01 3.69427127e-01 2.11708053e-03 6.72741367e+01] [-2.27568740e-03 -6.43139550e-06 9.99997411e-01 -5.27858212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:67.30, Z:-0.53 [[ 3.69984082e-01 -9.29037719e-01 8.34139031e-04 1.64101179e+02] [ 9.29035306e-01 3.69985022e-01 2.11731107e-03 6.72994476e+01] [-2.27568080e-03 -8.42678317e-06 9.99997411e-01 -5.27054595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:67.33, Z:-0.53 [[ 3.71176938e-01 -9.28561784e-01 8.33587162e-04 1.64111667e+02] [ 9.28559369e-01 3.71177873e-01 2.11752832e-03 6.73258047e+01] [-2.27566499e-03 -1.19425088e-05 9.99997411e-01 -5.26248391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:67.35, Z:-0.53 [[ 3.74300940e-01 -9.27306914e-01 8.32988868e-04 1.64121126e+02] [ 9.27304496e-01 3.74301866e-01 2.11776365e-03 6.73518574e+01] [-2.27560617e-03 -2.02466044e-05 9.99997411e-01 -5.27427240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:67.38, Z:-0.53 [[ 3.75887599e-01 -9.26664891e-01 8.32389333e-04 1.64131314e+02] [ 9.26662471e-01 3.75888520e-01 2.11799927e-03 6.73785710e+01] [-2.27556116e-03 -2.47857067e-05 9.99997411e-01 -5.28721491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:67.40, Z:-0.53 [[ 3.77473653e-01 -9.26019951e-01 8.31826699e-04 1.64141343e+02] [ 9.26017529e-01 3.77474569e-01 2.11822022e-03 6.74048428e+01] [-2.27550761e-03 -2.92862212e-05 9.99997411e-01 -5.29894929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:67.43, Z:-0.53 [[ 3.78806239e-01 -9.25475630e-01 8.31227774e-04 1.64151164e+02] [ 9.25473206e-01 3.78807149e-01 2.11845522e-03 6.74308929e+01] [-2.27545371e-03 -3.32050224e-05 9.99997411e-01 -5.31548861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.16, Y:67.46, Z:-0.53 [[ 3.79869012e-01 -9.25039915e-01 8.30632798e-04 1.64161587e+02] [ 9.25037489e-01 3.79869918e-01 2.11868848e-03 6.74574368e+01] [-2.27540383e-03 -3.64576234e-05 9.99997411e-01 -5.33127783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:67.48, Z:-0.54 [[ 3.80955945e-01 -9.24592818e-01 8.30031454e-04 1.64172208e+02] [ 9.24590391e-01 3.80956847e-01 2.11892405e-03 6.74839117e+01] [-2.27534812e-03 -3.97776066e-05 9.99997411e-01 -5.35303526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:67.51, Z:-0.54 [[ 3.75758223e-01 -9.26717362e-01 8.29465780e-04 1.64175331e+02] [ 9.26714940e-01 3.75759137e-01 2.11914546e-03 6.75067761e+01] [-2.27552824e-03 -2.76080009e-05 9.99997411e-01 -5.41134723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:67.54, Z:-0.54 [[ 3.80637209e-01 -9.24724114e-01 7.92309031e-04 1.64194535e+02] [ 9.24721656e-01 3.80638026e-01 2.13366468e-03 6.75354070e+01] [-2.27463413e-03 -7.94868510e-05 9.99997410e-01 -5.36055426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:67.56, Z:-0.54 [[ 3.79575693e-01 -9.25160313e-01 8.29163189e-04 1.64205377e+02] [ 9.25157887e-01 3.79576597e-01 2.11924535e-03 6.75611111e+01] [-2.27537263e-03 -3.73071570e-05 9.99997411e-01 -5.35859173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:67.59, Z:-0.54 [[ 3.78054623e-01 -9.25782920e-01 8.28564705e-04 1.64216104e+02] [ 9.25780495e-01 3.78055529e-01 2.11947931e-03 6.75860795e+01] [-2.27542121e-03 -3.42099083e-05 9.99997411e-01 -5.35916228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.23, Y:67.61, Z:-0.53 [[ 3.74397612e-01 -9.27267892e-01 8.27934531e-04 1.64228735e+02] [ 9.27265469e-01 3.74398527e-01 2.11972545e-03 6.76118968e+01] [-2.27553081e-03 -2.59050437e-05 9.99997411e-01 -5.33039965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:67.64, Z:-0.53 [[ 3.72213419e-01 -9.28146802e-01 8.27365938e-04 1.64239908e+02] [ 9.28144381e-01 3.72214338e-01 2.11994735e-03 6.76378607e+01] [-2.27557982e-03 -2.11578070e-05 9.99997411e-01 -5.31565274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:67.66, Z:-0.54 [[ 3.64725067e-01 -9.31114892e-01 8.26787887e-04 1.64243251e+02] [ 9.31112478e-01 3.64726004e-01 2.12017277e-03 6.76605259e+01] [-2.27567548e-03 -3.44763832e-06 9.99997411e-01 -5.35897655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:67.69, Z:-0.53 [[ 3.60837257e-01 -9.32628462e-01 7.91855570e-04 1.64254940e+02] [ 9.32626021e-01 3.60838124e-01 2.13377229e-03 6.76859803e+01] [-2.27574844e-03 -3.14394285e-05 9.99997410e-01 -5.33285346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:67.71, Z:-0.53 [[ 3.58912815e-01 -9.33370749e-01 7.96891471e-04 1.64264673e+02] [ 9.33368315e-01 3.58913699e-01 2.13181090e-03 6.77121662e+01] [-2.27578521e-03 -2.13410041e-05 9.99997410e-01 -5.32704216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:67.74, Z:-0.53 [[ 3.62809192e-01 -9.31863115e-01 7.90193818e-04 1.64282605e+02] [ 9.31860672e-01 3.62810051e-01 2.13441787e-03 6.77411154e+01] [-2.27567555e-03 -3.80358830e-05 9.99997410e-01 -5.26457230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:67.77, Z:-0.53 [[ 3.61356317e-01 -9.32427439e-01 8.26267174e-04 1.64292485e+02] [ 9.32425028e-01 3.61357262e-01 2.12036073e-03 6.77679469e+01] [-2.27566017e-03 4.22645024e-06 9.99997411e-01 -5.26466067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:67.79, Z:-0.53 [[ 3.54730630e-01 -9.34968181e-01 8.25672240e-04 1.64293827e+02] [ 9.34965776e-01 3.54731590e-01 2.12059237e-03 6.77913059e+01] [-2.27557842e-03 1.97362204e-05 9.99997411e-01 -5.32035477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:67.82, Z:-0.53 [[ 3.52822938e-01 -9.35689773e-01 7.89257649e-04 1.64302442e+02] [ 9.35687338e-01 3.52823820e-01 2.13475306e-03 6.78181017e+01] [-2.27593550e-03 -1.46914569e-05 9.99997410e-01 -5.34409857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:67.84, Z:-0.54 [[ 3.51754406e-01 -9.36091991e-01 7.89479068e-04 1.64310944e+02] [ 9.36089557e-01 3.51755291e-01 2.13466676e-03 6.78433750e+01] [-2.27594789e-03 -1.18553252e-05 9.99997410e-01 -5.35534666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:67.87, Z:-0.53 [[ 3.57754672e-01 -9.33815284e-01 7.80779459e-04 1.64330839e+02] [ 9.33812837e-01 3.57755522e-01 2.13805510e-03 6.78734947e+01] [-2.27587669e-03 -3.57973174e-05 9.99997410e-01 -5.29748037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:67.90, Z:-0.53 [[ 3.57028007e-01 -9.34093313e-01 8.27117793e-04 1.64340663e+02] [ 9.34090908e-01 3.57028965e-01 2.11997600e-03 6.78998943e+01] [-2.27556041e-03 1.57124035e-05 9.99997411e-01 -5.30354616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:67.93, Z:-0.53 [[ 3.55165740e-01 -9.34802982e-01 8.26526781e-04 1.64349808e+02] [ 9.34800577e-01 3.55166701e-01 2.12020639e-03 6.79257890e+01] [-2.27553005e-03 1.96130396e-05 9.99997411e-01 -5.31081694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:67.95, Z:-0.53 [[ 3.53969505e-01 -9.35256600e-01 8.25913647e-04 1.64359329e+02] [ 9.35254196e-01 3.53970468e-01 2.12044521e-03 6.79523801e+01] [-2.27550942e-03 2.18662628e-05 9.99997411e-01 -5.30447865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.37, Y:67.98, Z:-0.53 [[ 3.52894319e-01 -9.35662823e-01 8.25322649e-04 1.64368574e+02] [ 9.35660420e-01 3.52895283e-01 2.12067521e-03 6.79786441e+01] [-2.27548943e-03 2.38475006e-05 9.99997411e-01 -5.30442610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:68.00, Z:-0.53 [[ 3.51774998e-01 -9.36084222e-01 8.24723614e-04 1.64377297e+02] [ 9.36081820e-01 3.51775964e-01 2.12090815e-03 6.80043111e+01] [-2.27546660e-03 2.59263208e-05 9.99997411e-01 -5.30988922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:68.03, Z:-0.53 [[ 3.50177893e-01 -9.36682851e-01 8.24092172e-04 1.64385450e+02] [ 9.36680450e-01 3.50178862e-01 2.12115347e-03 6.80309284e+01] [-2.27542774e-03 2.91299713e-05 9.99997411e-01 -5.30866059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:68.06, Z:-0.53 [[ 3.49263746e-01 -9.37024097e-01 8.23495710e-04 1.64394651e+02] [ 9.37021696e-01 3.49264715e-01 2.12138501e-03 6.80567523e+01] [-2.27540687e-03 3.07104705e-05 9.99997411e-01 -5.30876020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:68.08, Z:-0.53 [[ 3.48489264e-01 -9.37312411e-01 8.23060073e-04 1.64404385e+02] [ 9.37310010e-01 3.48490234e-01 2.12155402e-03 6.80834443e+01] [-2.27538731e-03 3.21236470e-05 9.99997411e-01 -5.30443756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:68.11, Z:-0.53 [[ 3.47737207e-01 -9.37591680e-01 8.22467477e-04 1.64414258e+02] [ 9.37589280e-01 3.47738178e-01 2.12178373e-03 6.81098548e+01] [-2.27537011e-03 3.33135423e-05 9.99997411e-01 -5.29431830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:68.14, Z:-0.53 [[ 3.47079002e-01 -9.37835535e-01 8.21856981e-04 1.64423679e+02] [ 9.37833135e-01 3.47079973e-01 2.12202017e-03 6.81353081e+01] [-2.27535602e-03 3.42560653e-05 9.99997411e-01 -5.29536232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:68.16, Z:-0.53 [[ 3.46803995e-01 -9.37937266e-01 8.21308144e-04 1.64433088e+02] [ 9.37934865e-01 3.46804966e-01 2.12223257e-03 6.81622141e+01] [-2.27535476e-03 3.43348089e-05 9.99997411e-01 -5.29643150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:68.19, Z:-0.53 [[ 3.46829892e-01 -9.37927691e-01 8.20701685e-04 1.64442765e+02] [ 9.37925290e-01 3.46830861e-01 2.12246707e-03 6.81891137e+01] [-2.27536531e-03 3.36218403e-05 9.99997411e-01 -5.30049666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.45, Y:68.22, Z:-0.53 [[ 3.46882765e-01 -9.37908138e-01 8.20099559e-04 1.64452169e+02] [ 9.37905736e-01 3.46883733e-01 2.12269970e-03 6.82154799e+01] [-2.27537652e-03 3.28481384e-05 9.99997411e-01 -5.30719300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:68.24, Z:-0.53 [[ 3.47317988e-01 -9.37747057e-01 8.19501861e-04 1.64461933e+02] [ 9.37744655e-01 3.47318953e-01 2.12293043e-03 6.82421901e+01] [-2.27540029e-03 3.11515643e-05 9.99997411e-01 -5.30339381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:68.27, Z:-0.53 [[ 3.47714428e-01 -9.37600131e-01 8.18900269e-04 1.64471378e+02] [ 9.37597728e-01 3.47715391e-01 2.12316246e-03 6.82685190e+01] [-2.27542163e-03 2.95448099e-05 9.99997411e-01 -5.30474316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.48, Y:68.29, Z:-0.53 [[ 3.45675751e-01 -9.38353668e-01 8.18301045e-04 1.64475430e+02] [ 9.38351266e-01 3.45676718e-01 2.12339339e-03 6.82933124e+01] [-2.27536159e-03 3.38482165e-05 9.99997411e-01 -5.33888949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:68.32, Z:-0.53 [[ 3.50130455e-01 -9.36700610e-01 7.95050711e-04 1.64490126e+02] [ 9.36698183e-01 3.50131358e-01 2.13234010e-03 6.83208135e+01] [-2.27573646e-03 -1.87465354e-06 9.99997411e-01 -5.31844202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:68.35, Z:-0.53 [[ 3.52037055e-01 -9.35985707e-01 8.17616106e-04 1.64499359e+02] [ 9.35983298e-01 3.52038004e-01 2.12365232e-03 6.83464174e+01] [-2.27554016e-03 1.76707117e-05 9.99997411e-01 -5.31702386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:68.37, Z:-0.53 [[ 3.53175501e-01 -9.35556731e-01 8.17187765e-04 1.64509121e+02] [ 9.35554321e-01 3.53176446e-01 2.12381713e-03 6.83724831e+01] [-2.27556288e-03 1.44433650e-05 9.99997411e-01 -5.30270179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:68.40, Z:-0.53 [[ 3.52047741e-01 -9.35981689e-01 8.16585107e-04 1.64516155e+02] [ 9.35979279e-01 3.52048687e-01 2.12404882e-03 6.83981676e+01] [-2.27554852e-03 1.65401507e-05 9.99997411e-01 -5.29830734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:68.42, Z:-0.53 [[ 3.55700475e-01 -9.34599660e-01 8.04691637e-04 1.64528628e+02] [ 9.34597236e-01 3.55701385e-01 2.12861635e-03 6.84247806e+01] [-2.27563405e-03 -5.08726590e-06 9.99997411e-01 -5.29923671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:68.45, Z:-0.53 [[ 3.55528886e-01 -9.34664938e-01 8.15865292e-04 1.64533979e+02] [ 9.34662524e-01 3.55529822e-01 2.12432501e-03 6.84492716e+01] [-2.27559654e-03 7.29980921e-06 9.99997411e-01 -5.32539323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:68.48, Z:-0.53 [[ 3.56992071e-01 -9.34107076e-01 7.94628796e-04 1.64543732e+02] [ 9.34104642e-01 3.56992955e-01 2.13246857e-03 6.84758590e+01] [-2.27563087e-03 -1.90079258e-05 9.99997411e-01 -5.33506165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:68.50, Z:-0.53 [[ 3.62223555e-01 -9.32090912e-01 7.92373506e-04 1.64558574e+02] [ 9.32088471e-01 3.62224420e-01 2.13333295e-03 6.85032592e+01] [-2.27547729e-03 -3.41812376e-05 9.99997411e-01 -5.29441888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:68.53, Z:-0.53 [[ 3.64235450e-01 -9.31306541e-01 8.14719072e-04 1.64567952e+02] [ 9.31304117e-01 3.64236361e-01 2.12476478e-03 6.85281863e+01] [-2.27555764e-03 -1.51634277e-05 9.99997411e-01 -5.29951108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:68.55, Z:-0.53 [[ 3.66208063e-01 -9.30532639e-01 8.14283879e-04 1.64577705e+02] [ 9.30530213e-01 3.66208967e-01 2.12493154e-03 6.85537316e+01] [-2.27551622e-03 -2.04513128e-05 9.99997411e-01 -5.30470526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:68.58, Z:-0.53 [[ 3.68146859e-01 -9.29767298e-01 8.13661393e-04 1.64587417e+02] [ 9.29764869e-01 3.68147757e-01 2.12516988e-03 6.85796620e+01] [-2.27546107e-03 -2.58608354e-05 9.99997411e-01 -5.30288597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:68.61, Z:-0.53 [[ 3.71841921e-01 -9.28295710e-01 8.13067353e-04 1.64597158e+02] [ 9.28293277e-01 3.71842808e-01 2.12539712e-03 6.86051745e+01] [-2.27533028e-03 -3.55467919e-05 9.99997411e-01 -5.31741018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:68.63, Z:-0.53 [[ 3.73224797e-01 -9.27740584e-01 8.12446430e-04 1.64607348e+02] [ 9.27738150e-01 3.73225679e-01 2.12563445e-03 6.86312162e+01] [-2.27526322e-03 -3.96019377e-05 9.99997411e-01 -5.32374368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.62, Y:68.66, Z:-0.53 [[ 3.72969509e-01 -9.27843244e-01 8.11861776e-04 1.64617472e+02] [ 9.27840810e-01 3.72970391e-01 2.12585773e-03 6.86579633e+01] [-2.27526314e-03 -3.96016261e-05 9.99997411e-01 -5.32439181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.62, Y:68.68, Z:-0.54 [[ 3.68831938e-01 -9.29495747e-01 8.11276770e-04 1.64619067e+02] [ 9.29493316e-01 3.68832829e-01 2.12608096e-03 6.86806755e+01] [-2.27540871e-03 -3.00902252e-05 9.99997411e-01 -5.40070008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:68.71, Z:-0.53 [[ 3.75728485e-01 -9.26729468e-01 7.74315132e-04 1.64638562e+02] [ 9.26727000e-01 3.75729273e-01 2.14015284e-03 6.87094151e+01] [-2.27427556e-03 -8.65376429e-05 9.99997410e-01 -5.33079691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:68.74, Z:-0.53 [[ 3.76112330e-01 -9.26573720e-01 8.10641924e-04 1.64649275e+02] [ 9.26571281e-01 3.76113201e-01 2.12630344e-03 6.87358395e+01] [-2.27507002e-03 -4.86114161e-05 9.99997411e-01 -5.32693818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:68.76, Z:-0.53 [[ 3.76728027e-01 -9.26323560e-01 8.10069985e-04 1.64660025e+02] [ 9.26321120e-01 3.76728894e-01 2.12652131e-03 6.87609599e+01] [-2.27502356e-03 -5.07352424e-05 9.99997411e-01 -5.31319358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.67, Y:68.79, Z:-0.53 [[ 3.76926606e-01 -9.26242775e-01 8.09466737e-04 1.64670427e+02] [ 9.26240335e-01 3.76927472e-01 2.12675092e-03 6.87870732e+01] [-2.27499792e-03 -5.18682646e-05 9.99997411e-01 -5.31340234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:68.81, Z:-0.53 [[ 3.77276097e-01 -9.26100476e-01 8.08902254e-04 1.64680977e+02] [ 9.26098035e-01 3.77276961e-01 2.12696559e-03 6.88131307e+01] [-2.27496403e-03 -5.33304905e-05 9.99997411e-01 -5.31464497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:68.84, Z:-0.53 [[ 3.77081624e-01 -9.26179678e-01 8.08341268e-04 1.64691408e+02] [ 9.26177236e-01 3.77082487e-01 2.12717877e-03 6.88394661e+01] [-2.27496109e-03 -5.34527442e-05 9.99997411e-01 -5.31990645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:68.86, Z:-0.54 [[ 3.72682286e-01 -9.27958653e-01 8.07780615e-04 1.64693450e+02] [ 9.27956215e-01 3.72683159e-01 2.12739166e-03 6.88619678e+01] [-2.27517773e-03 -4.32561436e-05 9.99997411e-01 -5.38638309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:68.89, Z:-0.53 [[ 3.76849278e-01 -9.26274270e-01 7.73922911e-04 1.64712293e+02] [ 9.26271801e-01 3.76850062e-01 2.14022473e-03 6.88906735e+01] [-2.27408799e-03 -8.96791765e-05 9.99997410e-01 -5.33171095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:68.92, Z:-0.53 [[ 3.75360573e-01 -9.26878519e-01 8.07219363e-04 1.64723200e+02] [ 9.26876078e-01 3.75361438e-01 2.12759188e-03 6.89160141e+01] [-2.27501823e-03 -5.04217915e-05 9.99997411e-01 -5.34496070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:68.94, Z:-0.54 [[ 3.68479260e-01 -9.29635619e-01 8.06599423e-04 1.64725395e+02] [ 9.29633185e-01 3.68480141e-01 2.12782689e-03 6.89383319e+01] [-2.27531953e-03 -3.42184852e-05 9.99997411e-01 -5.38874813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:68.97, Z:-0.54 [[ 3.73416173e-01 -9.27663611e-01 7.66000434e-04 1.64744583e+02] [ 9.27661140e-01 3.73416948e-01 2.14317909e-03 6.89672441e+01] [-2.27418679e-03 -8.97088966e-05 9.99997410e-01 -5.35632602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:68.99, Z:-0.54 [[ 3.71693183e-01 -9.28355281e-01 8.06000946e-04 1.64754479e+02] [ 9.28352843e-01 3.71694054e-01 2.12802870e-03 6.89911329e+01] [-2.27515245e-03 -4.27204927e-05 9.99997411e-01 -5.37502505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:69.02, Z:-0.54 [[ 3.70746274e-01 -9.28733843e-01 8.05359731e-04 1.64764242e+02] [ 9.28731406e-01 3.70747146e-01 2.12827135e-03 6.90167493e+01] [-2.27518245e-03 -4.10857967e-05 9.99997411e-01 -5.38078265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:69.04, Z:-0.54 [[ 3.70118192e-01 -9.28984325e-01 8.04756162e-04 1.64774286e+02] [ 9.28981888e-01 3.70119064e-01 2.12849955e-03 6.90423498e+01] [-2.27519831e-03 -4.01925050e-05 9.99997411e-01 -5.38685534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:164.78, Y:69.07, Z:-0.54 [[ 3.64902155e-01 -9.31045526e-01 8.04155563e-04 1.64778115e+02] [ 9.31043093e-01 3.64903040e-01 2.12872643e-03 6.90652637e+01] [-2.27538003e-03 -2.80733801e-05 9.99997411e-01 -5.38775368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:69.09, Z:-0.54 [[ 3.68907644e-01 -9.29465736e-01 7.72210338e-04 1.64795420e+02] [ 9.29463273e-01 3.68908445e-01 2.14077641e-03 6.90939892e+01] [-2.27465323e-03 -7.20076320e-05 9.99997410e-01 -5.38792141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:69.12, Z:-0.53 [[ 3.67286413e-01 -9.30107545e-01 8.03855849e-04 1.64806408e+02] [ 9.30105109e-01 3.67287291e-01 2.12882690e-03 6.91200193e+01] [-2.27528400e-03 -3.42187648e-05 9.99997411e-01 -5.33927184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:69.14, Z:-0.54 [[ 3.66231029e-01 -9.30523610e-01 8.03268764e-04 1.64816494e+02] [ 9.30521175e-01 3.66231909e-01 2.12904840e-03 6.91448336e+01] [-2.27531246e-03 -3.22649950e-05 9.99997411e-01 -5.36808870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:69.17, Z:-0.53 [[ 3.65164814e-01 -9.30942541e-01 8.02821020e-04 1.64827120e+02] [ 9.30940106e-01 3.65165696e-01 2.12921723e-03 6.91711866e+01] [-2.27534159e-03 -3.01369276e-05 9.99997411e-01 -5.31978960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:69.20, Z:-0.53 [[ 3.62916185e-01 -9.31821442e-01 8.02207886e-04 1.64837521e+02] [ 9.31819009e-01 3.62917071e-01 2.12944821e-03 6.91968515e+01] [-2.27540043e-03 -2.52986622e-05 9.99997411e-01 -5.30747754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:69.22, Z:-0.53 [[ 3.62051959e-01 -9.32157571e-01 8.01662210e-04 1.64847315e+02] [ 9.32155138e-01 3.62052846e-01 2.12965361e-03 6.92228171e+01] [-2.27541682e-03 -2.37717146e-05 9.99997411e-01 -5.30289260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:69.25, Z:-0.53 [[ 3.60993204e-01 -9.32568102e-01 8.01058047e-04 1.64856890e+02] [ 9.32565670e-01 3.60994092e-01 2.12988084e-03 6.92493058e+01] [-2.27543616e-03 -2.18332759e-05 9.99997411e-01 -5.30275968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:69.28, Z:-0.53 [[ 3.60121990e-01 -9.32904878e-01 8.00455602e-04 1.64866341e+02] [ 9.32902446e-01 3.60122880e-01 2.13010723e-03 6.92752233e+01] [-2.27544980e-03 -2.03514670e-05 9.99997411e-01 -5.30211050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:69.30, Z:-0.53 [[ 3.59473681e-01 -9.33154881e-01 8.00015298e-04 1.64876051e+02] [ 9.33152450e-01 3.59474571e-01 2.13027259e-03 6.93018661e+01] [-2.27545942e-03 -1.92406934e-05 9.99997411e-01 -5.29580984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:69.33, Z:-0.53 [[ 3.59178551e-01 -9.33268520e-01 7.99399277e-04 1.64884541e+02] [ 9.33266088e-01 3.59179440e-01 2.13050373e-03 6.93273279e+01] [-2.27545984e-03 -1.91790054e-05 9.99997411e-01 -5.30740024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:69.35, Z:-0.53 [[ 3.59277014e-01 -9.33230620e-01 7.98754958e-04 1.64894116e+02] [ 9.33228187e-01 3.59277901e-01 2.13074526e-03 6.93540467e+01] [-2.27545173e-03 -2.01071531e-05 9.99997411e-01 -5.31364093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:69.38, Z:-0.53 [[ 3.59405785e-01 -9.33181035e-01 7.98153744e-04 1.64903672e+02] [ 9.33178602e-01 3.59406671e-01 2.13097045e-03 6.93801221e+01] [-2.27544299e-03 -2.10631116e-05 9.99997411e-01 -5.31844185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:69.41, Z:-0.53 [[ 3.59594787e-01 -9.33108222e-01 7.97553423e-04 1.64913195e+02] [ 9.33105788e-01 3.59595670e-01 2.13119510e-03 6.94051456e+01] [-2.27543243e-03 -2.21649341e-05 9.99997411e-01 -5.32966782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:69.43, Z:-0.53 [[ 3.59878300e-01 -9.32998915e-01 7.96923265e-04 1.64922137e+02] [ 9.32996480e-01 3.59879181e-01 2.13143072e-03 6.94316554e+01] [-2.27541864e-03 -2.35290600e-05 9.99997411e-01 -5.33067203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.93, Y:69.46, Z:-0.53 [[ 3.59628708e-01 -9.33095150e-01 7.96323326e-04 1.64931064e+02] [ 9.33092715e-01 3.59629588e-01 2.13165483e-03 6.94575831e+01] [-2.27541822e-03 -2.35607787e-05 9.99997411e-01 -5.34189037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:69.48, Z:-0.53 [[ 3.59011993e-01 -9.33332607e-01 7.95690541e-04 1.64940241e+02] [ 9.33330173e-01 3.59012874e-01 2.13189101e-03 6.94843878e+01] [-2.27542654e-03 -2.27324496e-05 9.99997411e-01 -5.34141708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.95, Y:69.51, Z:-0.53 [[ 3.58717208e-01 -9.33445945e-01 7.95090473e-04 1.64949758e+02] [ 9.33443511e-01 3.58718088e-01 2.13211478e-03 6.95109794e+01] [-2.27542723e-03 -2.26542191e-05 9.99997411e-01 -5.34439989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:69.54, Z:-0.53 [[ 3.58201262e-01 -9.33644057e-01 7.94487912e-04 1.64959225e+02] [ 9.33641622e-01 3.58202142e-01 2.13233929e-03 6.95379446e+01] [-2.27543318e-03 -2.20396427e-05 9.99997411e-01 -5.34734935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:69.56, Z:-0.53 [[ 3.58170590e-01 -9.33655824e-01 7.93884771e-04 1.64969306e+02] [ 9.33653389e-01 3.58171469e-01 2.13256382e-03 6.95644010e+01] [-2.27542751e-03 -2.26084348e-05 9.99997411e-01 -5.34163642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:69.59, Z:-0.53 [[ 3.57851948e-01 -9.33778000e-01 7.93280453e-04 1.64979099e+02] [ 9.33775565e-01 3.57852827e-01 2.13278859e-03 6.95906102e+01] [-2.27542872e-03 -2.24766510e-05 9.99997411e-01 -5.33902592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:69.61, Z:-0.54 [[ 3.53692570e-01 -9.35361394e-01 7.92673386e-04 1.64981538e+02] [ 9.35358962e-01 3.53693458e-01 2.13301419e-03 6.96138632e+01] [-2.27550252e-03 -1.29971163e-05 9.99997411e-01 -5.38715812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:69.64, Z:-0.53 [[ 3.58816392e-01 -9.33407854e-01 7.58253640e-04 1.64998262e+02] [ 9.33405389e-01 3.58817188e-01 2.14578215e-03 6.96435884e+01] [-2.27496436e-03 -6.21837775e-05 9.99997410e-01 -5.34650860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:69.67, Z:-0.53 [[ 3.58954824e-01 -9.33354599e-01 7.92185432e-04 1.65007625e+02] [ 9.33352161e-01 3.58955697e-01 2.13318113e-03 6.96703752e+01] [-2.27537389e-03 -2.63276715e-05 9.99997411e-01 -5.34356325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:69.69, Z:-0.54 [[ 3.54470091e-01 -9.35067018e-01 7.91590240e-04 1.65010127e+02] [ 9.35064584e-01 3.54470974e-01 2.13340197e-03 6.96940254e+01] [-2.27546959e-03 -1.60391924e-05 9.99997411e-01 -5.38812994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:69.72, Z:-0.53 [[ 3.59800805e-01 -9.33028834e-01 7.58299489e-04 1.65025754e+02] [ 9.33026369e-01 3.59801598e-01 2.14572589e-03 6.97240342e+01] [-2.27486150e-03 -6.45204854e-05 9.99997410e-01 -5.34616889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:69.75, Z:-0.54 [[ 3.54982048e-01 -9.34872783e-01 7.90562757e-04 1.65027871e+02] [ 9.34870348e-01 3.54982928e-01 2.13377235e-03 6.97475016e+01] [-2.27544198e-03 -1.83772008e-05 9.99997411e-01 -5.40895171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.05, Y:69.78, Z:-0.54 [[ 3.60336517e-01 -9.32822075e-01 7.55206203e-04 1.65045436e+02] [ 9.32819607e-01 3.60337302e-01 2.14684797e-03 6.97769095e+01] [-2.27475614e-03 -6.91165645e-05 9.99997410e-01 -5.35872359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:69.80, Z:-0.54 [[ 3.60143747e-01 -9.32896488e-01 7.90035702e-04 1.65055133e+02] [ 9.32894048e-01 3.60144612e-01 2.13395333e-03 6.98036863e+01] [-2.27528467e-03 -3.15103458e-05 9.99997411e-01 -5.36120943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:69.83, Z:-0.54 [[ 3.59899574e-01 -9.32990715e-01 7.89432115e-04 1.65064678e+02] [ 9.32988274e-01 3.59900438e-01 2.13417660e-03 6.98295576e+01] [-2.27528392e-03 -3.15583425e-05 9.99997411e-01 -5.37054454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:69.86, Z:-0.54 [[ 3.59428759e-01 -9.33172195e-01 7.88798215e-04 1.65074579e+02] [ 9.33169754e-01 3.59429623e-01 2.13441087e-03 6.98557390e+01] [-2.27529032e-03 -3.10860112e-05 9.99997411e-01 -5.36265955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:69.88, Z:-0.54 [[ 3.58716272e-01 -9.33446311e-01 7.88194191e-04 1.65083816e+02] [ 9.33443870e-01 3.58717137e-01 2.13463390e-03 6.98808000e+01] [-2.27530490e-03 -2.99928773e-05 9.99997411e-01 -5.36716172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:69.91, Z:-0.54 [[ 3.58196477e-01 -9.33645898e-01 7.87557977e-04 1.65093416e+02] [ 9.33643458e-01 3.58197342e-01 2.13486860e-03 6.99067029e+01] [-2.27531248e-03 -2.94040588e-05 9.99997411e-01 -5.36036966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.10, Y:69.93, Z:-0.54 [[ 3.57540825e-01 -9.33897178e-01 7.86953155e-04 1.65102906e+02] [ 9.33894738e-01 3.57541690e-01 2.13509152e-03 6.99316890e+01] [-2.27532451e-03 -2.84509747e-05 9.99997411e-01 -5.35895190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.11, Y:69.96, Z:-0.53 [[ 3.57120568e-01 -9.34057965e-01 7.86316642e-04 1.65113950e+02] [ 9.34055524e-01 3.57121433e-01 2.13532591e-03 6.99577994e+01] [-2.27532870e-03 -2.81054004e-05 9.99997411e-01 -5.34549040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:69.98, Z:-0.54 [[ 3.52228497e-01 -9.35913708e-01 7.85711841e-04 1.65118096e+02] [ 9.35911271e-01 3.52229373e-01 2.13554843e-03 6.99819950e+01] [-2.27543984e-03 -1.68444476e-05 9.99997411e-01 -5.38240479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.13, Y:70.01, Z:-0.53 [[ 3.56047567e-01 -9.34467527e-01 7.55517162e-04 1.65134307e+02] [ 9.34465063e-01 3.56048364e-01 2.14663808e-03 7.00098900e+01] [-2.27496423e-03 -5.83008757e-05 9.99997411e-01 -5.33283754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.14, Y:70.04, Z:-0.53 [[ 3.55214272e-01 -9.34784577e-01 7.85129839e-04 1.65144141e+02] [ 9.34782137e-01 3.55215139e-01 2.13575209e-03 7.00356844e+01] [-2.27535811e-03 -2.47242730e-05 9.99997411e-01 -5.32801006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:70.06, Z:-0.54 [[ 3.49795481e-01 -9.36825761e-01 7.84487102e-04 1.65146460e+02] [ 9.36823326e-01 3.49796360e-01 2.13598814e-03 7.00588217e+01] [-2.27545945e-03 -1.22331838e-05 9.99997411e-01 -5.38126598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.16, Y:70.09, Z:-0.53 [[ 3.54697334e-01 -9.34980877e-01 7.49160267e-04 1.65163437e+02] [ 9.34978409e-01 3.54698120e-01 2.14893968e-03 7.00877031e+01] [-2.27494324e-03 -6.17745007e-05 9.99997410e-01 -5.33352598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:70.11, Z:-0.53 [[ 3.54449774e-01 -9.35074726e-01 7.84026233e-04 1.65172555e+02] [ 9.35072286e-01 3.54450641e-01 2.13614286e-03 7.01131711e+01] [-2.27535180e-03 -2.40341547e-05 9.99997411e-01 -5.34328228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:70.14, Z:-0.54 [[ 3.49519305e-01 -9.36928835e-01 7.83385409e-04 1.65175648e+02] [ 9.36926399e-01 3.49520183e-01 2.13637785e-03 7.01377168e+01] [-2.27544302e-03 -1.27308300e-05 9.99997411e-01 -5.39413442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.19, Y:70.17, Z:-0.53 [[ 3.54584810e-01 -9.35023554e-01 7.52762147e-04 1.65191385e+02] [ 9.35021089e-01 3.54585604e-01 2.14758169e-03 7.01666918e+01] [-2.27495809e-03 -5.76513624e-05 9.99997411e-01 -5.34371039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:70.19, Z:-0.54 [[ 3.54528642e-01 -9.35044828e-01 7.82563867e-04 1.65199951e+02] [ 9.35042387e-01 3.54529504e-01 2.13666668e-03 7.01920707e+01] [-2.27532110e-03 -2.57791489e-05 9.99997411e-01 -5.35602574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:70.22, Z:-0.53 [[ 3.54454677e-01 -9.35072869e-01 7.82121626e-04 1.65208982e+02] [ 9.35070428e-01 3.54455539e-01 2.13682855e-03 7.02189175e+01] [-2.27531774e-03 -2.60700684e-05 9.99997411e-01 -5.34950294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.22, Y:70.25, Z:-0.53 [[ 3.54251572e-01 -9.35149834e-01 7.81520316e-04 1.65217818e+02] [ 9.35147393e-01 3.54252433e-01 2.13704845e-03 7.02452449e+01] [-2.27531597e-03 -2.62160853e-05 9.99997411e-01 -5.34413819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:70.27, Z:-0.54 [[ 3.53877041e-01 -9.35291628e-01 7.80906963e-04 1.65226750e+02] [ 9.35289187e-01 3.53877902e-01 2.13727255e-03 7.02710463e+01] [-2.27531884e-03 -2.59578475e-05 9.99997411e-01 -5.35123552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.24, Y:70.30, Z:-0.53 [[ 3.52384004e-01 -9.35855173e-01 7.80259557e-04 1.65236604e+02] [ 9.35852732e-01 3.52384867e-01 2.13750887e-03 7.02978322e+01] [-2.27535040e-03 -2.30158960e-05 9.99997411e-01 -5.34268578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:70.32, Z:-0.53 [[ 3.52117079e-01 -9.35955637e-01 7.79650016e-04 1.65246338e+02] [ 9.35953196e-01 3.52117941e-01 2.13773118e-03 7.03247311e+01] [-2.27535031e-03 -2.30157333e-05 9.99997411e-01 -5.34333387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:70.35, Z:-0.53 [[ 3.50872930e-01 -9.36422757e-01 7.79040260e-04 1.65256138e+02] [ 9.36420317e-01 3.50873794e-01 2.13795337e-03 7.03510265e+01] [-2.27537300e-03 -2.06408330e-05 9.99997411e-01 -5.33798898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:70.37, Z:-0.54 [[ 3.44357764e-01 -9.38838178e-01 7.78425036e-04 1.65261325e+02] [ 9.38835743e-01 3.44358644e-01 2.13817734e-03 7.03745337e+01] [-2.27545991e-03 -5.48472189e-06 9.99997411e-01 -5.36179339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:70.40, Z:-0.54 [[ 3.42136984e-01 -9.39649784e-01 7.53027586e-04 1.65270029e+02] [ 9.39647331e-01 3.42137812e-01 2.14741212e-03 7.03996044e+01] [-2.27545454e-03 -2.71287440e-05 9.99997411e-01 -5.36466912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:70.43, Z:-0.54 [[ 3.40369467e-01 -9.40291483e-01 7.43939268e-04 1.65280376e+02] [ 9.40289024e-01 3.40370278e-01 2.15071418e-03 7.04263987e+01] [-2.27551304e-03 -3.25195094e-05 9.99997410e-01 -5.37136423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:70.45, Z:-0.54 [[ 3.39550014e-01 -9.40587701e-01 7.51597717e-04 1.65290212e+02] [ 9.40585249e-01 3.39550845e-01 2.14792902e-03 7.04519191e+01] [-2.27552126e-03 -2.23876011e-05 9.99997411e-01 -5.36213658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:70.48, Z:-0.54 [[ 3.37888222e-01 -9.41185947e-01 7.49910893e-04 1.65299698e+02] [ 9.41183495e-01 3.37889053e-01 2.14854243e-03 7.04784897e+01] [-2.27556462e-03 -2.01634242e-05 9.99997411e-01 -5.37069205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:70.51, Z:-0.54 [[ 3.36208270e-01 -9.41787364e-01 7.48038339e-04 1.65311661e+02] [ 9.41784912e-01 3.36209101e-01 2.14922340e-03 7.05055007e+01] [-2.27560874e-03 -1.80954602e-05 9.99997411e-01 -5.36108318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.32, Y:70.53, Z:-0.54 [[ 3.34522966e-01 -9.42387297e-01 7.53471165e-04 1.65319617e+02] [ 9.42384851e-01 3.34523814e-01 2.14724777e-03 7.05301070e+01] [-2.27559307e-03 -8.24388133e-06 9.99997411e-01 -5.37602798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:70.56, Z:-0.53 [[ 3.39047196e-01 -9.40769070e-01 7.45525376e-04 1.65336493e+02] [ 9.40766613e-01 3.39048014e-01 2.15013440e-03 7.05594756e+01] [-2.27554884e-03 -2.76316566e-05 9.99997411e-01 -5.33049278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:70.58, Z:-0.54 [[ 3.33584411e-01 -9.42719914e-01 7.77879832e-04 1.65339465e+02] [ 9.42717489e-01 3.33585318e-01 2.13836472e-03 7.05826261e+01] [-2.27536829e-03 1.99957857e-05 9.99997411e-01 -5.37409750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:70.61, Z:-0.53 [[ 3.38683938e-01 -9.40899907e-01 7.44867704e-04 1.65356218e+02] [ 9.40897450e-01 3.38684756e-01 2.15034937e-03 7.06115813e+01] [-2.27553886e-03 -2.74446687e-05 9.99997411e-01 -5.33180408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:70.64, Z:-0.54 [[ 3.33635069e-01 -9.42701987e-01 7.77392603e-04 1.65358106e+02] [ 9.42699562e-01 3.33635974e-01 2.13852599e-03 7.06351524e+01] [-2.27535883e-03 1.93604022e-05 9.99997411e-01 -5.38212703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:70.66, Z:-0.53 [[ 3.39329973e-01 -9.40667113e-01 7.42686852e-04 1.65375025e+02] [ 9.40664654e-01 3.39330784e-01 2.15111840e-03 7.06643434e+01] [-2.27550285e-03 -3.13196785e-05 9.99997411e-01 -5.33998612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:70.69, Z:-0.54 [[ 3.34718326e-01 -9.42317907e-01 7.76830485e-04 1.65376887e+02] [ 9.42315481e-01 3.34719227e-01 2.13871666e-03 7.06877561e+01] [-2.27537111e-03 1.61517311e-05 9.99997411e-01 -5.37766171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:70.71, Z:-0.54 [[ 3.35369000e-01 -9.42086559e-01 7.40605246e-04 1.65386141e+02] [ 9.42084102e-01 3.35369817e-01 2.15185240e-03 7.07135824e+01] [-2.27560787e-03 -2.39521592e-05 9.99997411e-01 -5.37378462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:70.74, Z:-0.54 [[ 3.37774756e-01 -9.41226681e-01 7.41538348e-04 1.65394852e+02] [ 9.41224222e-01 3.37775569e-01 2.15151370e-03 7.07396124e+01] [-2.27553564e-03 -2.87731603e-05 9.99997411e-01 -5.36466963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:70.77, Z:-0.54 [[ 3.38836986e-01 -9.40844805e-01 7.40804222e-04 1.65403838e+02] [ 9.40842345e-01 3.38837795e-01 2.15178005e-03 7.07662611e+01] [-2.27550355e-03 -3.21226858e-05 9.99997411e-01 -5.36618492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:70.79, Z:-0.54 [[ 3.40460520e-01 -9.40258519e-01 7.42132243e-04 1.65414092e+02] [ 9.40256059e-01 3.40461328e-01 2.15129822e-03 7.07939566e+01] [-2.27544380e-03 -3.46377727e-05 9.99997411e-01 -5.35920578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:70.82, Z:-0.53 [[ 3.46676226e-01 -9.37984560e-01 7.47983372e-04 1.65428747e+02] [ 9.37982099e-01 3.46677030e-01 2.14917603e-03 7.08227111e+01] [-2.27520258e-03 -4.34732201e-05 9.99997411e-01 -5.30585403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:70.85, Z:-0.53 [[ 3.44737297e-01 -9.38698883e-01 7.76319686e-04 1.65433600e+02] [ 9.38696446e-01 3.44738171e-01 2.13889124e-03 7.08472688e+01] [-2.27540185e-03 -8.62705583e-06 9.99997411e-01 -5.32910616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:70.87, Z:-0.53 [[ 3.45881234e-01 -9.38277996e-01 7.58200513e-04 1.65442852e+02] [ 9.38275543e-01 3.45882063e-01 2.14546522e-03 7.08734769e+01] [-2.27529076e-03 -3.06751595e-05 9.99997411e-01 -5.31799212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:70.90, Z:-0.53 [[ 3.49609473e-01 -9.36895216e-01 7.55794299e-04 1.65456502e+02] [ 9.36892758e-01 3.49610288e-01 2.14633789e-03 7.09014514e+01] [-2.27512717e-03 -4.22818559e-05 9.99997411e-01 -5.29996786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:70.93, Z:-0.53 [[ 3.50309637e-01 -9.36633630e-01 7.76040929e-04 1.65465609e+02] [ 9.36631188e-01 3.50310496e-01 2.13899228e-03 7.09278953e+01] [-2.27530739e-03 -2.24454719e-05 9.99997411e-01 -5.29192827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:70.95, Z:-0.53 [[ 3.51406219e-01 -9.36222766e-01 7.75431643e-04 1.65473766e+02] [ 9.36220323e-01 3.51407074e-01 2.13921314e-03 7.09545496e+01] [-2.27527220e-03 -2.57579369e-05 9.99997411e-01 -5.29193761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:70.98, Z:-0.53 [[ 3.49646762e-01 -9.36881285e-01 7.74819347e-04 1.65479416e+02] [ 9.36878842e-01 3.49647620e-01 2.13943489e-03 7.09798741e+01] [-2.27531024e-03 -2.21346277e-05 9.99997411e-01 -5.27910990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:71.01, Z:-0.53 [[ 3.52244733e-01 -9.35907620e-01 7.58467737e-04 1.65491751e+02] [ 9.35905162e-01 3.52245546e-01 2.14534866e-03 7.10072560e+01] [-2.27501504e-03 -4.58338952e-05 9.99997411e-01 -5.30438642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:71.03, Z:-0.53 [[ 3.51963278e-01 -9.36013489e-01 7.74050704e-04 1.65501565e+02] [ 9.36011044e-01 3.51964128e-01 2.13971145e-03 7.10333841e+01] [-2.27523686e-03 -2.85798468e-05 9.99997411e-01 -5.31403476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:71.06, Z:-0.53 [[ 3.50471812e-01 -9.36572961e-01 7.73440088e-04 1.65510097e+02] [ 9.36570516e-01 3.50472664e-01 2.13993215e-03 7.10592399e+01] [-2.27527219e-03 -2.56047141e-05 9.99997411e-01 -5.29069132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.52, Y:71.09, Z:-0.53 [[ 3.51377411e-01 -9.36233587e-01 7.65522570e-04 1.65521895e+02] [ 9.36231135e-01 3.51378243e-01 2.14279032e-03 7.10856726e+01] [-2.27514024e-03 -3.62220514e-05 9.99997411e-01 -5.30511768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:71.11, Z:-0.53 [[ 3.50787086e-01 -9.36454923e-01 7.72646389e-04 1.65531800e+02] [ 9.36452478e-01 3.50787936e-01 2.14021853e-03 7.11124187e+01] [-2.27525321e-03 -2.72143970e-05 9.99997411e-01 -5.30456676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.54, Y:71.14, Z:-0.53 [[ 3.50231808e-01 -9.36662738e-01 7.72041322e-04 1.65541882e+02] [ 9.36660293e-01 3.50232658e-01 2.14043677e-03 7.11383365e+01] [-2.27526145e-03 -2.65085916e-05 9.99997411e-01 -5.29215060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:71.17, Z:-0.53 [[ 3.50229175e-01 -9.36663723e-01 7.71426308e-04 1.65552539e+02] [ 9.36661277e-01 3.50230024e-01 2.14065841e-03 7.11652765e+01] [-2.27525373e-03 -2.71558767e-05 9.99997411e-01 -5.26999944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:71.19, Z:-0.53 [[ 3.49737475e-01 -9.36847425e-01 7.74911804e-04 1.65561998e+02] [ 9.36844983e-01 3.49738333e-01 2.13940346e-03 7.11913054e+01] [-2.27531098e-03 -2.22573278e-05 9.99997411e-01 -5.26159132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:71.22, Z:-0.53 [[ 3.50194547e-01 -9.36676669e-01 7.72269429e-04 1.65571532e+02] [ 9.36674224e-01 3.50195398e-01 2.14035419e-03 7.12164843e+01] [-2.27526503e-03 -2.61754971e-05 9.99997411e-01 -5.28620190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:71.24, Z:-0.52 [[ 3.50909417e-01 -9.36409093e-01 7.69830534e-04 1.65583330e+02] [ 9.36406645e-01 3.50910260e-01 2.14123103e-03 7.12438549e+01] [-2.27520964e-03 -3.05037053e-05 9.99997411e-01 -5.24434566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:71.27, Z:-0.53 [[ 3.51637785e-01 -9.36135817e-01 7.74721712e-04 1.65594052e+02] [ 9.36133373e-01 3.51638637e-01 2.13947215e-03 7.12710105e+01] [-2.27525860e-03 -2.70764008e-05 9.99997411e-01 -5.25534733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:71.30, Z:-0.53 [[ 3.52484541e-01 -9.35817314e-01 7.76735072e-04 1.65602786e+02] [ 9.35814870e-01 3.52485396e-01 2.13874849e-03 7.12960418e+01] [-2.27526564e-03 -2.69955503e-05 9.99997411e-01 -5.26719198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:71.32, Z:-0.53 [[ 3.53023040e-01 -9.35614313e-01 7.68880948e-04 1.65612582e+02] [ 9.35611862e-01 3.53023876e-01 2.14156834e-03 7.13230213e+01] [-2.27511532e-03 -3.66488295e-05 9.99997411e-01 -5.26120170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.62, Y:71.35, Z:-0.53 [[ 3.54196204e-01 -9.35170818e-01 7.68302695e-04 1.65622466e+02] [ 9.35168366e-01 3.54197035e-01 2.14177577e-03 7.13482645e+01] [-2.27505673e-03 -4.01164708e-05 9.99997411e-01 -5.26841782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:71.37, Z:-0.53 [[ 3.54371551e-01 -9.35104387e-01 7.67844709e-04 1.65632310e+02] [ 9.35101934e-01 3.54372381e-01 2.14193995e-03 7.13741853e+01] [-2.27504040e-03 -4.10295099e-05 9.99997411e-01 -5.25367287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:71.40, Z:-0.52 [[ 3.54136868e-01 -9.35193290e-01 7.67220311e-04 1.65641790e+02] [ 9.35190838e-01 3.54137697e-01 2.14216358e-03 7.13993878e+01] [-2.27503864e-03 -4.11216949e-05 9.99997411e-01 -5.24873514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:71.43, Z:-0.52 [[ 3.53211356e-01 -9.35543238e-01 7.66565183e-04 1.65651312e+02] [ 9.35540786e-01 3.53212186e-01 2.14239799e-03 7.14256150e+01] [-2.27506611e-03 -3.95663044e-05 9.99997411e-01 -5.24406260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.66, Y:71.45, Z:-0.52 [[ 3.52286321e-01 -9.35891960e-01 7.65949526e-04 1.65661354e+02] [ 9.35889509e-01 3.52287151e-01 2.14261807e-03 7.14514844e+01] [-2.27509321e-03 -3.79709125e-05 9.99997411e-01 -5.23790367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:71.48, Z:-0.52 [[ 3.50955729e-01 -9.36391740e-01 7.65334876e-04 1.65672934e+02] [ 9.36389289e-01 3.50956562e-01 2.14283760e-03 7.14795662e+01] [-2.27513473e-03 -3.53897529e-05 9.99997411e-01 -5.21931895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.68, Y:71.50, Z:-0.52 [[ 3.48804841e-01 -9.37195057e-01 7.79227846e-04 1.65681720e+02] [ 9.37192619e-01 3.48805711e-01 2.13787452e-03 7.15031105e+01] [-2.27540456e-03 -1.54143974e-05 9.99997411e-01 -5.21579201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:71.53, Z:-0.52 [[ 3.47133651e-01 -9.37815357e-01 7.64409817e-04 1.65691823e+02] [ 9.37812909e-01 3.47134491e-01 2.14315973e-03 7.15308709e+01] [-2.27524112e-03 -2.70894676e-05 9.99997411e-01 -5.20128002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:165.71, Y:71.56, Z:-0.52 [[ 3.48223300e-01 -9.37411295e-01 7.73400898e-04 1.65705043e+02] [ 9.37408852e-01 3.48224158e-01 2.13995136e-03 7.15595692e+01] [-2.27533145e-03 -2.01880752e-05 9.99997411e-01 -5.23327283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:71.58, Z:-0.52 [[ 3.46545439e-01 -9.38032851e-01 7.93407041e-04 1.65710382e+02] [ 9.38030426e-01 3.46546347e-01 2.13280928e-03 7.15818233e+01] [-2.27559748e-03 5.12461648e-06 9.99997411e-01 -5.21259781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:71.61, Z:-0.52 [[ 3.45436617e-01 -9.38441773e-01 7.63464339e-04 1.65719757e+02] [ 9.38439325e-01 3.45437460e-01 2.14347430e-03 7.16074931e+01] [-2.27525500e-03 -2.39695496e-05 9.99997411e-01 -5.20739123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.73, Y:71.64, Z:-0.52 [[ 3.43263847e-01 -9.39238708e-01 7.62828897e-04 1.65728657e+02] [ 9.39236261e-01 3.43264694e-01 2.14370042e-03 7.16353476e+01] [-2.27529864e-03 -1.93782888e-05 9.99997411e-01 -5.20317988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.74, Y:71.66, Z:-0.52 [[ 3.44678124e-01 -9.38720621e-01 7.66157338e-04 1.65738175e+02] [ 9.38718176e-01 3.44678975e-01 2.14251675e-03 7.16602046e+01] [-2.27530298e-03 -1.92728325e-05 9.99997411e-01 -5.19036608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:71.69, Z:-0.52 [[ 3.44382586e-01 -9.38829086e-01 7.61992766e-04 1.65746816e+02] [ 9.38826639e-01 3.44383429e-01 2.14399687e-03 7.16857296e+01] [-2.27526430e-03 -2.29760793e-05 9.99997411e-01 -5.20199695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:71.71, Z:-0.52 [[ 3.42252159e-01 -9.39607833e-01 7.61356685e-04 1.65754590e+02] [ 9.39605387e-01 3.42253006e-01 2.14422272e-03 7.17134763e+01] [-2.27530508e-03 -1.84900152e-05 9.99997411e-01 -5.21080202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:71.74, Z:-0.52 [[ 3.43734291e-01 -9.39066640e-01 7.63313830e-04 1.65766212e+02] [ 9.39064194e-01 3.43735137e-01 2.14352804e-03 7.17419078e+01] [-2.27529346e-03 -2.00034030e-05 9.99997411e-01 -5.16912173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:71.77, Z:-0.52 [[ 3.42794557e-01 -9.39410076e-01 7.75589167e-04 1.65773292e+02] [ 9.39407640e-01 3.42795434e-01 2.13917314e-03 7.17676711e+01] [-2.27542923e-03 -4.70252126e-06 9.99997411e-01 -5.19810691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:71.79, Z:-0.52 [[ 3.45280702e-01 -9.38499149e-01 7.64520973e-04 1.65782095e+02] [ 9.38496702e-01 3.45281548e-01 2.14309253e-03 7.17918018e+01] [-2.27526550e-03 -2.24680812e-05 9.99997411e-01 -5.17381525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.79, Y:71.82, Z:-0.52 [[ 3.45771989e-01 -9.38318259e-01 7.58951242e-04 1.65790143e+02] [ 9.38315808e-01 3.45772821e-01 2.14506317e-03 7.18173825e+01] [-2.27517665e-03 -2.95668119e-05 9.99997411e-01 -5.18058609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:71.85, Z:-0.52 [[ 3.44709580e-01 -9.38709076e-01 7.58307447e-04 1.65798341e+02] [ 9.38706625e-01 3.44710413e-01 2.14529074e-03 7.18461187e+01] [-2.27520036e-03 -2.76740451e-05 9.99997411e-01 -5.20259173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:71.87, Z:-0.52 [[ 3.47841455e-01 -9.37553058e-01 7.65680393e-04 1.65806160e+02] [ 9.37550610e-01 3.47842296e-01 2.14268585e-03 7.18704704e+01] [-2.27521770e-03 -2.74508434e-05 9.99997411e-01 -5.16602655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.82, Y:71.90, Z:-0.52 [[ 3.47256378e-01 -9.37769926e-01 7.57023072e-04 1.65815995e+02] [ 9.37767472e-01 3.47257201e-01 2.14574018e-03 7.18997383e+01] [-2.27509232e-03 -3.52103481e-05 9.99997411e-01 -5.18370069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.82, Y:71.93, Z:-0.52 [[ 3.47515870e-01 -9.37673783e-01 7.72254221e-04 1.65824744e+02] [ 9.37671341e-01 3.47516728e-01 2.14036822e-03 7.19270184e+01] [-2.27533842e-03 -1.96912726e-05 9.99997411e-01 -5.18522314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:71.95, Z:-0.52 [[ 3.47449123e-01 -9.37698519e-01 7.70887739e-04 1.65833826e+02] [ 9.37696075e-01 3.47449978e-01 2.14084950e-03 7.19539358e+01] [-2.27531634e-03 -2.09778762e-05 9.99997411e-01 -5.18789297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:71.98, Z:-0.52 [[ 3.47024699e-01 -9.37855673e-01 7.71136763e-04 1.65843162e+02] [ 9.37853230e-01 3.47025556e-01 2.14076187e-03 7.19810538e+01] [-2.27532983e-03 -1.96841397e-05 9.99997411e-01 -5.18854666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.85, Y:72.01, Z:-0.52 [[ 3.47076899e-01 -9.37836357e-01 7.70145195e-04 1.65852833e+02] [ 9.37833914e-01 3.47077752e-01 2.14111042e-03 7.20088890e+01] [-2.27531146e-03 -2.08616808e-05 9.99997411e-01 -5.18347265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:72.04, Z:-0.52 [[ 3.47193613e-01 -9.37793153e-01 7.72829930e-04 1.65861636e+02] [ 9.37790711e-01 3.47194473e-01 2.14016726e-03 7.20353268e+01] [-2.27535648e-03 -1.82996735e-05 9.99997411e-01 -5.18871563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:72.06, Z:-0.52 [[ 3.45661576e-01 -9.38358932e-01 7.68602142e-04 1.65868748e+02] [ 9.38356488e-01 3.45662430e-01 2.14165037e-03 7.20615096e+01] [-2.27531364e-03 -1.90634350e-05 9.99997411e-01 -5.21061599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:72.09, Z:-0.52 [[ 3.48035150e-01 -9.37481181e-01 7.54787785e-04 1.65878772e+02] [ 9.37478725e-01 3.48035966e-01 2.14648509e-03 7.20867181e+01] [-2.27498267e-03 -3.94547680e-05 9.99997411e-01 -5.17264101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:72.11, Z:-0.52 [[ 3.47684993e-01 -9.37611104e-01 7.51115864e-04 1.65887531e+02] [ 9.37608645e-01 3.47685802e-01 2.14776923e-03 7.21130703e+01] [-2.27492460e-03 -4.24944018e-05 9.99997411e-01 -5.16687929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:72.14, Z:-0.52 [[ 3.47034504e-01 -9.37852062e-01 7.50503094e-04 1.65896328e+02] [ 9.37849603e-01 3.47035313e-01 2.14798333e-03 7.21401074e+01] [-2.27494167e-03 -4.15652991e-05 9.99997411e-01 -5.16964973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.91, Y:72.17, Z:-0.52 [[ 3.46885307e-01 -9.37907256e-01 7.49883823e-04 1.65905173e+02] [ 9.37904797e-01 3.46886115e-01 2.14819950e-03 7.21656188e+01] [-2.27493619e-03 -4.18592073e-05 9.99997411e-01 -5.18674906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.91, Y:72.19, Z:-0.52 [[ 3.44118487e-01 -9.38925932e-01 7.49232224e-04 1.65913043e+02] [ 9.38923475e-01 3.44119301e-01 2.14842674e-03 7.21937813e+01] [-2.27503884e-03 -3.58416345e-05 9.99997411e-01 -5.22334291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:72.22, Z:-0.52 [[ 3.46946833e-01 -9.37884500e-01 7.47883601e-04 1.65923512e+02] [ 9.37882039e-01 3.46947636e-01 2.14889671e-03 7.22189420e+01] [-2.27489336e-03 -4.41263109e-05 9.99997411e-01 -5.17024344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.93, Y:72.25, Z:-0.52 [[ 3.45226816e-01 -9.38518985e-01 7.48429913e-04 1.65930567e+02] [ 9.38516526e-01 3.45227625e-01 2.14870642e-03 7.22461882e+01] [-2.27498045e-03 -3.93772341e-05 9.99997411e-01 -5.22542695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.94, Y:72.27, Z:-0.52 [[ 3.48457512e-01 -9.37324282e-01 7.43064018e-04 1.65941321e+02] [ 9.37321817e-01 3.48458301e-01 2.15057378e-03 7.22724198e+01] [-2.27471185e-03 -5.28934759e-05 9.99997411e-01 -5.17811703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:72.30, Z:-0.52 [[ 3.46321517e-01 -9.38115583e-01 7.47635849e-04 1.65948099e+02] [ 9.38113123e-01 3.46322321e-01 2.14898323e-03 7.22997109e+01] [-2.27491764e-03 -4.28721323e-05 9.99997411e-01 -5.23432597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:72.33, Z:-0.52 [[ 3.47408607e-01 -9.37713552e-01 7.44487252e-04 1.65957639e+02] [ 9.37711088e-01 3.47409401e-01 2.15007799e-03 7.23271438e+01] [-2.27479914e-03 -4.88416488e-05 9.99997411e-01 -5.22955601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.97, Y:72.35, Z:-0.52 [[ 3.49964586e-01 -9.36762632e-01 7.48682692e-04 1.65967519e+02] [ 9.36760169e-01 3.49965383e-01 2.14861958e-03 7.23526272e+01] [-2.27475956e-03 -5.06046354e-05 9.99997411e-01 -5.20153359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:72.38, Z:-0.52 [[ 3.50158289e-01 -9.36690245e-01 7.46575230e-04 1.65976370e+02] [ 9.36687780e-01 3.50159081e-01 2.14935160e-03 7.23794503e+01] [-2.27469678e-03 -5.33053855e-05 9.99997411e-01 -5.20454199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.99, Y:72.41, Z:-0.52 [[ 3.49867054e-01 -9.36799065e-01 7.45968252e-04 1.65985590e+02] [ 9.36796600e-01 3.49867846e-01 2.14956225e-03 7.24059729e+01] [-2.27469821e-03 -5.32404886e-05 9.99997411e-01 -5.20385788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.99, Y:72.43, Z:-0.52 [[ 3.48120219e-01 -9.37449603e-01 7.45352075e-04 1.65994530e+02] [ 9.37447139e-01 3.48121013e-01 2.14977588e-03 7.24330917e+01] [-2.27477927e-03 -4.96522789e-05 9.99997411e-01 -5.21627386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:72.46, Z:-0.52 [[ 3.47652969e-01 -9.37622981e-01 7.47208196e-04 1.66003971e+02] [ 9.37620519e-01 3.47653769e-01 2.14913275e-03 7.24595956e+01] [-2.27484600e-03 -4.65546429e-05 9.99997411e-01 -5.22413922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:72.48, Z:-0.52 [[ 3.48915113e-01 -9.37154034e-01 7.48535409e-04 1.66013611e+02] [ 9.37151572e-01 3.48915912e-01 2.14867300e-03 7.24846293e+01] [-2.27481349e-03 -4.82133461e-05 9.99997411e-01 -5.21139220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.02, Y:72.51, Z:-0.52 [[ 3.48246251e-01 -9.37402792e-01 7.44185043e-04 1.66022780e+02] [ 9.37400328e-01 3.48247043e-01 2.15017868e-03 7.25109622e+01] [-2.27474374e-03 -5.11923613e-05 9.99997411e-01 -5.21802660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:72.54, Z:-0.52 [[ 3.45759600e-01 -9.38322837e-01 7.43572879e-04 1.66031275e+02] [ 9.38320374e-01 3.45760396e-01 2.15039036e-03 7.25376556e+01] [-2.27485843e-03 -4.58085266e-05 9.99997411e-01 -5.23031570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.04, Y:72.56, Z:-0.52 [[ 3.46672512e-01 -9.37985938e-01 7.41594811e-04 1.66042181e+02] [ 9.37983473e-01 3.46673301e-01 2.15107386e-03 7.25636550e+01] [-2.27476815e-03 -5.01145012e-05 9.99997411e-01 -5.21573155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:72.59, Z:-0.52 [[ 3.43445767e-01 -9.39172217e-01 7.42758118e-04 1.66050513e+02] [ 9.39169756e-01 3.43446568e-01 2.15067210e-03 7.25901919e+01] [-2.27494921e-03 -4.10632673e-05 9.99997411e-01 -5.23619227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:72.62, Z:-0.52 [[ 3.43322045e-01 -9.39217454e-01 7.40308544e-04 1.66062339e+02] [ 9.39214990e-01 3.43322841e-01 2.15151749e-03 7.26153607e+01] [-2.27490761e-03 -4.33545018e-05 9.99997411e-01 -5.19662209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:166.07, Y:72.64, Z:-0.52 [[ 3.40985370e-01 -9.40068310e-01 7.41907349e-04 1.66072796e+02] [ 9.40065850e-01 3.40986175e-01 2.15096603e-03 7.26436347e+01] [-2.27503515e-03 -3.60061844e-05 9.99997411e-01 -5.21060679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:72.67, Z:-0.52 [[ 3.38517137e-01 -9.40959924e-01 7.54913617e-04 1.66080160e+02] [ 9.40957475e-01 3.38517979e-01 2.14648766e-03 7.26687077e+01] [-2.27531070e-03 -1.62812473e-05 9.99997411e-01 -5.21805397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:72.69, Z:-0.52 [[ 3.39354231e-01 -9.40658367e-01 7.36540755e-04 1.66091174e+02] [ 9.40655904e-01 3.39355028e-01 2.15280572e-03 7.26949499e+01] [-2.27500352e-03 -3.77323216e-05 9.99997411e-01 -5.19016372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.10, Y:72.72, Z:-0.52 [[ 3.37602632e-01 -9.41288434e-01 7.39636779e-04 1.66100407e+02] [ 9.41285975e-01 3.37603441e-01 2.15174150e-03 7.27211737e+01] [-2.27511331e-03 -3.02238660e-05 9.99997411e-01 -5.18781425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:72.75, Z:-0.52 [[ 3.35835368e-01 -9.41920410e-01 7.39028676e-04 1.66108896e+02] [ 9.41917953e-01 3.35836180e-01 2.15195034e-03 7.27490766e+01] [-2.27515851e-03 -2.65966552e-05 9.99997411e-01 -5.20538181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.12, Y:72.77, Z:-0.52 [[ 3.37369239e-01 -9.41372110e-01 7.39549318e-04 1.66118062e+02] [ 9.41369651e-01 3.37370048e-01 2.15177160e-03 7.27748183e+01] [-2.27511956e-03 -2.97522631e-05 9.99997411e-01 -5.19737203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:72.80, Z:-0.52 [[ 3.37666712e-01 -9.41265450e-01 7.38178734e-04 1.66126669e+02] [ 9.41262990e-01 3.37667517e-01 2.15224168e-03 7.28016794e+01] [-2.27508972e-03 -3.19200510e-05 9.99997411e-01 -5.20414883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:72.83, Z:-0.52 [[ 3.38178370e-01 -9.41081742e-01 7.37570640e-04 1.66135089e+02] [ 9.41079281e-01 3.38179173e-01 2.15245006e-03 7.28287179e+01] [-2.27506248e-03 -3.37996047e-05 9.99997411e-01 -5.21398698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:72.85, Z:-0.52 [[ 3.40023936e-01 -9.40416493e-01 7.36956689e-04 1.66142211e+02] [ 9.40414030e-01 3.40024732e-01 2.15266024e-03 7.28546181e+01] [-2.27498069e-03 -3.89115965e-05 9.99997411e-01 -5.24252991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.15, Y:72.88, Z:-0.52 [[ 3.41006720e-01 -9.40060570e-01 7.36314867e-04 1.66150343e+02] [ 9.40058105e-01 3.41007513e-01 2.15287975e-03 7.28817761e+01] [-2.27492627e-03 -4.19677042e-05 9.99997411e-01 -5.24862141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.16, Y:72.91, Z:-0.53 [[ 3.41975827e-01 -9.39708461e-01 7.35695039e-04 1.66158396e+02] [ 9.39705996e-01 3.41976615e-01 2.15309154e-03 7.29086587e+01] [-2.27486884e-03 -4.49682210e-05 9.99997411e-01 -5.25907804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:72.93, Z:-0.53 [[ 3.44158899e-01 -9.38911131e-01 7.35072593e-04 1.66165710e+02] [ 9.38908663e-01 3.44159680e-01 2.15330403e-03 7.29348628e+01] [-2.27474347e-03 -5.09127182e-05 9.99997411e-01 -5.25850481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:72.96, Z:-0.53 [[ 3.44596762e-01 -9.38750516e-01 7.34414964e-04 1.66173990e+02] [ 9.38748048e-01 3.44597541e-01 2.15352830e-03 7.29617601e+01] [-2.27470339e-03 -5.26682644e-05 9.99997411e-01 -5.25460123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.18, Y:72.99, Z:-0.52 [[ 3.45076488e-01 -9.38574280e-01 7.33802000e-04 1.66182174e+02] [ 9.38571811e-01 3.45077264e-01 2.15373714e-03 7.29875286e+01] [-2.27466067e-03 -5.44781768e-05 9.99997411e-01 -5.24697925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:73.01, Z:-0.52 [[ 3.45110667e-01 -9.38561713e-01 7.33155769e-04 1.66190536e+02] [ 9.38559243e-01 3.45111441e-01 2.15395710e-03 7.30140237e+01] [-2.27464211e-03 -5.52434480e-05 9.99997411e-01 -5.23876106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:73.04, Z:-0.52 [[ 3.45009274e-01 -9.38598990e-01 7.32535788e-04 1.66198640e+02] [ 9.38596520e-01 3.45010047e-01 2.15416793e-03 7.30398072e+01] [-2.27463205e-03 -5.56523729e-05 9.99997411e-01 -5.23938774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:73.07, Z:-0.52 [[ 3.44645650e-01 -9.38732571e-01 7.31880252e-04 1.66206894e+02] [ 9.38730101e-01 3.44646422e-01 2.15439063e-03 7.30663214e+01] [-2.27463656e-03 -5.54633340e-05 9.99997411e-01 -5.23804083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:73.09, Z:-0.52 [[ 3.43827856e-01 -9.39032412e-01 7.31259990e-04 1.66215392e+02] [ 9.39029942e-01 3.43828630e-01 2.15460114e-03 7.30917254e+01] [-2.27466842e-03 -5.41368651e-05 9.99997411e-01 -5.23887697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:73.12, Z:-0.53 [[ 3.41135758e-01 -9.40013755e-01 7.30808086e-04 1.66221736e+02] [ 9.40011287e-01 3.41136538e-01 2.15475441e-03 7.31165603e+01] [-2.27480412e-03 -4.80959294e-05 9.99997411e-01 -5.25569307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.23, Y:73.14, Z:-0.52 [[ 3.41133713e-01 -9.40014508e-01 7.17846200e-04 1.66231237e+02] [ 9.40012030e-01 3.41134462e-01 2.15914979e-03 7.31432257e+01] [-2.27451421e-03 -6.17747222e-05 9.99997411e-01 -5.24791106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:73.17, Z:-0.52 [[ 3.42408777e-01 -9.39550804e-01 7.18250715e-04 1.66242200e+02] [ 9.39548326e-01 3.42409525e-01 2.15901265e-03 7.31705209e+01] [-2.27443796e-03 -6.44336257e-05 9.99997411e-01 -5.23462583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:73.20, Z:-0.53 [[ 3.39951860e-01 -9.40442555e-01 7.30574292e-04 1.66248114e+02] [ 9.40440087e-01 3.39952642e-01 2.15483447e-03 7.31960944e+01] [-2.27485870e-03 -4.54786367e-05 9.99997411e-01 -5.25121027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:73.22, Z:-0.52 [[ 3.41900393e-01 -9.39735925e-01 7.15967596e-04 1.66259519e+02] [ 9.39733445e-01 3.41901136e-01 2.15978125e-03 7.32241632e+01] [-2.27441416e-03 -6.56113618e-05 9.99997411e-01 -5.24239864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:73.25, Z:-0.53 [[ 3.39528406e-01 -9.40595518e-01 7.30003712e-04 1.66265372e+02] [ 9.40593050e-01 3.39529188e-01 2.15502659e-03 7.32498044e+01] [-2.27486592e-03 -4.50563239e-05 9.99997411e-01 -5.26507637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:73.28, Z:-0.53 [[ 3.41344234e-01 -9.39938084e-01 7.15066962e-04 1.66276803e+02] [ 9.39935605e-01 3.41344977e-01 2.16007859e-03 7.32775050e+01] [-2.27442464e-03 -6.52134738e-05 9.99997411e-01 -5.25720776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:73.30, Z:-0.53 [[ 3.40893179e-01 -9.40101755e-01 7.29102525e-04 1.66285678e+02] [ 9.40099285e-01 3.40893955e-01 2.15533065e-03 7.33045969e+01] [-2.27477677e-03 -4.93087563e-05 9.99997411e-01 -5.27415929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:73.33, Z:-0.53 [[ 3.40092952e-01 -9.40391543e-01 7.28478096e-04 1.66294888e+02] [ 9.40389073e-01 3.40093729e-01 2.15554168e-03 7.33315317e+01] [-2.27480400e-03 -4.80316929e-05 9.99997411e-01 -5.27889328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:73.36, Z:-0.53 [[ 3.38911379e-01 -9.40818020e-01 7.27857502e-04 1.66303737e+02] [ 9.40815552e-01 3.38912158e-01 2.15575122e-03 7.33571553e+01] [-2.27484935e-03 -4.58289608e-05 9.99997411e-01 -5.28573422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:73.38, Z:-0.53 [[ 3.38005714e-01 -9.41143777e-01 7.27202211e-04 1.66312431e+02] [ 9.41141308e-01 3.38006493e-01 2.15597225e-03 7.33824262e+01] [-2.27487893e-03 -4.43308981e-05 9.99997411e-01 -5.28664806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.32, Y:73.41, Z:-0.53 [[ 3.36675971e-01 -9.41620286e-01 7.26562215e-04 1.66321511e+02] [ 9.41617818e-01 3.36676752e-01 2.15618790e-03 7.34085793e+01] [-2.27492688e-03 -4.17927277e-05 9.99997411e-01 -5.28573020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:73.44, Z:-0.53 [[ 3.35323427e-01 -9.42102793e-01 7.25944295e-04 1.66331178e+02] [ 9.42100326e-01 3.35324210e-01 2.15639592e-03 7.34354133e+01] [-2.27497332e-03 -3.91777134e-05 9.99997411e-01 -5.28392027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:73.46, Z:-0.53 [[ 3.33876703e-01 -9.42616476e-01 7.25325158e-04 1.66340325e+02] [ 9.42614010e-01 3.33877489e-01 2.15660416e-03 7.34612167e+01] [-2.27502035e-03 -3.63382296e-05 9.99997411e-01 -5.28548586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.35, Y:73.49, Z:-0.53 [[ 3.32366302e-01 -9.43150103e-01 7.24672621e-04 1.66349893e+02] [ 9.43147637e-01 3.32367091e-01 2.15682340e-03 7.34880095e+01] [-2.27506554e-03 -3.33821488e-05 9.99997411e-01 -5.28514411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:73.51, Z:-0.53 [[ 3.29740079e-01 -9.44071478e-01 7.24063905e-04 1.66359519e+02] [ 9.44069014e-01 3.29740873e-01 2.15702773e-03 7.35140259e+01] [-2.27514183e-03 -2.76921993e-05 9.99997411e-01 -5.28423402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:73.54, Z:-0.53 [[ 3.28703057e-01 -9.44433045e-01 7.23437251e-04 1.66368713e+02] [ 9.44430582e-01 3.28703852e-01 2.15723788e-03 7.35394976e+01] [-2.27516336e-03 -2.58544228e-05 9.99997411e-01 -5.28905539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:73.57, Z:-0.53 [[ 3.27584090e-01 -9.44821751e-01 7.22979996e-04 1.66377870e+02] [ 9.44819288e-01 3.27584887e-01 2.15739112e-03 7.35654476e+01] [-2.27518738e-03 -2.36415603e-05 9.99997411e-01 -5.29438242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:73.59, Z:-0.53 [[ 3.26532284e-01 -9.45185773e-01 7.22339945e-04 1.66386731e+02] [ 9.45183311e-01 3.26533082e-01 2.15760540e-03 7.35916426e+01] [-2.27520582e-03 -2.17841584e-05 9.99997411e-01 -5.30051581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.40, Y:73.62, Z:-0.53 [[ 3.25307465e-01 -9.45608022e-01 7.21715639e-04 1.66395768e+02] [ 9.45605561e-01 3.25308265e-01 2.15781421e-03 7.36175901e+01] [-2.27522649e-03 -1.94947495e-05 9.99997411e-01 -5.31147924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:166.40, Y:73.64, Z:-0.53 [[ 3.24508591e-01 -9.45882474e-01 7.21058096e-04 1.66404192e+02] [ 9.45880012e-01 3.24509392e-01 2.15803391e-03 7.36427828e+01] [-2.27523658e-03 -1.82661041e-05 9.99997411e-01 -5.31833529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:166.41, Y:73.67, Z:-0.53 [[ 3.24268799e-01 -9.45964708e-01 7.19265113e-04 1.66412786e+02] [ 9.45962245e-01 3.24269596e-01 2.15863236e-03 7.36691847e+01] [-2.27522584e-03 -1.95794804e-05 9.99997411e-01 -5.31895879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:73.70, Z:-0.53 [[ 3.23565302e-01 -9.46205569e-01 7.18771282e-04 1.66421842e+02] [ 9.46203106e-01 3.23566100e-01 2.15879705e-03 7.36960229e+01] [-2.27523581e-03 -1.84082016e-05 9.99997411e-01 -5.32115968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:73.72, Z:-0.53 [[ 3.22342868e-01 -9.46622712e-01 7.19010386e-04 1.66430381e+02] [ 9.46620250e-01 3.22343670e-01 2.15871741e-03 7.37220189e+01] [-2.27525938e-03 -1.52173715e-05 9.99997411e-01 -5.32676083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:73.75, Z:-0.53 [[ 3.19275403e-01 -9.47661702e-01 7.18558825e-04 1.66439647e+02] [ 9.47659243e-01 3.19276211e-01 2.15886771e-03 7.37479473e+01] [-2.27529499e-03 -8.32444582e-06 9.99997411e-01 -5.33437275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:73.77, Z:-0.53 [[ 3.16990196e-01 -9.48428542e-01 7.17915395e-04 1.66449289e+02] [ 9.48426085e-01 3.16991009e-01 2.15908166e-03 7.37744254e+01] [-2.27530739e-03 -3.51803081e-06 9.99997411e-01 -5.33307832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:73.80, Z:-0.53 [[ 3.14243050e-01 -9.49342294e-01 7.17310565e-04 1.66459280e+02] [ 9.49339838e-01 3.14243869e-01 2.15928258e-03 7.38011844e+01] [-2.27530873e-03 2.43195094e-06 9.99997411e-01 -5.32819494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:73.83, Z:-0.53 [[ 3.08352251e-01 -9.51271978e-01 7.16700333e-04 1.66470358e+02] [ 9.51269527e-01 3.08353083e-01 2.15948511e-03 7.38256287e+01] [-2.27525443e-03 1.58930935e-05 9.99997411e-01 -5.31748054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:73.85, Z:-0.53 [[ 3.05161706e-01 -9.52300278e-01 7.16058112e-04 1.66480445e+02] [ 9.52297830e-01 3.05162546e-01 2.15969804e-03 7.38522682e+01] [-2.27519516e-03 2.28434468e-05 9.99997411e-01 -5.29603370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:73.88, Z:-0.53 [[ 3.03256152e-01 -9.52908808e-01 7.14472960e-04 1.66489472e+02] [ 9.52906359e-01 3.03256993e-01 2.16022317e-03 7.38790385e+01] [-2.27516460e-03 2.57248616e-05 9.99997411e-01 -5.29264745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:73.91, Z:-0.53 [[ 3.01545797e-01 -9.53451425e-01 7.15271656e-04 1.66498287e+02] [ 9.53448979e-01 3.01546644e-01 2.15995868e-03 7.39059971e+01] [-2.27510345e-03 3.06485692e-05 9.99997411e-01 -5.28053573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:73.93, Z:-0.53 [[ 2.98953681e-01 -9.54267356e-01 7.14655412e-04 1.66506046e+02] [ 9.54264911e-01 2.98954533e-01 2.16016255e-03 7.39315380e+01] [-2.27502208e-03 3.61820380e-05 9.99997411e-01 -5.26948022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:73.96, Z:-0.53 [[ 2.97889659e-01 -9.54600043e-01 7.14006047e-04 1.66514268e+02] [ 9.54597599e-01 2.97890512e-01 2.16037717e-03 7.39589346e+01] [-2.27499176e-03 3.80344397e-05 9.99997411e-01 -5.26915442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:73.99, Z:-0.53 [[ 2.97275995e-01 -9.54791325e-01 7.13390828e-04 1.66522243e+02] [ 9.54788881e-01 2.97276849e-01 2.16058030e-03 7.39855845e+01] [-2.27497791e-03 3.88489709e-05 9.99997411e-01 -5.27449806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:74.01, Z:-0.53 [[ 2.96845718e-01 -9.54925186e-01 7.12769484e-04 1.66529882e+02] [ 9.54922743e-01 2.96846571e-01 2.16078526e-03 7.40111083e+01] [-2.27497145e-03 3.92199372e-05 9.99997411e-01 -5.27843403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.54, Y:74.04, Z:-0.53 [[ 2.96783031e-01 -9.54944671e-01 7.12116740e-04 1.66538088e+02] [ 9.54942227e-01 2.96783883e-01 2.16100036e-03 7.40382493e+01] [-2.27498055e-03 3.86821066e-05 9.99997411e-01 -5.27720916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:74.07, Z:-0.53 [[ 2.96986720e-01 -9.54881344e-01 7.11520505e-04 1.66545427e+02] [ 9.54878899e-01 2.96987570e-01 2.16119666e-03 7.40655152e+01] [-2.27499912e-03 3.75692100e-05 9.99997411e-01 -5.27488909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:74.09, Z:-0.53 [[ 2.97108810e-01 -9.54843364e-01 7.10910556e-04 1.66552785e+02] [ 9.54840918e-01 2.97109659e-01 2.16139728e-03 7.40922270e+01] [-2.27501424e-03 3.66363135e-05 9.99997411e-01 -5.27869377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:74.12, Z:-0.53 [[ 2.97264588e-01 -9.54794878e-01 7.10286562e-04 1.66559757e+02] [ 9.54792432e-01 2.97265435e-01 2.16160232e-03 7.41190194e+01] [-2.27503047e-03 3.56084112e-05 9.99997411e-01 -5.28814495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:74.15, Z:-0.53 [[ 2.97088281e-01 -9.54849752e-01 7.09661649e-04 1.66566540e+02] [ 9.54847306e-01 2.97089127e-01 2.16180746e-03 7.41463209e+01] [-2.27503408e-03 3.53708512e-05 9.99997411e-01 -5.29889919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:74.17, Z:-0.53 [[ 2.94279469e-01 -9.55719149e-01 7.09038091e-04 1.66570318e+02] [ 9.55716704e-01 2.94280320e-01 2.16201196e-03 7.41733168e+01] [-2.27493218e-03 4.14038166e-05 9.99997411e-01 -5.31937129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:74.20, Z:-0.53 [[ 2.92517804e-01 -9.56259823e-01 6.96747510e-04 1.66576606e+02] [ 9.56257370e-01 2.92518632e-01 2.16603754e-03 7.41997486e+01] [-2.27510630e-03 3.26653972e-05 9.99997411e-01 -5.34091023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:74.23, Z:-0.53 [[ 2.94171907e-01 -9.55752276e-01 6.89952159e-04 1.66587498e+02] [ 9.55749817e-01 2.94172716e-01 2.16826169e-03 7.42279127e+01] [-2.27528615e-03 2.15799720e-05 9.99997411e-01 -5.31972608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:74.25, Z:-0.53 [[ 2.92119482e-01 -9.56381570e-01 7.07856831e-04 1.66594909e+02] [ 9.56379126e-01 2.92120337e-01 2.16240064e-03 7.42546381e+01] [-2.27485949e-03 4.53001419e-05 9.99997411e-01 -5.31829041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.60, Y:74.28, Z:-0.53 [[ 2.86919783e-01 -9.57954351e-01 7.07245347e-04 1.66598746e+02] [ 9.57951911e-01 2.86920649e-01 2.16260062e-03 7.42798383e+01] [-2.27459596e-03 5.70141330e-05 9.99997411e-01 -5.34589327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:74.31, Z:-0.53 [[ 2.87822320e-01 -9.57683581e-01 6.86707262e-04 1.66610509e+02] [ 9.57681124e-01 2.87823137e-01 2.16930724e-03 7.43087254e+01] [-2.27516016e-03 3.32715403e-05 9.99997411e-01 -5.31659929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:74.33, Z:-0.53 [[ 2.80134222e-01 -9.59960582e-01 7.06535369e-04 1.66613013e+02] [ 9.59958148e-01 2.80135104e-01 2.16282996e-03 7.43344189e+01] [-2.27415686e-03 7.23616951e-05 9.99997411e-01 -5.34415065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:74.36, Z:-0.53 [[ 2.80866761e-01 -9.59746525e-01 6.86128802e-04 1.66624468e+02] [ 9.59744074e-01 2.80867595e-01 2.16948664e-03 7.43628242e+01] [-2.27486861e-03 4.91713666e-05 9.99997411e-01 -5.31600567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:74.39, Z:-0.53 [[ 2.78795371e-01 -9.60350271e-01 7.06057372e-04 1.66632251e+02] [ 9.60347838e-01 2.78796255e-01 2.16298140e-03 7.43899780e+01] [-2.27406592e-03 7.50314680e-05 9.99997411e-01 -5.30595435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:74.42, Z:-0.53 [[ 2.77294882e-01 -9.60784602e-01 7.05443916e-04 1.66639693e+02] [ 9.60782170e-01 2.77295768e-01 2.16318146e-03 7.44168127e+01] [-2.27396805e-03 7.79387889e-05 9.99997411e-01 -5.30295945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:74.44, Z:-0.53 [[ 2.75870814e-01 -9.61194464e-01 7.04834009e-04 1.66645399e+02] [ 9.61192033e-01 2.75871702e-01 2.16338017e-03 7.44444063e+01] [-2.27387280e-03 8.06673868e-05 9.99997411e-01 -5.29822550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:74.47, Z:-0.53 [[ 2.75800655e-01 -9.61214598e-01 7.04222922e-04 1.66652265e+02] [ 9.61212166e-01 2.75801542e-01 2.16357907e-03 7.44719563e+01] [-2.27388955e-03 8.01911163e-05 9.99997411e-01 -5.29879617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:74.50, Z:-0.53 [[ 2.76035425e-01 -9.61147205e-01 7.03613942e-04 1.66658591e+02] [ 9.61144772e-01 2.76036311e-01 2.16377710e-03 7.44989822e+01] [-2.27393130e-03 7.89957318e-05 9.99997411e-01 -5.30072496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:74.53, Z:-0.53 [[ 2.76662008e-01 -9.60967033e-01 7.02994932e-04 1.66664611e+02] [ 9.60964600e-01 2.76662891e-01 2.16397819e-03 7.45254319e+01] [-2.27400431e-03 7.68626918e-05 9.99997411e-01 -5.30498506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:74.55, Z:-0.53 [[ 2.77436044e-01 -9.60743851e-01 7.02543473e-04 1.66670577e+02] [ 9.60741417e-01 2.77436924e-01 2.16412475e-03 7.45525848e+01] [-2.27408104e-03 7.45564032e-05 9.99997411e-01 -5.30892359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:74.58, Z:-0.53 [[ 2.79459923e-01 -9.60157101e-01 7.01926882e-04 1.66673702e+02] [ 9.60154664e-01 2.79460796e-01 2.16432472e-03 7.45799710e+01] [-2.27425279e-03 6.91163500e-05 9.99997411e-01 -5.31774225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.68, Y:74.61, Z:-0.53 [[ 2.80362393e-01 -9.59893971e-01 7.01477143e-04 1.66679846e+02] [ 9.59891533e-01 2.80363263e-01 2.16447047e-03 7.46070377e+01] [-2.27433058e-03 6.65058490e-05 9.99997411e-01 -5.31200378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:74.63, Z:-0.53 [[ 2.81161871e-01 -9.59660102e-01 7.00859467e-04 1.66686136e+02] [ 9.59657662e-01 2.81162738e-01 2.16467046e-03 7.46348627e+01] [-2.27440344e-03 6.39623611e-05 9.99997411e-01 -5.30988344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:74.66, Z:-0.53 [[ 2.83316472e-01 -9.59026218e-01 7.00233043e-04 1.66688860e+02] [ 9.59023776e-01 2.83317332e-01 2.16487308e-03 7.46627660e+01] [-2.27455820e-03 5.81959335e-05 9.99997411e-01 -5.31289600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:74.69, Z:-0.53 [[ 2.84431124e-01 -9.58696222e-01 6.99666627e-04 1.66694617e+02] [ 9.58693779e-01 2.84431980e-01 2.16505612e-03 7.46908241e+01] [-2.27463869e-03 5.49566956e-05 9.99997411e-01 -5.31152606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:74.72, Z:-0.53 [[ 2.84514936e-01 -9.58671353e-01 6.99055590e-04 1.66697841e+02] [ 9.58668909e-01 2.84515790e-01 2.16525340e-03 7.47173915e+01] [-2.27465875e-03 5.41159279e-05 9.99997411e-01 -5.31269948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.71, Y:74.75, Z:-0.53 [[ 2.87294930e-01 -9.57841924e-01 6.86925209e-04 1.66705485e+02] [ 9.57839469e-01 2.87295749e-01 2.16916439e-03 7.47452677e+01] [-2.27506728e-03 3.47741470e-05 9.99997411e-01 -5.31493152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.71, Y:74.77, Z:-0.53 [[ 2.88541278e-01 -9.57467202e-01 6.98172862e-04 1.66711107e+02] [ 9.57464754e-01 2.88542119e-01 2.16553813e-03 7.47729025e+01] [-2.27488401e-03 4.36287699e-05 9.99997411e-01 -5.32139770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:74.80, Z:-0.53 [[ 2.89299724e-01 -9.57238311e-01 6.97557551e-04 1.66715768e+02] [ 9.57235862e-01 2.89300562e-01 2.16573631e-03 7.47995152e+01] [-2.27492956e-03 4.11801873e-05 9.99997411e-01 -5.33421739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:74.83, Z:-0.54 [[ 2.91949395e-01 -9.56433519e-01 6.89249836e-04 1.66719170e+02] [ 9.56431061e-01 2.91950208e-01 2.16840862e-03 7.48288326e+01] [-2.27516532e-03 2.61543666e-05 9.99997411e-01 -5.35397286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.72, Y:74.86, Z:-0.54 [[ 2.92892434e-01 -9.56145144e-01 6.96651474e-04 1.66724766e+02] [ 9.56142691e-01 2.92893261e-01 2.16602806e-03 7.48563874e+01] [-2.27508173e-03 3.16849856e-05 9.99997411e-01 -5.36091107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:74.88, Z:-0.54 [[ 2.93859447e-01 -9.55848388e-01 6.96039791e-04 1.66730304e+02] [ 9.55845934e-01 2.93860270e-01 2.16622460e-03 7.48837217e+01] [-2.27512073e-03 2.87412414e-05 9.99997411e-01 -5.36849215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.74, Y:74.91, Z:-0.54 [[ 2.94791829e-01 -9.55561245e-01 6.95425272e-04 1.66735698e+02] [ 9.55558790e-01 2.94792649e-01 2.16642186e-03 7.49101888e+01] [-2.27515503e-03 2.58762673e-05 9.99997411e-01 -5.37690812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.74, Y:74.94, Z:-0.54 [[ 2.96710364e-01 -9.54967265e-01 6.94776489e-04 1.66739529e+02] [ 9.54964807e-01 2.96711176e-01 2.16662991e-03 7.49386661e+01] [-2.27520859e-03 2.06255482e-05 9.99997411e-01 -5.38048767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:74.97, Z:-0.54 [[ 2.97199048e-01 -9.54815293e-01 6.94141928e-04 1.66745564e+02] [ 9.54812835e-01 2.97199858e-01 2.16683319e-03 7.49652406e+01] [-2.27522435e-03 1.87948618e-05 9.99997411e-01 -5.38753935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:74.99, Z:-0.54 [[ 2.97921532e-01 -9.54590111e-01 6.93571108e-04 1.66752358e+02] [ 9.54587651e-01 2.97922339e-01 2.16701588e-03 7.49927166e+01] [-2.27524226e-03 1.64737239e-05 9.99997411e-01 -5.38920213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:75.02, Z:-0.54 [[ 2.98353495e-01 -9.54455191e-01 6.92952707e-04 1.66758657e+02] [ 9.54452731e-01 2.98354299e-01 2.16721361e-03 7.50193142e+01] [-2.27525370e-03 1.47948475e-05 9.99997411e-01 -5.39403096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:75.05, Z:-0.54 [[ 2.99308141e-01 -9.54156254e-01 6.92532643e-04 1.66763859e+02] [ 9.54153793e-01 2.99308942e-01 2.16734784e-03 7.50470709e+01] [-2.27526971e-03 1.20777960e-05 9.99997411e-01 -5.39491441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.77, Y:75.07, Z:-0.54 [[ 2.99212917e-01 -9.54186120e-01 6.91899966e-04 1.66770677e+02] [ 9.54183658e-01 2.99213717e-01 2.16754979e-03 7.50736893e+01] [-2.27527189e-03 1.16407439e-05 9.99997411e-01 -5.39776083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:75.10, Z:-0.54 [[ 2.98990634e-01 -9.54255795e-01 6.91330430e-04 1.66777958e+02] [ 9.54253333e-01 2.98991433e-01 2.16773143e-03 7.51006240e+01] [-2.27527215e-03 1.15729734e-05 9.99997411e-01 -5.39437963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:75.13, Z:-0.54 [[ 2.98150294e-01 -9.54518688e-01 6.90717297e-04 1.66784652e+02] [ 9.54516226e-01 2.98151093e-01 2.16792678e-03 7.51281600e+01] [-2.27526474e-03 1.29328623e-05 9.99997411e-01 -5.38138708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:75.15, Z:-0.54 [[ 2.98091191e-01 -9.54537147e-01 6.90094236e-04 1.66792741e+02] [ 9.54534685e-01 2.98091989e-01 2.16812509e-03 7.51545257e+01] [-2.27526750e-03 1.24198932e-05 9.99997411e-01 -5.36242258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.80, Y:75.18, Z:-0.54 [[ 2.97583222e-01 -9.54695634e-01 6.87229990e-04 1.66800266e+02] [ 9.54693170e-01 2.97584015e-01 2.16903616e-03 7.51818468e+01] [-2.27527801e-03 1.06250095e-05 9.99997411e-01 -5.38012935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.81, Y:75.21, Z:-0.54 [[ 2.96780953e-01 -9.54945334e-01 6.89266155e-04 1.66807187e+02] [ 9.54942872e-01 2.96781753e-01 2.16838892e-03 7.52076355e+01] [-2.27525450e-03 1.46732724e-05 9.99997411e-01 -5.38433598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:75.24, Z:-0.54 [[ 2.97638898e-01 -9.54678283e-01 6.79774427e-04 1.66816343e+02] [ 9.54675814e-01 2.97639674e-01 2.17140282e-03 7.52351770e+01] [-2.27531896e-03 2.67026113e-06 9.99997411e-01 -5.40524524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:75.26, Z:-0.54 [[ 2.96517205e-01 -9.55027264e-01 6.86932934e-04 1.66822670e+02] [ 9.55024801e-01 2.96518000e-01 2.16913007e-03 7.52610718e+01] [-2.27526634e-03 1.28536031e-05 9.99997411e-01 -5.40090545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:75.29, Z:-0.54 [[ 2.97945778e-01 -9.54582555e-01 6.78240842e-04 1.66832888e+02] [ 9.54580084e-01 2.97946550e-01 2.17188875e-03 7.52895750e+01] [-2.27532663e-03 3.30115939e-07 9.99997411e-01 -5.40773627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:75.32, Z:-0.54 [[ 2.98487219e-01 -9.54413386e-01 6.84626415e-04 1.66842258e+02] [ 9.54410919e-01 2.98488004e-01 2.16986196e-03 7.53175019e+01] [-2.27529807e-03 5.73886551e-06 9.99997411e-01 -5.41030769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:75.34, Z:-0.54 [[ 2.98098897e-01 -9.54534742e-01 6.88469066e-04 1.66849634e+02] [ 9.54532278e-01 2.98099692e-01 2.16864312e-03 7.53436714e+01] [-2.27527762e-03 1.06958239e-05 9.99997411e-01 -5.40461805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.86, Y:75.37, Z:-0.54 [[ 2.97818314e-01 -9.54622323e-01 6.87308646e-04 1.66858215e+02] [ 9.54619859e-01 2.97819107e-01 2.16901083e-03 7.53709347e+01] [-2.27527980e-03 1.01473335e-05 9.99997411e-01 -5.40526428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:75.40, Z:-0.54 [[ 2.99081914e-01 -9.54227194e-01 6.86671040e-04 1.66868985e+02] [ 9.54224728e-01 2.99082703e-01 2.16921266e-03 7.53978185e+01] [-2.27529314e-03 6.46620978e-06 9.99997411e-01 -5.40746150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:75.42, Z:-0.54 [[ 2.97665479e-01 -9.54669988e-01 6.89837308e-04 1.66875828e+02] [ 9.54667526e-01 2.97666278e-01 2.16821122e-03 7.54239153e+01] [-2.27526749e-03 1.31636431e-05 9.99997411e-01 -5.40819942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:75.45, Z:-0.54 [[ 2.96945841e-01 -9.54894077e-01 6.85400997e-04 1.66884645e+02] [ 9.54891612e-01 2.96946632e-01 2.16961270e-03 7.54505190e+01] [-2.27527783e-03 1.02261965e-05 9.99997411e-01 -5.41382004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:75.48, Z:-0.54 [[ 2.95637348e-01 -9.55300000e-01 6.84777452e-04 1.66893431e+02] [ 9.55297536e-01 2.95638141e-01 2.16980948e-03 7.54769302e+01] [-2.27526533e-03 1.26894907e-05 9.99997411e-01 -5.41963943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:75.51, Z:-0.54 [[ 2.96765480e-01 -9.54950146e-01 6.84158100e-04 1.66906520e+02] [ 9.54947681e-01 2.96766268e-01 2.17000475e-03 7.55051245e+01] [-2.27528140e-03 9.35268948e-06 9.99997411e-01 -5.42539106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:75.53, Z:-0.54 [[ 2.89231941e-01 -9.57258793e-01 6.98655645e-04 1.66912792e+02] [ 9.57256345e-01 2.89232781e-01 2.16543262e-03 7.55294948e+01] [-2.27495353e-03 4.24802703e-05 9.99997411e-01 -5.43290353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.92, Y:75.56, Z:-0.54 [[ 2.86097331e-01 -9.58200318e-01 6.83436090e-04 1.66922571e+02] [ 9.58197861e-01 2.86098146e-01 2.17022548e-03 7.55559299e+01] [-2.27504055e-03 3.39712812e-05 9.99997412e-01 -5.42867914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:75.58, Z:-0.54 [[ 2.82762507e-01 -9.59189709e-01 6.82821118e-04 1.66931971e+02] [ 9.59187254e-01 2.82763329e-01 2.17041895e-03 7.55809915e+01] [-2.27492030e-03 4.12402078e-05 9.99997412e-01 -5.42772316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:75.61, Z:-0.54 [[ 2.76187886e-01 -9.61103421e-01 6.82173918e-04 1.66942269e+02] [ 9.61100972e-01 2.76188723e-01 2.17062235e-03 7.56070129e+01] [-2.27460131e-03 5.61384171e-05 9.99997412e-01 -5.41740991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:75.63, Z:-0.54 [[ 2.73198097e-01 -9.61957554e-01 6.81556019e-04 1.66951269e+02] [ 9.61955106e-01 2.73198940e-01 2.17081635e-03 7.56334523e+01] [-2.27443357e-03 6.25633970e-05 9.99997412e-01 -5.41853027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:75.66, Z:-0.54 [[ 2.70526343e-01 -9.62712332e-01 6.80939892e-04 1.66960211e+02] [ 9.62709886e-01 2.70527192e-01 2.17100960e-03 7.56599820e+01] [-2.27427047e-03 6.82322786e-05 9.99997412e-01 -5.41930210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:75.69, Z:-0.54 [[ 2.68424187e-01 -9.63300572e-01 6.80328681e-04 1.66968804e+02] [ 9.63298128e-01 2.68425040e-01 2.17120112e-03 7.56863853e+01] [-2.27413653e-03 7.25564500e-05 9.99997412e-01 -5.41824566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:75.71, Z:-0.54 [[ 2.66550555e-01 -9.63820699e-01 6.79711763e-04 1.66977355e+02] [ 9.63818256e-01 2.66551410e-01 2.17139423e-03 7.57127024e+01] [-2.27401284e-03 7.63322693e-05 9.99997412e-01 -5.41525985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:75.74, Z:-0.54 [[ 2.65181801e-01 -9.64198191e-01 6.79086619e-04 1.66985618e+02] [ 9.64195749e-01 2.65182659e-01 2.17158972e-03 7.57379682e+01] [-2.27392488e-03 7.89063577e-05 9.99997412e-01 -5.42011198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:75.76, Z:-0.54 [[ 2.63873476e-01 -9.64557063e-01 6.78528912e-04 1.66994365e+02] [ 9.64554622e-01 2.63874336e-01 2.17176397e-03 7.57638146e+01] [-2.27383664e-03 8.14072908e-05 9.99997412e-01 -5.42836423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:75.79, Z:-0.54 [[ 2.63689064e-01 -9.64607494e-01 6.77894473e-04 1.67002602e+02] [ 9.64605052e-01 2.63689923e-01 2.17196198e-03 7.57902670e+01] [-2.27384475e-03 8.11778109e-05 9.99997412e-01 -5.43249968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:75.82, Z:-0.54 [[ 2.63821944e-01 -9.64571160e-01 6.77291390e-04 1.67011099e+02] [ 9.64568718e-01 2.63822801e-01 2.17215003e-03 7.58170001e+01] [-2.27387819e-03 8.02332448e-05 9.99997412e-01 -5.42893053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:75.84, Z:-0.54 [[ 2.65616326e-01 -9.64078581e-01 6.76668285e-04 1.67020129e+02] [ 9.64076136e-01 2.65617177e-01 2.17234412e-03 7.58434347e+01] [-2.27404516e-03 7.53496804e-05 9.99997412e-01 -5.42431080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:75.87, Z:-0.54 [[ 2.66932480e-01 -9.63714996e-01 6.76058727e-04 1.67028330e+02] [ 9.63712550e-01 2.66933327e-01 2.17253381e-03 7.58696729e+01] [-2.27416602e-03 7.16064415e-05 9.99997412e-01 -5.42158856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:75.90, Z:-0.54 [[ 2.68514785e-01 -9.63275326e-01 6.75635039e-04 1.67036389e+02] [ 9.63272878e-01 2.68515626e-01 2.17266556e-03 7.58962815e+01] [-2.27429369e-03 6.74280821e-05 9.99997412e-01 -5.41480867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:75.92, Z:-0.54 [[ 2.70593481e-01 -9.62693467e-01 6.75012794e-04 1.67044635e+02] [ 9.62691017e-01 2.70594316e-01 2.17285887e-03 7.59225234e+01] [-2.27445166e-03 6.18673084e-05 9.99997412e-01 -5.41234525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:75.95, Z:-0.54 [[ 2.72638989e-01 -9.62116171e-01 6.74447009e-04 1.67052852e+02] [ 9.62113719e-01 2.72639817e-01 2.17303447e-03 7.59485580e+01] [-2.27459271e-03 5.64408007e-05 9.99997412e-01 -5.40738787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:75.98, Z:-0.54 [[ 2.77289361e-01 -9.60786218e-01 6.73804037e-04 1.67062066e+02] [ 9.60783761e-01 2.77290176e-01 2.17323382e-03 7.59755065e+01] [-2.27485234e-03 4.47653596e-05 9.99997412e-01 -5.39209879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:76.00, Z:-0.54 [[ 2.79328511e-01 -9.60195360e-01 6.73195395e-04 1.67070449e+02] [ 9.60192901e-01 2.79329320e-01 2.17342234e-03 7.60021912e+01] [-2.27495326e-03 3.92986127e-05 9.99997412e-01 -5.38948756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:76.03, Z:-0.54 [[ 2.81341002e-01 -9.59607622e-01 6.72586701e-04 1.67078625e+02] [ 9.59605161e-01 2.81341804e-01 2.17361069e-03 7.60288086e+01] [-2.27504014e-03 3.38918583e-05 9.99997412e-01 -5.38326289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.09, Y:76.06, Z:-0.54 [[ 2.83188952e-01 -9.59063901e-01 6.71957460e-04 1.67086692e+02] [ 9.59061438e-01 2.83189748e-01 2.17380520e-03 7.60550579e+01] [-2.27510956e-03 2.88508701e-05 9.99997412e-01 -5.38476537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:76.08, Z:-0.54 [[ 2.84999115e-01 -9.58527544e-01 6.71386956e-04 1.67094891e+02] [ 9.58525079e-01 2.84999905e-01 2.17398139e-03 7.60814701e+01] [-2.27516626e-03 2.39584633e-05 9.99997412e-01 -5.38704956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:76.11, Z:-0.54 [[ 2.89513044e-01 -9.57173833e-01 6.70768941e-04 1.67104709e+02] [ 9.57171364e-01 2.89513821e-01 2.17417206e-03 7.61091161e+01] [-2.27525748e-03 1.25896530e-05 9.99997412e-01 -5.38808442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:76.13, Z:-0.54 [[ 2.91231086e-01 -9.56652498e-01 6.72814089e-04 1.67112139e+02] [ 9.56650029e-01 2.91231863e-01 2.17354149e-03 7.61349560e+01] [-2.27526880e-03 1.06447680e-05 9.99997412e-01 -5.39598176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.12, Y:76.16, Z:-0.54 [[ 2.93865316e-01 -9.55846602e-01 6.69902260e-04 1.67123348e+02] [ 9.55844129e-01 2.93866079e-01 2.17443857e-03 7.61629134e+01] [-2.27529127e-03 1.33006468e-06 9.99997412e-01 -5.40755850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:76.19, Z:-0.54 [[ 2.94692129e-01 -9.55592011e-01 6.76792025e-04 1.67130570e+02] [ 9.55589542e-01 2.94692907e-01 2.17231686e-03 7.61877712e+01] [-2.27529445e-03 6.57069910e-06 9.99997411e-01 -5.39986610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:76.21, Z:-0.54 [[ 2.96034432e-01 -9.55177035e-01 6.69059050e-04 1.67139962e+02] [ 9.55174559e-01 2.96035188e-01 2.17469596e-03 7.62141226e+01] [-2.27528466e-03 -4.71670106e-06 9.99997412e-01 -5.40113156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:76.24, Z:-0.54 [[ 2.98031861e-01 -9.54555689e-01 6.68438459e-04 1.67150880e+02] [ 9.54553211e-01 2.98032611e-01 2.17488670e-03 7.62391532e+01] [-2.27526693e-03 -1.01254515e-05 9.99997412e-01 -5.40848684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:76.27, Z:-0.54 [[ 2.98478634e-01 -9.54416083e-01 6.67789461e-04 1.67160830e+02] [ 9.54413604e-01 2.98479381e-01 2.17508595e-03 7.62654900e+01] [-2.27525840e-03 -1.18693371e-05 9.99997412e-01 -5.41371219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:76.29, Z:-0.54 [[ 2.98717738e-01 -9.54341274e-01 6.67186678e-04 1.67170667e+02] [ 9.54338795e-01 2.98718482e-01 2.17527083e-03 7.62919528e+01] [-2.27525173e-03 -1.30698503e-05 9.99997412e-01 -5.40550751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:76.32, Z:-0.54 [[ 2.98871722e-01 -9.54293063e-01 6.66560649e-04 1.67180498e+02] [ 9.54290583e-01 2.98872465e-01 2.17546265e-03 7.63169023e+01] [-2.27524554e-03 -1.40917173e-05 9.99997412e-01 -5.42175596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:76.34, Z:-0.54 [[ 2.98702264e-01 -9.54346119e-01 6.65994429e-04 1.67190887e+02] [ 9.54343639e-01 2.98703006e-01 2.17563597e-03 7.63433890e+01] [-2.27524429e-03 -1.42798435e-05 9.99997412e-01 -5.40363269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:76.37, Z:-0.54 [[ 2.98946144e-01 -9.54269752e-01 6.65378722e-04 1.67204152e+02] [ 9.54267272e-01 2.98946884e-01 2.17582426e-03 7.63682010e+01] [-2.27523617e-03 -1.55051358e-05 9.99997412e-01 -5.40175489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:76.39, Z:-0.54 [[ 2.98738700e-01 -9.54334714e-01 6.64823992e-04 1.67214855e+02] [ 9.54332234e-01 2.98739440e-01 2.17599375e-03 7.63946016e+01] [-2.27523552e-03 -1.55905781e-05 9.99997412e-01 -5.39058966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:76.42, Z:-0.54 [[ 2.98997181e-01 -9.54253763e-01 6.64195798e-04 1.67227980e+02] [ 9.54251282e-01 2.98997919e-01 2.17618548e-03 7.64194711e+01] [-2.27522634e-03 -1.68636321e-05 9.99997412e-01 -5.38960191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:76.45, Z:-0.54 [[ 2.98854905e-01 -9.54298332e-01 6.63573780e-04 1.67238980e+02] [ 9.54295850e-01 2.98855641e-01 2.17637513e-03 7.64459549e+01] [-2.27522392e-03 -1.71746769e-05 9.99997412e-01 -5.39263033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:76.47, Z:-0.54 [[ 2.98405675e-01 -9.54438900e-01 6.62954165e-04 1.67249431e+02] [ 9.54436418e-01 2.98406410e-01 2.17656386e-03 7.64711296e+01] [-2.27522699e-03 -1.67514069e-05 9.99997412e-01 -5.39871590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:76.50, Z:-0.54 [[ 2.98313863e-01 -9.54467601e-01 6.62300757e-04 1.67260420e+02] [ 9.54465119e-01 2.98314597e-01 2.17676266e-03 7.64972881e+01] [-2.27522342e-03 -1.72155070e-05 9.99997412e-01 -5.40286950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:76.52, Z:-0.54 [[ 2.98088995e-01 -9.54537853e-01 6.61687548e-04 1.67271373e+02] [ 9.54535371e-01 2.98089729e-01 2.17694905e-03 7.65236299e+01] [-2.27522253e-03 -1.73203858e-05 9.99997412e-01 -5.40695025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:76.55, Z:-0.54 [[ 2.97949768e-01 -9.54581321e-01 6.61074286e-04 1.67282031e+02] [ 9.54578839e-01 2.97950501e-01 2.17713526e-03 7.65492835e+01] [-2.27522007e-03 -1.76294217e-05 9.99997412e-01 -5.40889680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:76.57, Z:-0.54 [[ 2.97932301e-01 -9.54586773e-01 6.60453147e-04 1.67295072e+02] [ 9.54584290e-01 2.97933033e-01 2.17732367e-03 7.65733217e+01] [-2.27521519e-03 -1.82368549e-05 9.99997412e-01 -5.42741957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:76.60, Z:-0.54 [[ 2.97649055e-01 -9.54675130e-01 6.59806712e-04 1.67305668e+02] [ 9.54672647e-01 2.97649786e-01 2.17751955e-03 7.65990505e+01] [-2.27521509e-03 -1.82372154e-05 9.99997412e-01 -5.42029338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:76.62, Z:-0.54 [[ 2.97152064e-01 -9.54829941e-01 6.59188830e-04 1.67316114e+02] [ 9.54827458e-01 2.97152795e-01 2.17770658e-03 7.66246484e+01] [-2.27521925e-03 -1.76984115e-05 9.99997412e-01 -5.43619861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:76.65, Z:-0.54 [[ 2.94280738e-01 -9.55718794e-01 6.58536672e-04 1.67324146e+02] [ 9.55716313e-01 2.94281475e-01 2.17790378e-03 7.66492623e+01] [-2.27525871e-03 -1.15408907e-05 9.99997412e-01 -5.40779098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:76.68, Z:-0.54 [[ 2.95542312e-01 -9.55329432e-01 6.46720756e-04 1.67341272e+02] [ 9.55326942e-01 2.95543018e-01 2.18147525e-03 7.66757790e+01] [-2.27516131e-03 -2.68884760e-05 9.99997411e-01 -5.41827305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.35, Y:76.70, Z:-0.54 [[ 2.90970464e-01 -9.56731810e-01 6.58392479e-04 1.67347996e+02] [ 9.56729331e-01 2.90971209e-01 2.17794689e-03 7.66998562e+01] [-2.27528433e-03 -3.81482221e-06 9.99997412e-01 -5.44995569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:76.73, Z:-0.54 [[ 2.94409315e-01 -9.55679211e-01 6.33630695e-04 1.67364150e+02] [ 9.55676713e-01 2.94409994e-01 2.18542002e-03 7.67273295e+01] [-2.27510769e-03 -3.78619117e-05 9.99997411e-01 -5.40893063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:76.75, Z:-0.54 [[ 2.94202803e-01 -9.55742789e-01 6.57679851e-04 1.67375239e+02] [ 9.55740307e-01 2.94203538e-01 2.17815855e-03 7.67531281e+01] [-2.27525106e-03 -1.22492074e-05 9.99997412e-01 -5.39911869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:76.78, Z:-0.54 [[ 2.89710728e-01 -9.57114028e-01 6.57059574e-04 1.67382372e+02] [ 9.57111549e-01 2.89711473e-01 2.17834564e-03 7.67761459e+01] [-2.27528287e-03 -2.21079398e-06 9.99997412e-01 -5.44993849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:76.80, Z:-0.54 [[ 2.95983826e-01 -9.55192746e-01 6.26448499e-04 1.67399743e+02] [ 9.55190242e-01 2.95984485e-01 2.18755813e-03 7.68049907e+01] [-2.27495870e-03 -4.91043316e-05 9.99997411e-01 -5.39071755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:76.83, Z:-0.55 [[ 2.89791561e-01 -9.57089557e-01 6.56370083e-04 1.67400797e+02] [ 9.57087078e-01 2.89792305e-01 2.17854310e-03 7.68271047e+01] [-2.27527185e-03 -3.12008241e-06 9.99997412e-01 -5.45610896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:76.86, Z:-0.54 [[ 2.98184971e-01 -9.54507910e-01 6.11183270e-04 1.67420109e+02] [ 9.54505395e-01 2.98185589e-01 2.19211366e-03 7.68571941e+01] [-2.27463587e-03 -7.02776183e-05 9.99997411e-01 -5.38790974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:76.88, Z:-0.54 [[ 2.98903384e-01 -9.54283154e-01 6.55553457e-04 1.67429991e+02] [ 9.54280667e-01 2.98904101e-01 2.17876341e-03 7.68834941e+01] [-2.27510484e-03 -2.56577664e-05 9.99997412e-01 -5.39051423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:76.91, Z:-0.54 [[ 2.98894264e-01 -9.54286011e-01 6.54926500e-04 1.67440771e+02] [ 9.54283523e-01 2.98894981e-01 2.17895186e-03 7.69093114e+01] [-2.27509752e-03 -2.62906440e-05 9.99997412e-01 -5.39841038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:76.94, Z:-0.54 [[ 2.98329345e-01 -9.54462767e-01 6.54299729e-04 1.67447407e+02] [ 9.54460280e-01 2.98330062e-01 2.17914005e-03 7.69354069e+01] [-2.27510532e-03 -2.55983220e-05 9.99997412e-01 -5.40939353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:76.96, Z:-0.55 [[ 2.91323278e-01 -9.56624441e-01 6.53638754e-04 1.67445420e+02] [ 9.56621958e-01 2.91324011e-01 2.17933829e-03 7.69589755e+01] [-2.27522894e-03 -9.60679015e-06 9.99997412e-01 -5.49978080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:76.99, Z:-0.55 [[ 2.90362370e-01 -9.56916563e-01 6.21023364e-04 1.67450323e+02] [ 9.56914060e-01 2.90363032e-01 2.18912605e-03 7.69864762e+01] [-2.27513321e-03 -4.13738417e-05 9.99997411e-01 -5.51159886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:77.01, Z:-0.55 [[ 2.89090814e-01 -9.57301478e-01 6.17845662e-04 1.67456776e+02] [ 9.57298974e-01 2.89091471e-01 2.19008053e-03 7.70139905e+01] [-2.27518124e-03 -4.16691455e-05 9.99997411e-01 -5.51783084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:77.04, Z:-0.55 [[ 2.89192693e-01 -9.57270708e-01 6.13817768e-04 1.67464743e+02] [ 9.57268202e-01 2.89193341e-01 2.19129023e-03 7.70402532e+01] [-2.27516996e-03 -4.61168930e-05 9.99997411e-01 -5.51843719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.47, Y:77.07, Z:-0.55 [[ 2.88476689e-01 -9.57486723e-01 6.13247104e-04 1.67472413e+02] [ 9.57484216e-01 2.88477337e-01 2.19146158e-03 7.70669929e+01] [-2.27520326e-03 -4.50111579e-05 9.99997411e-01 -5.51726593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:77.09, Z:-0.55 [[ 2.89534781e-01 -9.57167294e-01 6.18615559e-04 1.67481854e+02] [ 9.57164789e-01 2.89535439e-01 2.18984705e-03 7.70940774e+01] [-2.27516110e-03 -4.19198559e-05 9.99997411e-01 -5.49283114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:77.12, Z:-0.54 [[ 2.95241973e-01 -9.55422311e-01 6.20226757e-04 1.67498496e+02] [ 9.55419804e-01 2.95242619e-01 2.18936262e-03 7.71236350e+01] [-2.27488326e-03 -5.38148106e-05 9.99997411e-01 -5.40473753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:77.15, Z:-0.55 [[ 2.88198047e-01 -9.57570601e-01 6.56085715e-04 1.67498379e+02] [ 9.57568123e-01 2.88198793e-01 2.17856351e-03 7.71458919e+01] [-2.27521148e-03 3.89019184e-07 9.99997412e-01 -5.46920256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.52, Y:77.18, Z:-0.54 [[ 2.93399640e-01 -9.55989682e-01 6.15833388e-04 1.67515883e+02] [ 9.55987174e-01 2.93400281e-01 2.19065568e-03 7.71767983e+01] [-2.27492991e-03 -5.40087663e-05 9.99997411e-01 -5.38277561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:77.20, Z:-0.55 [[ 2.83566314e-01 -9.58952405e-01 6.55651663e-04 1.67511681e+02] [ 9.58949931e-01 2.83567071e-01 2.17867273e-03 7.71970536e+01] [-2.27516468e-03 1.09389220e-05 9.99997412e-01 -5.45658931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:77.23, Z:-0.54 [[ 2.91145792e-01 -9.56678511e-01 5.95892755e-04 1.67531620e+02] [ 9.56675991e-01 2.91146394e-01 2.19658825e-03 7.72296184e+01] [-2.27492080e-03 -6.94511338e-05 9.99997410e-01 -5.39069814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:77.25, Z:-0.55 [[ 2.80884506e-01 -9.59741354e-01 6.54924030e-04 1.67527389e+02] [ 9.59738880e-01 2.80885269e-01 2.17884444e-03 7.72497985e+01] [-2.27508563e-03 1.65524113e-05 9.99997412e-01 -5.46397016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:77.28, Z:-0.54 [[ 2.88492583e-01 -9.57481948e-01 5.91199488e-04 1.67549237e+02] [ 9.57479427e-01 2.88493181e-01 2.19792684e-03 7.72822446e+01] [-2.27503230e-03 -6.80242442e-05 9.99997410e-01 -5.39296792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:77.30, Z:-0.55 [[ 2.80888827e-01 -9.59740089e-01 6.54369744e-04 1.67548311e+02] [ 9.59737616e-01 2.80889588e-01 2.17895597e-03 7.73043385e+01] [-2.27503705e-03 1.59788721e-05 9.99997412e-01 -5.45517853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:77.34, Z:-0.54 [[ 2.88056020e-01 -9.57613366e-01 6.08124550e-04 1.67566691e+02] [ 9.57610857e-01 2.88056658e-01 2.19280237e-03 7.73358241e+01] [-2.27503119e-03 -4.93032518e-05 9.99997411e-01 -5.39254484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:77.36, Z:-0.54 [[ 2.88295755e-01 -9.57541190e-01 6.53817626e-04 1.67574889e+02] [ 9.57538710e-01 2.88296496e-01 2.17909257e-03 7.73625093e+01] [-2.27506422e-03 -2.16745074e-06 9.99997412e-01 -5.40036733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.58, Y:77.39, Z:-0.54 [[ 2.88452323e-01 -9.57494037e-01 6.53198999e-04 1.67581988e+02] [ 9.57491557e-01 2.88453063e-01 2.17927799e-03 7.73883939e+01] [-2.27506293e-03 -3.18527198e-06 9.99997412e-01 -5.42105816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:77.42, Z:-0.54 [[ 2.88492547e-01 -9.57481918e-01 6.52553037e-04 1.67589366e+02] [ 9.57479438e-01 2.88493285e-01 2.17947140e-03 7.74152175e+01] [-2.27506162e-03 -3.95514045e-06 9.99997412e-01 -5.43556010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:77.44, Z:-0.55 [[ 2.87494560e-01 -9.57782049e-01 6.51939295e-04 1.67597691e+02] [ 9.57779569e-01 2.87495299e-01 2.17965497e-03 7.74422715e+01] [-2.27506388e-03 -2.22480852e-06 9.99997412e-01 -5.45288545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:77.46, Z:-0.55 [[ 2.77138022e-01 -9.60829898e-01 6.51320285e-04 1.67593538e+02] [ 9.60827425e-01 2.77138786e-01 2.17983992e-03 7.74627201e+01] [-2.27496148e-03 2.16898685e-05 9.99997412e-01 -5.53769284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:77.49, Z:-0.55 [[ 2.74413074e-01 -9.61611729e-01 5.88708492e-04 1.67601027e+02] [ 9.61609217e-01 2.74413703e-01 2.19848393e-03 7.74883784e+01] [-2.27563761e-03 -3.71852219e-05 9.99997410e-01 -5.53985852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:77.51, Z:-0.55 [[ 2.70797031e-01 -9.62636291e-01 5.82909281e-04 1.67612243e+02] [ 9.62633777e-01 2.70797657e-01 2.20021419e-03 7.75146465e+01] [-2.27585649e-03 -3.46833080e-05 9.99997410e-01 -5.49986732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:77.54, Z:-0.55 [[ 2.68540232e-01 -9.63268289e-01 5.89258883e-04 1.67621154e+02] [ 9.63265781e-01 2.68540877e-01 2.19831549e-03 7.75406902e+01] [-2.27580769e-03 -2.27232323e-05 9.99997410e-01 -5.48160045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.63, Y:77.57, Z:-0.55 [[ 2.66000685e-01 -9.63972660e-01 5.89074886e-04 1.67630000e+02] [ 9.63970153e-01 2.66001336e-01 2.19837058e-03 7.75680149e+01] [-2.27586384e-03 -1.69174707e-05 9.99997410e-01 -5.46782689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:77.60, Z:-0.54 [[ 2.72674515e-01 -9.62106160e-01 5.88467709e-04 1.67651565e+02] [ 9.62103648e-01 2.72675148e-01 2.19855221e-03 7.76006999e+01] [-2.27570114e-03 -3.33222289e-05 9.99997410e-01 -5.37967871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:77.62, Z:-0.54 [[ 2.61789139e-01 -9.65124872e-01 6.53813293e-04 1.67647129e+02] [ 9.65122415e-01 2.61789949e-01 2.17894464e-03 7.76209473e+01] [-2.27411542e-03 6.05858214e-05 9.99997412e-01 -5.44291527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:77.65, Z:-0.54 [[ 2.60389162e-01 -9.65503565e-01 5.91576270e-04 1.67655933e+02] [ 9.65501064e-01 2.60389834e-01 2.19758633e-03 7.76486249e+01] [-2.27581789e-03 -1.06014710e-06 9.99997410e-01 -5.44092231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:77.68, Z:-0.54 [[ 2.58364054e-01 -9.66047445e-01 5.91081164e-04 1.67664435e+02] [ 9.66044945e-01 2.58364730e-01 2.19773467e-03 7.76751272e+01] [-2.27583049e-03 3.19533095e-06 9.99997410e-01 -5.44196327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:77.70, Z:-0.54 [[ 2.60169454e-01 -9.65562792e-01 5.91930645e-04 1.67673962e+02] [ 9.65560291e-01 2.60170128e-01 2.19747976e-03 7.77026266e+01] [-2.27580737e-03 -1.72384378e-07 9.99997410e-01 -5.44178658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:77.73, Z:-0.54 [[ 2.68985995e-01 -9.63143903e-01 5.97504014e-04 1.67693210e+02] [ 9.63141400e-01 2.68986658e-01 2.19580773e-03 7.77345745e+01] [-2.27559944e-03 -1.51606745e-05 9.99997411e-01 -5.39327613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:77.76, Z:-0.55 [[ 2.62406883e-01 -9.64957097e-01 6.55250261e-04 1.67689679e+02] [ 9.64954640e-01 2.62407694e-01 2.17843830e-03 7.77563973e+01] [-2.27404221e-03 6.06495755e-05 9.99997413e-01 -5.46354004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:77.78, Z:-0.55 [[ 2.65955964e-01 -9.63984992e-01 6.00445219e-04 1.67696695e+02] [ 9.63982493e-01 2.65956641e-01 2.19488923e-03 7.77836230e+01] [-2.27553267e-03 -4.92520187e-06 9.99997411e-01 -5.47921230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:77.81, Z:-0.55 [[ 2.68073971e-01 -9.63398149e-01 5.94444507e-04 1.67703949e+02] [ 9.63395644e-01 2.68074630e-01 2.19669100e-03 7.78107463e+01] [-2.27564353e-03 -1.61904299e-05 9.99997411e-01 -5.48844779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:77.84, Z:-0.54 [[ 2.78414085e-01 -9.60460955e-01 5.92015620e-04 1.67723872e+02] [ 9.60458443e-01 2.78414711e-01 2.19741996e-03 7.78442999e+01] [-2.27536193e-03 -4.31862666e-05 9.99997410e-01 -5.41751974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:77.86, Z:-0.55 [[ 2.72222428e-01 -9.62234129e-01 6.55836994e-04 1.67718754e+02] [ 9.62231665e-01 2.72223215e-01 2.17820394e-03 7.78647486e+01] [-2.27447623e-03 3.81111571e-05 9.99997413e-01 -5.49204180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:77.90, Z:-0.54 [[ 2.83557990e-01 -9.58954906e-01 5.96111101e-04 1.67736492e+02] [ 9.58952392e-01 2.83558611e-01 2.19613367e-03 7.78961113e+01] [-2.27502560e-03 -5.10890831e-05 9.99997411e-01 -5.43206788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:77.92, Z:-0.55 [[ 2.75528455e-01 -9.61292698e-01 6.47529423e-04 1.67731571e+02] [ 9.61290225e-01 2.75529215e-01 2.18066350e-03 7.79177112e+01] [-2.27466917e-03 2.16288591e-05 9.99997413e-01 -5.49294474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:77.94, Z:-0.55 [[ 2.76217768e-01 -9.61094890e-01 5.97053300e-04 1.67739309e+02] [ 9.61092382e-01 2.76218411e-01 2.19587710e-03 7.79436351e+01] [-2.27536338e-03 -3.27168940e-05 9.99997411e-01 -5.48009794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:77.97, Z:-0.55 [[ 2.75012290e-01 -9.61440528e-01 5.92346044e-04 1.67747291e+02] [ 9.61438018e-01 2.75012926e-01 2.19729609e-03 7.79706578e+01] [-2.27547233e-03 -3.47794232e-05 9.99997411e-01 -5.47441181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:78.00, Z:-0.55 [[ 2.75729651e-01 -9.61235042e-01 5.95613351e-04 1.67756722e+02] [ 9.61232533e-01 2.75730292e-01 2.19631050e-03 7.79974652e+01] [-2.27539926e-03 -3.30649968e-05 9.99997411e-01 -5.45653852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:78.02, Z:-0.54 [[ 2.73416629e-01 -9.61895520e-01 5.96050043e-04 1.67764258e+02] [ 9.61893013e-01 2.73417277e-01 2.19617872e-03 7.80240718e+01] [-2.27546485e-03 -2.71354103e-05 9.99997411e-01 -5.44142550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:78.05, Z:-0.54 [[ 2.73820580e-01 -9.61780605e-01 5.98689388e-04 1.67772384e+02] [ 9.61778099e-01 2.73821233e-01 2.19537942e-03 7.80501905e+01] [-2.27540721e-03 -2.53337237e-05 9.99997411e-01 -5.43455357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:78.08, Z:-0.54 [[ 2.74482846e-01 -9.61591811e-01 5.97159819e-04 1.67781334e+02] [ 9.61589304e-01 2.74483494e-01 2.19584312e-03 7.80780046e+01] [-2.27541528e-03 -2.84987751e-05 9.99997411e-01 -5.42592743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:78.11, Z:-0.54 [[ 2.82474151e-01 -9.59274722e-01 6.01439359e-04 1.67801248e+02] [ 9.59272213e-01 2.82474788e-01 2.19454571e-03 7.81105669e+01] [-2.27506368e-03 -4.29583719e-05 9.99997411e-01 -5.38284883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:78.13, Z:-0.54 [[ 2.75766659e-01 -9.61224382e-01 6.61795317e-04 1.67795792e+02] [ 9.61221919e-01 2.75767451e-01 2.17619103e-03 7.81309129e+01] [-2.27430949e-03 3.60112336e-05 9.99997413e-01 -5.44922902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:78.16, Z:-0.55 [[ 2.77339351e-01 -9.60771837e-01 6.00912598e-04 1.67803553e+02] [ 9.60769331e-01 2.77340000e-01 2.19466226e-03 7.81582716e+01] [-2.27522679e-03 -3.13278096e-05 9.99997411e-01 -5.46433058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:78.18, Z:-0.55 [[ 2.78530740e-01 -9.60427127e-01 6.00614143e-04 1.67810637e+02] [ 9.60424620e-01 2.78531385e-01 2.19475285e-03 7.81848492e+01] [-2.27519007e-03 -3.44615250e-05 9.99997411e-01 -5.48816418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:78.22, Z:-0.54 [[ 2.87889961e-01 -9.57663308e-01 5.98156308e-04 1.67831228e+02] [ 9.57660794e-01 2.87890577e-01 2.19549869e-03 7.82180362e+01] [-2.27475211e-03 -5.92311898e-05 9.99997411e-01 -5.43882036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:78.24, Z:-0.55 [[ 2.80765605e-01 -9.59776139e-01 6.62228637e-04 1.67825474e+02] [ 9.59773672e-01 2.80766385e-01 2.17599937e-03 7.82375293e+01] [-2.27440381e-03 2.46438315e-05 9.99997413e-01 -5.52425892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:78.27, Z:-0.55 [[ 2.91780928e-01 -9.56484990e-01 5.95009886e-04 1.67846654e+02] [ 9.56482471e-01 2.91781525e-01 2.19638258e-03 7.82705341e+01] [-2.27441986e-03 -7.17460200e-05 9.99997411e-01 -5.46952210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:78.29, Z:-0.56 [[ 2.85558647e-01 -9.58361008e-01 6.61971025e-04 1.67842684e+02] [ 9.58358537e-01 2.85559414e-01 2.17601214e-03 7.82909674e+01] [-2.27443725e-03 1.30265000e-05 9.99997413e-01 -5.55169566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:78.32, Z:-0.56 [[ 2.86406200e-01 -9.58108094e-01 6.07471754e-04 1.67851007e+02] [ 9.58105586e-01 2.86406841e-01 2.19258737e-03 7.83177447e+01] [-2.27471977e-03 -4.59485369e-05 9.99997412e-01 -5.55314969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:78.34, Z:-0.56 [[ 2.86412944e-01 -9.58106080e-01 6.04022778e-04 1.67859233e+02] [ 9.58103570e-01 2.86413577e-01 2.19363715e-03 7.83443408e+01] [-2.27473742e-03 -4.95696954e-05 9.99997412e-01 -5.55766400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:78.38, Z:-0.55 [[ 2.93415707e-01 -9.55984760e-01 6.01534504e-04 1.67881355e+02] [ 9.55982244e-01 2.93416315e-01 2.19439410e-03 7.83762323e+01] [-2.27430735e-03 -6.88133912e-05 9.99997411e-01 -5.47334595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.89, Y:78.40, Z:-0.55 [[ 2.92891914e-01 -9.56145327e-01 6.63732043e-04 1.67890333e+02] [ 9.56142852e-01 2.92892666e-01 2.17541728e-03 7.84029333e+01] [-2.27441732e-03 -2.53948289e-06 9.99997414e-01 -5.46115359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:78.43, Z:-0.55 [[ 2.92458554e-01 -9.56277969e-01 6.63110164e-04 1.67899423e+02] [ 9.56275494e-01 2.92459306e-01 2.17560683e-03 7.84298343e+01] [-2.27441762e-03 -2.15882768e-06 9.99997414e-01 -5.45423548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:78.45, Z:-0.55 [[ 2.88020059e-01 -9.57624147e-01 6.62488614e-04 1.67898697e+02] [ 9.57621675e-01 2.88020821e-01 2.17579608e-03 7.84514965e+01] [-2.27440538e-03 7.74054099e-06 9.99997414e-01 -5.48088592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:78.48, Z:-0.55 [[ 2.88612762e-01 -9.57445710e-01 6.21235947e-04 1.67906497e+02] [ 9.57443210e-01 2.88613428e-01 2.18835712e-03 7.84779944e+01] [-2.27453017e-03 -3.67896535e-05 9.99997413e-01 -5.47881559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:78.51, Z:-0.55 [[ 2.90027424e-01 -9.57018137e-01 6.15768966e-04 1.67915381e+02] [ 9.57015632e-01 2.90028074e-01 2.19002089e-03 7.85051443e+01] [-2.27448000e-03 -4.58655915e-05 9.99997412e-01 -5.47674431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:78.53, Z:-0.55 [[ 2.91233601e-01 -9.56651769e-01 6.19218774e-04 1.67924228e+02] [ 9.56649265e-01 2.91234255e-01 2.18896917e-03 7.85325711e+01] [-2.27441895e-03 -4.51261885e-05 9.99997412e-01 -5.47682082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:78.56, Z:-0.55 [[ 2.97477821e-01 -9.54728527e-01 6.21450045e-04 1.67940787e+02] [ 9.54726021e-01 2.97478465e-01 2.18828920e-03 7.85636695e+01] [-2.27409013e-03 -5.76529767e-05 9.99997413e-01 -5.45341445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:78.59, Z:-0.55 [[ 2.93299679e-01 -9.56020323e-01 6.64085954e-04 1.67941079e+02] [ 9.56017848e-01 2.93300431e-01 2.17527295e-03 7.85866790e+01] [-2.27438185e-03 -3.12883493e-06 9.99997414e-01 -5.49124529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:78.61, Z:-0.55 [[ 2.95466152e-01 -9.55353005e-01 6.24100554e-04 1.67949259e+02] [ 9.55350502e-01 2.95466807e-01 2.18748148e-03 7.86130731e+01] [-2.27421800e-03 -5.00919586e-05 9.99997413e-01 -5.50248230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:78.64, Z:-0.55 [[ 2.97821511e-01 -9.54621371e-01 6.21190395e-04 1.67959153e+02] [ 9.54618864e-01 2.97822153e-01 2.18837021e-03 7.86415987e+01] [-2.27406923e-03 -5.87436551e-05 9.99997413e-01 -5.48457984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:78.67, Z:-0.55 [[ 3.03033513e-01 -9.52979692e-01 6.29666517e-04 1.67973486e+02] [ 9.52977188e-01 3.03034161e-01 2.18578109e-03 7.86714188e+01] [-2.27381545e-03 -6.23070943e-05 9.99997413e-01 -5.47007143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:78.70, Z:-0.55 [[ 3.03570026e-01 -9.52808898e-01 6.65207325e-04 1.67981489e+02] [ 9.52806416e-01 3.03570754e-01 2.17491075e-03 7.86988287e+01] [-2.27421181e-03 -2.64239064e-05 9.99997414e-01 -5.47037446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:78.73, Z:-0.55 [[ 3.03302117e-01 -9.52894215e-01 6.64595310e-04 1.67989774e+02] [ 9.52891732e-01 3.03302844e-01 2.17509775e-03 7.87262070e+01] [-2.27421171e-03 -2.64243772e-05 9.99997414e-01 -5.47102224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:78.75, Z:-0.55 [[ 2.99084045e-01 -9.54226542e-01 6.63983694e-04 1.67992612e+02] [ 9.54224063e-01 2.99084781e-01 2.17528444e-03 7.87503014e+01] [-2.27430157e-03 -1.70036514e-05 9.99997414e-01 -5.45670383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:78.78, Z:-0.55 [[ 3.01998425e-01 -9.53308214e-01 6.33564516e-04 1.68006159e+02] [ 9.53305712e-01 3.01999084e-01 2.18454772e-03 7.87794802e+01] [-2.27388318e-03 -5.57492964e-05 9.99997413e-01 -5.46324615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:78.81, Z:-0.55 [[ 3.00701438e-01 -9.53718095e-01 6.63311586e-04 1.68014735e+02] [ 9.53715614e-01 3.00702168e-01 2.17547772e-03 7.88066363e+01] [-2.27425170e-03 -2.15586614e-05 9.99997414e-01 -5.46251369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:78.83, Z:-0.55 [[ 2.99370383e-01 -9.54136748e-01 6.62700532e-04 1.68022844e+02] [ 9.54134268e-01 2.99371116e-01 2.17566384e-03 7.88325022e+01] [-2.27427422e-03 -1.90240309e-05 9.99997414e-01 -5.46680088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.03, Y:78.86, Z:-0.55 [[ 2.97604340e-01 -9.54689069e-01 6.62255502e-04 1.68031407e+02] [ 9.54686590e-01 2.97605076e-01 2.17579930e-03 7.88596907e+01] [-2.27430241e-03 -1.52808670e-05 9.99997414e-01 -5.46945884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:78.89, Z:-0.55 [[ 2.96152361e-01 -9.55140482e-01 6.61642866e-04 1.68040029e+02] [ 9.55138004e-01 2.96153100e-01 2.17598558e-03 7.88863656e+01] [-2.27431950e-03 -1.24630215e-05 9.99997414e-01 -5.47570071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:78.91, Z:-0.55 [[ 2.93031618e-01 -9.56102523e-01 6.61035890e-04 1.68049098e+02] [ 9.56100046e-01 2.93032363e-01 2.17616996e-03 7.89125294e+01] [-2.27434650e-03 -5.67015810e-06 9.99997414e-01 -5.47627071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.06, Y:78.94, Z:-0.55 [[ 2.91274789e-01 -9.56639201e-01 6.60411633e-04 1.68057220e+02] [ 9.56636725e-01 2.91275538e-01 2.17635939e-03 7.89381183e+01] [-2.27435246e-03 -2.14459979e-06 9.99997414e-01 -5.48279344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:78.96, Z:-0.55 [[ 2.89555585e-01 -9.57160973e-01 6.59753125e-04 1.68065607e+02] [ 9.57158498e-01 2.89556337e-01 2.17655899e-03 7.89646995e+01] [-2.27435302e-03 1.25349785e-06 9.99997414e-01 -5.47513702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:78.99, Z:-0.55 [[ 2.86633821e-01 -9.58039988e-01 6.59140275e-04 1.68074393e+02] [ 9.58037515e-01 2.86634579e-01 2.17674457e-03 7.89915838e+01] [-2.27434074e-03 7.55249748e-06 9.99997414e-01 -5.46710263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:79.02, Z:-0.55 [[ 2.85432070e-01 -9.58398716e-01 6.58527745e-04 1.68082413e+02] [ 9.58396244e-01 2.85432830e-01 2.17692986e-03 7.90182906e+01] [-2.27433222e-03 9.76492031e-06 9.99997414e-01 -5.46610566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.09, Y:79.04, Z:-0.55 [[ 2.84286370e-01 -9.58739186e-01 6.57908126e-04 1.68089524e+02] [ 9.58736714e-01 2.84287131e-01 2.17711711e-03 7.90442157e+01] [-2.27432230e-03 1.18359566e-05 9.99997414e-01 -5.47325214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:79.07, Z:-0.55 [[ 2.84483267e-01 -9.58680786e-01 6.48534711e-04 1.68098302e+02] [ 9.58678308e-01 2.84484006e-01 2.17994664e-03 7.90715210e+01] [-2.27437071e-03 1.57781748e-06 9.99997414e-01 -5.47549947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:79.10, Z:-0.55 [[ 2.85599144e-01 -9.58348943e-01 6.57229903e-04 1.68106223e+02] [ 9.58346470e-01 2.85599900e-01 2.17732197e-03 7.90977710e+01] [-2.27433901e-03 8.01266576e-06 9.99997414e-01 -5.49127389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:79.12, Z:-0.55 [[ 2.86422547e-01 -9.58103175e-01 6.56778063e-04 1.68114023e+02] [ 9.58100700e-01 2.86423300e-01 2.17745826e-03 7.91247998e+01] [-2.27434621e-03 5.58638185e-06 9.99997414e-01 -5.48569268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:79.15, Z:-0.55 [[ 2.81621883e-01 -9.59525239e-01 6.56159821e-04 1.68112823e+02] [ 9.59522768e-01 2.81622647e-01 2.17764455e-03 7.91477600e+01] [-2.27429437e-03 1.63279294e-05 9.99997414e-01 -5.54444177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.13, Y:79.18, Z:-0.55 [[ 2.88796379e-01 -9.57390348e-01 6.10674327e-04 1.68128851e+02] [ 9.57387842e-01 2.88797020e-01 2.19130182e-03 7.91786588e+01] [-2.27429214e-03 -4.81878540e-05 9.99997413e-01 -5.50735198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:79.21, Z:-0.55 [[ 2.89754184e-01 -9.57100874e-01 6.55137608e-04 1.68136429e+02] [ 9.57098396e-01 2.89754925e-01 2.17792691e-03 7.92053274e+01] [-2.27432510e-03 -4.03228281e-06 9.99997414e-01 -5.51536599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:79.23, Z:-0.55 [[ 2.90377210e-01 -9.56912037e-01 6.54529498e-04 1.68144131e+02] [ 9.56909559e-01 2.90377948e-01 2.17810965e-03 7.92319618e+01] [-2.27432028e-03 -6.14787189e-06 9.99997414e-01 -5.51928645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.15, Y:79.26, Z:-0.55 [[ 2.91093351e-01 -9.56694430e-01 6.53925003e-04 1.68152594e+02] [ 9.56691951e-01 2.91094086e-01 2.17829112e-03 7.92579233e+01] [-2.27431269e-03 -8.48127712e-06 9.99997414e-01 -5.51155930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:79.28, Z:-0.55 [[ 2.91084376e-01 -9.56697162e-01 6.53287580e-04 1.68160888e+02] [ 9.56694681e-01 2.91085109e-01 2.17848228e-03 7.92842220e+01] [-2.27431010e-03 -9.12540064e-06 9.99997414e-01 -5.49631998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:79.31, Z:-0.56 [[ 2.83816220e-01 -9.58878474e-01 6.52837202e-04 1.68159081e+02] [ 9.58875999e-01 2.83816971e-01 2.17861723e-03 7.93053136e+01] [-2.27431545e-03 7.66301527e-06 9.99997414e-01 -5.55649420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.18, Y:79.34, Z:-0.55 [[ 2.91514172e-01 -9.56566320e-01 6.02549152e-04 1.68177976e+02] [ 9.56563807e-01 2.91514788e-01 2.19363920e-03 7.93369268e+01] [-2.27401336e-03 -6.31002026e-05 9.99997412e-01 -5.47369480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:79.36, Z:-0.55 [[ 2.91446015e-01 -9.56587056e-01 6.52155118e-04 1.68185617e+02] [ 9.56584574e-01 2.91446745e-01 2.17879116e-03 7.93630467e+01] [-2.27427190e-03 -1.11584744e-05 9.99997414e-01 -5.47592436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:79.39, Z:-0.55 [[ 2.91504853e-01 -9.56569128e-01 6.51494978e-04 1.68193314e+02] [ 9.56566646e-01 2.91505581e-01 2.17898853e-03 7.93885811e+01] [-2.27426758e-03 -1.19873656e-05 9.99997414e-01 -5.48062162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:79.42, Z:-0.55 [[ 2.91126019e-01 -9.56684492e-01 6.51046935e-04 1.68201279e+02] [ 9.56682010e-01 2.91126747e-01 2.17912239e-03 7.94158096e+01] [-2.27426977e-03 -1.15543367e-05 9.99997414e-01 -5.47496968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:79.44, Z:-0.56 [[ 2.82174706e-01 -9.59362816e-01 6.50419012e-04 1.68198202e+02] [ 9.59360340e-01 2.82175456e-01 2.17930980e-03 7.94371060e+01] [-2.27428106e-03 9.04010277e-06 9.99997414e-01 -5.55430298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:79.47, Z:-0.55 [[ 2.89450102e-01 -9.57192918e-01 5.97490550e-04 1.68217456e+02] [ 9.57190403e-01 2.89450711e-01 2.19504787e-03 7.94683875e+01] [-2.27402834e-03 -6.34446073e-05 9.99997412e-01 -5.47367658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.21, Y:79.49, Z:-0.56 [[ 2.79551075e-01 -9.60130603e-01 6.49517588e-04 1.68214249e+02] [ 9.60128129e-01 2.79551830e-01 2.17954349e-03 7.94896242e+01] [-2.27422023e-03 1.43263807e-05 9.99997414e-01 -5.55816715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:79.52, Z:-0.55 [[ 2.86827378e-01 -9.57982099e-01 5.94893064e-04 1.68234148e+02] [ 9.57979584e-01 2.86827989e-01 2.19577104e-03 7.95214236e+01] [-2.27414133e-03 -5.99118423e-05 9.99997412e-01 -5.47977426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:79.55, Z:-0.55 [[ 2.85221099e-01 -9.58461529e-01 6.49008330e-04 1.68242760e+02] [ 9.58459051e-01 2.85221837e-01 2.17965785e-03 7.95479313e+01] [-2.27422954e-03 3.63500709e-07 9.99997414e-01 -5.48070219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:79.57, Z:-0.56 [[ 2.73914472e-01 -9.61753836e-01 6.48385623e-04 1.68241419e+02] [ 9.61751366e-01 2.73915238e-01 2.17984307e-03 7.95701533e+01] [-2.27407514e-03 2.64951962e-05 9.99997414e-01 -5.56107917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:79.60, Z:-0.56 [[ 2.72873684e-01 -9.62049683e-01 6.00017345e-04 1.68249373e+02] [ 9.62047181e-01 2.72874342e-01 2.19419517e-03 7.95962420e+01] [-2.27465411e-03 -2.14931232e-05 9.99997413e-01 -5.56458937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:79.62, Z:-0.56 [[ 2.72576132e-01 -9.62134032e-01 5.96379149e-04 1.68258325e+02] [ 9.62131528e-01 2.72576784e-01 2.19527372e-03 7.96239076e+01] [-2.27470667e-03 -2.45840383e-05 9.99997413e-01 -5.57302074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:79.65, Z:-0.55 [[ 2.79445431e-01 -9.60161386e-01 6.02644827e-04 1.68276003e+02] [ 9.60158882e-01 2.79446079e-01 2.19341945e-03 7.96546097e+01] [-2.27444340e-03 -3.43062618e-05 9.99997413e-01 -5.51242316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:79.68, Z:-0.55 [[ 2.78750191e-01 -9.60363428e-01 6.46474439e-04 1.68283851e+02] [ 9.60360952e-01 2.78750941e-01 2.18042441e-03 7.96818744e+01] [-2.27420521e-03 1.30550877e-05 9.99997414e-01 -5.52676242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:79.70, Z:-0.56 [[ 2.70567294e-01 -9.62700848e-01 6.45859229e-04 1.68281793e+02] [ 9.62698379e-01 2.70568063e-01 2.18060662e-03 7.97045244e+01] [-2.27402072e-03 3.17668000e-05 9.99997414e-01 -5.61947503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:79.73, Z:-0.56 [[ 2.70034984e-01 -9.62850322e-01 6.04828278e-04 1.68288175e+02] [ 9.62847825e-01 2.70035661e-01 2.19275555e-03 7.97301115e+01] [-2.27462059e-03 -9.76311747e-06 9.99997413e-01 -5.62029405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:79.76, Z:-0.56 [[ 2.70154563e-01 -9.62816785e-01 5.91780814e-04 1.68296499e+02] [ 9.62814280e-01 2.70155210e-01 2.19661958e-03 7.97573640e+01] [-2.27481487e-03 -2.36517830e-05 9.99997412e-01 -5.61826004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:79.79, Z:-0.55 [[ 2.77864737e-01 -9.60620027e-01 5.93635636e-04 1.68315086e+02] [ 9.60617517e-01 2.77865368e-01 2.19607035e-03 7.97899882e+01] [-2.27453994e-03 -3.99537186e-05 9.99997412e-01 -5.53841668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:79.82, Z:-0.55 [[ 2.77521981e-01 -9.60719070e-01 6.47212458e-04 1.68322016e+02] [ 9.60716596e-01 2.77522735e-01 2.18016532e-03 7.98157806e+01] [-2.27414257e-03 1.67439506e-05 9.99997414e-01 -5.53824024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:79.84, Z:-0.55 [[ 2.77444776e-01 -9.60741369e-01 6.46552971e-04 1.68329510e+02] [ 9.60738895e-01 2.77445529e-01 2.18036088e-03 7.98416397e+01] [-2.27414613e-03 1.62388491e-05 9.99997414e-01 -5.53307066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:79.87, Z:-0.55 [[ 2.77355420e-01 -9.60767169e-01 6.45903142e-04 1.68337283e+02] [ 9.60764695e-01 2.77356172e-01 2.18055337e-03 7.98686125e+01] [-2.27414931e-03 1.57726382e-05 9.99997414e-01 -5.52096392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:79.89, Z:-0.55 [[ 2.77338820e-01 -9.60771962e-01 6.45277390e-04 1.68344800e+02] [ 9.60769487e-01 2.77339570e-01 2.18073853e-03 7.98944104e+01] [-2.27415339e-03 1.51593775e-05 9.99997414e-01 -5.51880721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:79.92, Z:-0.55 [[ 2.78021110e-01 -9.60574748e-01 6.44616661e-04 1.68352010e+02] [ 9.60572272e-01 2.78021857e-01 2.18093382e-03 7.99213828e+01] [-2.27416748e-03 1.28552495e-05 9.99997414e-01 -5.51811295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:79.95, Z:-0.55 [[ 2.78772925e-01 -9.60356830e-01 6.44000773e-04 1.68359612e+02] [ 9.60354354e-01 2.78773669e-01 2.18111567e-03 7.99483818e+01] [-2.27417979e-03 1.04329508e-05 9.99997414e-01 -5.52238466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:79.97, Z:-0.55 [[ 2.79563242e-01 -9.60127065e-01 6.43375403e-04 1.68366732e+02] [ 9.60124587e-01 2.79563982e-01 2.18130012e-03 7.99740768e+01] [-2.27418987e-03 7.90921031e-06 9.99997414e-01 -5.53019934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:80.00, Z:-0.56 [[ 2.72982128e-01 -9.62018890e-01 6.42919122e-04 1.68363627e+02] [ 9.62016417e-01 2.72982884e-01 2.18143460e-03 7.99953118e+01] [-2.27408721e-03 2.30060920e-05 9.99997414e-01 -5.59631422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:80.02, Z:-0.56 [[ 2.75132690e-01 -9.61406080e-01 5.93529677e-04 1.68369128e+02] [ 9.61403573e-01 2.75133328e-01 2.19598332e-03 8.00210595e+01] [-2.27453151e-03 -3.35652467e-05 9.99997413e-01 -5.59657089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:80.05, Z:-0.55 [[ 2.84607196e-01 -9.58644044e-01 5.83216969e-04 1.68388295e+02] [ 9.58641525e-01 2.84607786e-01 2.19901794e-03 8.00545620e+01] [-2.27406354e-03 -6.67603255e-05 9.99997412e-01 -5.52997967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:80.08, Z:-0.55 [[ 2.85326604e-01 -9.58430130e-01 6.43816238e-04 1.68395315e+02] [ 9.58427648e-01 2.85327330e-01 2.18113053e-03 8.00819704e+01] [-2.27415958e-03 -5.28328372e-06 9.99997414e-01 -5.52307402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:80.10, Z:-0.56 [[ 2.79166108e-01 -9.60242610e-01 6.43201497e-04 1.68392685e+02] [ 9.60240133e-01 2.79166849e-01 2.18131180e-03 8.01036545e+01] [-2.27414907e-03 8.67956606e-06 9.99997414e-01 -5.57696729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:80.13, Z:-0.56 [[ 2.80111427e-01 -9.59967310e-01 5.93462567e-04 1.68400771e+02] [ 9.59964800e-01 2.80112052e-01 2.19595300e-03 8.01311906e+01] [-2.27427911e-03 -4.54083534e-05 9.99997413e-01 -5.57450920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:80.16, Z:-0.55 [[ 2.87462695e-01 -9.57791651e-01 5.93477846e-04 1.68418856e+02] [ 9.57789136e-01 2.87463301e-01 2.19594850e-03 8.01628738e+01] [-2.27386424e-03 -6.28266412e-05 9.99997413e-01 -5.52575280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:80.18, Z:-0.56 [[ 2.80441324e-01 -9.59870955e-01 6.43295623e-04 1.68417250e+02] [ 9.59868476e-01 2.80442062e-01 2.18125626e-03 8.01844263e+01] [-2.27413168e-03 5.76479632e-06 9.99997414e-01 -5.58362974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:80.22, Z:-0.55 [[ 2.87064833e-01 -9.57910972e-01 5.93405327e-04 1.68436186e+02] [ 9.57908457e-01 2.87065440e-01 2.19593099e-03 8.02160024e+01] [-2.27385255e-03 -6.19465824e-05 9.99997413e-01 -5.53140514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:80.24, Z:-0.56 [[ 2.79786491e-01 -9.60062032e-01 6.43152423e-04 1.68435397e+02] [ 9.60059554e-01 2.79787230e-01 2.18126290e-03 8.02374796e+01] [-2.27409353e-03 7.17673369e-06 9.99997414e-01 -5.58272492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:80.27, Z:-0.55 [[ 2.85053757e-01 -9.58511346e-01 5.95654937e-04 1.68454294e+02] [ 9.58508834e-01 2.85054374e-01 2.19523131e-03 8.02686167e+01] [-2.27394817e-03 -5.48184143e-05 9.99997413e-01 -5.53664858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:80.30, Z:-0.55 [[ 2.84482487e-01 -9.58681022e-01 6.42841537e-04 1.68462804e+02] [ 9.58678540e-01 2.84483213e-01 2.18132532e-03 8.02953484e+01] [-2.27407281e-03 -4.27046452e-06 9.99997414e-01 -5.54139255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:80.32, Z:-0.55 [[ 2.83859337e-01 -9.58865717e-01 6.42231149e-04 1.68471081e+02] [ 9.58863236e-01 2.83860064e-01 2.18150501e-03 8.03217315e+01] [-2.27407415e-03 -3.42873004e-06 9.99997414e-01 -5.54106058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:80.35, Z:-0.55 [[ 2.83237928e-01 -9.59049459e-01 6.41602541e-04 1.68479336e+02] [ 9.59046977e-01 2.83238655e-01 2.18168988e-03 8.03475887e+01] [-2.27407514e-03 -2.61034376e-06 9.99997414e-01 -5.54815921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:80.37, Z:-0.56 [[ 2.82880580e-01 -9.59154923e-01 6.40942251e-04 1.68488899e+02] [ 9.59152441e-01 2.82881306e-01 2.18188384e-03 8.03744526e+01] [-2.27407521e-03 -2.45124260e-06 9.99997414e-01 -5.55091757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:80.40, Z:-0.56 [[ 2.82820376e-01 -9.59172677e-01 6.40331558e-04 1.68497458e+02] [ 9.59170195e-01 2.82821101e-01 2.18206305e-03 8.04011245e+01] [-2.27407454e-03 -2.94494719e-06 9.99997414e-01 -5.55439140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:80.43, Z:-0.56 [[ 2.82552281e-01 -9.59251687e-01 6.39722077e-04 1.68505432e+02] [ 9.59249205e-01 2.82553005e-01 2.18224172e-03 8.04285980e+01] [-2.27407445e-03 -2.94448152e-06 9.99997414e-01 -5.55503913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:80.45, Z:-0.56 [[ 2.74772115e-01 -9.61509166e-01 6.39112099e-04 1.68501550e+02] [ 9.61506689e-01 2.74772858e-01 2.18242035e-03 8.04487091e+01] [-2.27402783e-03 1.48423028e-05 9.99997414e-01 -5.62253570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:80.47, Z:-0.56 [[ 2.75433581e-01 -9.61319928e-01 5.82579844e-04 1.68509434e+02] [ 9.61317414e-01 2.75434193e-01 2.19899151e-03 8.04749616e+01] [-2.27439677e-03 -4.56319584e-05 9.99997413e-01 -5.61983930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:80.51, Z:-0.56 [[ 2.84727272e-01 -9.58608393e-01 5.74750991e-04 1.68531337e+02] [ 9.58605868e-01 2.84727842e-01 2.20128524e-03 8.05083178e+01] [-2.27381811e-03 -7.58062689e-05 9.99997412e-01 -5.55362771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:80.53, Z:-0.56 [[ 2.84946975e-01 -9.58543067e-01 6.41234080e-04 1.68539225e+02] [ 9.58540584e-01 2.84947696e-01 2.18174528e-03 8.05345371e+01] [-2.27401499e-03 -7.03282806e-06 9.99997414e-01 -5.55397629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:80.56, Z:-0.56 [[ 2.77881912e-01 -9.60615028e-01 6.40585948e-04 1.68535590e+02] [ 9.60612550e-01 2.77882651e-01 2.18193557e-03 8.05557325e+01] [-2.27400782e-03 9.03447318e-06 9.99997414e-01 -5.60940927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:80.58, Z:-0.56 [[ 2.79784442e-01 -9.60062658e-01 5.99209873e-04 1.68542780e+02] [ 9.60060151e-01 2.79785081e-01 2.19414461e-03 8.05797674e+01] [-2.27416629e-03 -3.86100051e-05 9.99997413e-01 -5.60667740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:80.61, Z:-0.56 [[ 2.81293885e-01 -9.59621493e-01 5.82643467e-04 1.68552471e+02] [ 9.59618976e-01 2.81294482e-01 2.19902620e-03 8.06070162e+01] [-2.27412720e-03 -5.94568970e-05 9.99997412e-01 -5.59672717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:80.64, Z:-0.55 [[ 2.88678975e-01 -9.57425767e-01 5.91498428e-04 1.68571545e+02] [ 9.57423250e-01 2.88679574e-01 2.19641802e-03 8.06390950e+01] [-2.27366072e-03 -6.77453558e-05 9.99997413e-01 -5.54447782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.58, Y:80.67, Z:-0.55 [[ 2.88785833e-01 -9.57393507e-01 6.44063368e-04 1.68580333e+02] [ 9.57391023e-01 2.88786551e-01 2.18089451e-03 8.06661682e+01] [-2.27397108e-03 -1.31909510e-05 9.99997414e-01 -5.53913395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:80.69, Z:-0.55 [[ 2.88644310e-01 -9.57436185e-01 6.43440308e-04 1.68588692e+02] [ 9.57433701e-01 2.88645027e-01 2.18107831e-03 8.06935107e+01] [-2.27396915e-03 -1.35044103e-05 9.99997414e-01 -5.53888621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:80.72, Z:-0.56 [[ 2.82131758e-01 -9.59375452e-01 6.42822714e-04 1.68587427e+02] [ 9.59372972e-01 2.82132490e-01 2.18126032e-03 8.07150120e+01] [-2.27400878e-03 1.30392838e-06 9.99997414e-01 -5.58139169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:80.75, Z:-0.55 [[ 2.88359654e-01 -9.57521987e-01 5.94907454e-04 1.68605360e+02] [ 9.57519473e-01 2.88360260e-01 2.19534367e-03 8.07468078e+01] [-2.27363750e-03 -6.34130700e-05 9.99997413e-01 -5.54460267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:80.77, Z:-0.55 [[ 2.88087818e-01 -9.57603778e-01 6.42649313e-04 1.68613407e+02] [ 9.57601294e-01 2.88088535e-01 2.18127794e-03 8.07733794e+01] [-2.27393990e-03 -1.29977902e-05 9.99997415e-01 -5.54716982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:80.79, Z:-0.56 [[ 2.81919185e-01 -9.59437940e-01 6.42028149e-04 1.68612627e+02] [ 9.59435460e-01 2.81919916e-01 2.18146076e-03 8.07947865e+01] [-2.27397674e-03 9.88934178e-07 9.99997415e-01 -5.58587670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:80.82, Z:-0.56 [[ 2.82254645e-01 -9.59339335e-01 5.96817219e-04 1.68621026e+02] [ 9.59336825e-01 2.82255272e-01 2.19475756e-03 8.08222809e+01] [-2.27397206e-03 -4.69317785e-05 9.99997413e-01 -5.58041867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:80.85, Z:-0.55 [[ 2.87971738e-01 -9.57638722e-01 5.96653571e-04 1.68637271e+02] [ 9.57636209e-01 2.87972349e-01 2.19480567e-03 8.08532515e+01] [-2.27365063e-03 -6.06649397e-05 9.99997413e-01 -5.54312602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:80.88, Z:-0.55 [[ 2.87253985e-01 -9.57854235e-01 6.42690680e-04 1.68644635e+02] [ 9.57851751e-01 2.87254703e-01 2.18124110e-03 8.08800458e+01] [-2.27392694e-03 -1.09678029e-05 9.99997415e-01 -5.54129252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:80.91, Z:-0.55 [[ 2.86826694e-01 -9.57982273e-01 6.42074401e-04 1.68652548e+02] [ 9.57979789e-01 2.86827412e-01 2.18142249e-03 8.09073063e+01] [-2.27392861e-03 -1.05959009e-05 9.99997415e-01 -5.53878565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:80.93, Z:-0.55 [[ 2.86386328e-01 -9.58114012e-01 6.41451191e-04 1.68660407e+02] [ 9.58111528e-01 2.86387046e-01 2.18160573e-03 8.09346339e+01] [-2.27393033e-03 -1.02002738e-05 9.99997415e-01 -5.54022315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:80.96, Z:-0.55 [[ 2.85525986e-01 -9.58370753e-01 6.40825138e-04 1.68667847e+02] [ 9.58368270e-01 2.85526705e-01 2.18178961e-03 8.09609856e+01] [-2.27393604e-03 -8.81115066e-06 9.99997415e-01 -5.54507419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:80.98, Z:-0.56 [[ 2.77908637e-01 -9.60607297e-01 6.40164647e-04 1.68664581e+02] [ 9.60604819e-01 2.77909374e-01 2.18198339e-03 8.09814378e+01] [-2.27393692e-03 8.55321575e-06 9.99997415e-01 -5.59989338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:81.01, Z:-0.56 [[ 2.85563326e-01 -9.58359666e-01 5.81429170e-04 1.68683191e+02] [ 9.58357145e-01 2.85563909e-01 2.19916336e-03 8.10144910e+01] [-2.27362465e-03 -7.07836061e-05 9.99997413e-01 -5.56347161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:81.04, Z:-0.56 [[ 2.85494957e-01 -9.58379998e-01 6.40242765e-04 1.68690496e+02] [ 9.58377514e-01 2.85495674e-01 2.18190553e-03 8.10419661e+01] [-2.27388115e-03 -9.32875467e-06 9.99997415e-01 -5.57134974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:81.07, Z:-0.56 [[ 2.85554790e-01 -9.58362172e-01 6.39630879e-04 1.68697917e+02] [ 9.58359688e-01 2.85555506e-01 2.18208489e-03 8.10694819e+01] [-2.27387773e-03 -1.01083414e-05 9.99997415e-01 -5.57525177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:81.10, Z:-0.56 [[ 2.85823707e-01 -9.58282004e-01 6.39001629e-04 1.68704846e+02] [ 9.58279520e-01 2.85824421e-01 2.18226914e-03 8.10953880e+01] [-2.27387152e-03 -1.14020830e-05 9.99997415e-01 -5.58393928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:81.12, Z:-0.56 [[ 2.86126556e-01 -9.58191623e-01 6.38338286e-04 1.68712114e+02] [ 9.58189138e-01 2.86127268e-01 2.18246316e-03 8.11220553e+01] [-2.27386391e-03 -1.28118570e-05 9.99997415e-01 -5.58831272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:81.15, Z:-0.56 [[ 2.87073453e-01 -9.57908360e-01 6.37719310e-04 1.68719142e+02] [ 9.57905873e-01 2.87074161e-01 2.18264401e-03 8.11497883e+01] [-2.27384568e-03 -1.57040808e-05 9.99997415e-01 -5.60096969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:81.18, Z:-0.56 [[ 2.87305404e-01 -9.57838817e-01 6.37092023e-04 1.68726225e+02] [ 9.57836330e-01 2.87306109e-01 2.18282710e-03 8.11757764e+01] [-2.27383695e-03 -1.69081341e-05 9.99997415e-01 -5.61298520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:81.20, Z:-0.56 [[ 2.87139913e-01 -9.57888441e-01 6.36430319e-04 1.68733598e+02] [ 9.57885954e-01 2.87140618e-01 2.18302001e-03 8.12025629e+01] [-2.27383463e-03 -1.72045116e-05 9.99997415e-01 -5.61037694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:81.23, Z:-0.56 [[ 2.86808816e-01 -9.57987630e-01 6.35812022e-04 1.68741152e+02] [ 9.57985142e-01 2.86809521e-01 2.18320007e-03 8.12292499e+01] [-2.27383560e-03 -1.70625582e-05 9.99997415e-01 -5.60533994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:81.25, Z:-0.56 [[ 2.85834232e-01 -9.58278868e-01 6.35180319e-04 1.68748555e+02] [ 9.58276380e-01 2.85834938e-01 2.18338385e-03 8.12548236e+01] [-2.27384733e-03 -1.54075488e-05 9.99997415e-01 -5.60377116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:81.28, Z:-0.56 [[ 2.84961864e-01 -9.58538645e-01 6.34515902e-04 1.68755943e+02] [ 9.58536158e-01 2.84962570e-01 2.18357691e-03 8.12811958e+01] [-2.27385614e-03 -1.40297128e-05 9.99997415e-01 -5.60547299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:81.31, Z:-0.56 [[ 2.84026837e-01 -9.58816121e-01 6.33859675e-04 1.68763444e+02] [ 9.58813634e-01 2.84027544e-01 2.18376739e-03 8.13073365e+01] [-2.27386499e-03 -1.24952452e-05 9.99997415e-01 -5.60728348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:81.33, Z:-0.56 [[ 2.82414524e-01 -9.59292258e-01 6.33216422e-04 1.68771766e+02] [ 9.59289772e-01 2.82415234e-01 2.18395390e-03 8.13344088e+01] [-2.27388003e-03 -9.34226403e-06 9.99997415e-01 -5.59763751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:81.36, Z:-0.56 [[ 2.81430259e-01 -9.59581476e-01 6.32596338e-04 1.68779450e+02] [ 9.59578990e-01 2.81430970e-01 2.18413349e-03 8.13604674e+01] [-2.27388624e-03 -7.65509947e-06 9.99997415e-01 -5.59476274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:81.39, Z:-0.56 [[ 2.80903343e-01 -9.59735856e-01 6.31943471e-04 1.68787008e+02] [ 9.59733370e-01 2.80904054e-01 2.18432237e-03 8.13862209e+01] [-2.27388798e-03 -7.08622069e-06 9.99997415e-01 -5.59614302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:81.41, Z:-0.56 [[ 2.80006767e-01 -9.59997819e-01 6.31299364e-04 1.68794674e+02] [ 9.59995333e-01 2.80007479e-01 2.18450851e-03 8.14134220e+01] [-2.27389195e-03 -5.63272368e-06 9.99997415e-01 -5.58585958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:81.44, Z:-0.56 [[ 2.79250888e-01 -9.60217967e-01 6.30671303e-04 1.68801693e+02] [ 9.60215482e-01 2.79251600e-01 2.18468982e-03 8.14394761e+01] [-2.27389439e-03 -4.49622327e-06 9.99997415e-01 -5.58720410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:81.46, Z:-0.57 [[ 2.69644427e-01 -9.62959753e-01 6.30011730e-04 1.68793909e+02] [ 9.62957275e-01 2.69645162e-01 2.18488001e-03 8.14587439e+01] [-2.27383113e-03 1.75336606e-05 9.99997415e-01 -5.66198924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:81.49, Z:-0.56 [[ 2.73699186e-01 -9.61815183e-01 5.55808709e-04 1.68807060e+02] [ 9.61812655e-01 2.73699742e-01 2.20618983e-03 8.14883233e+01] [-2.27407158e-03 -6.92485105e-05 9.99997412e-01 -5.64511300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:81.52, Z:-0.56 [[ 2.73875840e-01 -9.61764878e-01 5.85398215e-04 1.68813741e+02] [ 9.61762368e-01 2.73876463e-01 2.19767052e-03 8.15150644e+01] [-2.27396912e-03 -3.88748870e-05 9.99997414e-01 -5.64871810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:81.55, Z:-0.56 [[ 2.80735537e-01 -9.59784986e-01 5.81987968e-04 1.68830462e+02] [ 9.59782470e-01 2.80736134e-01 2.19865166e-03 8.15468018e+01] [-2.27361790e-03 -5.86578039e-05 9.99997414e-01 -5.59755912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.84, Y:81.57, Z:-0.56 [[ 2.81077691e-01 -9.59684810e-01 6.29939411e-04 1.68837130e+02] [ 9.59682323e-01 2.81078397e-01 2.18482607e-03 8.15741589e+01] [-2.27380676e-03 -9.56415043e-06 9.99997415e-01 -5.59921999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.84, Y:81.60, Z:-0.56 [[ 2.81206918e-01 -9.59646952e-01 6.29319919e-04 1.68844563e+02] [ 9.59644465e-01 2.81207622e-01 2.18500450e-03 8.16007803e+01] [-2.27380247e-03 -1.05150036e-05 9.99997415e-01 -5.59821982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:81.63, Z:-0.56 [[ 2.81542783e-01 -9.59548470e-01 6.28698005e-04 1.68851714e+02] [ 9.59545982e-01 2.81543484e-01 2.18518343e-03 8.16272136e+01] [-2.27379524e-03 -1.19579788e-05 9.99997415e-01 -5.60138679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:81.65, Z:-0.56 [[ 2.82005881e-01 -9.59412471e-01 6.28042728e-04 1.68858934e+02] [ 9.59409982e-01 2.82006580e-01 2.18537175e-03 8.16547540e+01] [-2.27378509e-03 -1.37372214e-05 9.99997415e-01 -5.59885074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:81.68, Z:-0.56 [[ 2.83866387e-01 -9.58863640e-01 6.27418007e-04 1.68865685e+02] [ 9.58861150e-01 2.83867080e-01 2.18555109e-03 8.16823332e+01] [-2.27374879e-03 -1.87977396e-05 9.99997415e-01 -5.59551182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:81.70, Z:-0.57 [[ 2.79682250e-01 -9.60092416e-01 6.26798156e-04 1.68863364e+02] [ 9.60089928e-01 2.79682952e-01 2.18572884e-03 8.17030852e+01] [-2.27380644e-03 -9.52696339e-06 9.99997415e-01 -5.65629407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:81.73, Z:-0.56 [[ 2.86832238e-01 -9.57980650e-01 5.84515066e-04 1.68879839e+02] [ 9.57978131e-01 2.86832825e-01 2.19783679e-03 8.17346279e+01] [-2.27314322e-03 -7.04577951e-05 9.99997414e-01 -5.59606208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:81.76, Z:-0.57 [[ 2.81846192e-01 -9.59459395e-01 6.27121794e-04 1.68877906e+02] [ 9.59456906e-01 2.81846890e-01 2.18561156e-03 8.17566019e+01] [-2.27375787e-03 -1.43099607e-05 9.99997415e-01 -5.65020713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:81.79, Z:-0.56 [[ 2.88833063e-01 -9.57379301e-01 5.80333479e-04 1.68894106e+02] [ 9.57376778e-01 2.88833635e-01 2.19899736e-03 8.17877995e+01] [-2.27289438e-03 -7.95453446e-05 9.99997414e-01 -5.60830314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:81.82, Z:-0.56 [[ 2.88897605e-01 -9.57359797e-01 6.26507289e-04 1.68900665e+02] [ 9.57357303e-01 2.88898282e-01 2.18576251e-03 8.18150464e+01] [-2.27355804e-03 -3.16702259e-05 9.99997415e-01 -5.60535127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.91, Y:81.84, Z:-0.56 [[ 2.88202672e-01 -9.57569229e-01 6.25878868e-04 1.68907855e+02] [ 9.57566734e-01 2.88203350e-01 2.18594244e-03 8.18416121e+01] [-2.27357161e-03 -3.06736687e-05 9.99997415e-01 -5.61042992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:81.87, Z:-0.56 [[ 2.86817219e-01 -9.57985121e-01 6.25420396e-04 1.68915687e+02] [ 9.57982627e-01 2.86817899e-01 2.18607361e-03 8.18686848e+01] [-2.27360775e-03 -2.78616785e-05 9.99997415e-01 -5.59693042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:81.89, Z:-0.56 [[ 2.85104303e-01 -9.58496294e-01 6.24791569e-04 1.68923492e+02] [ 9.58493801e-01 2.85104986e-01 2.18625331e-03 8.18949783e+01] [-2.27364689e-03 -2.44513802e-05 9.99997415e-01 -5.59194547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:81.92, Z:-0.56 [[ 2.82805387e-01 -9.59177107e-01 6.24127535e-04 1.68931469e+02] [ 9.59174616e-01 2.82806075e-01 2.18644287e-03 8.19222195e+01] [-2.27369300e-03 -1.96905331e-05 9.99997415e-01 -5.58374176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:81.95, Z:-0.56 [[ 2.77675797e-01 -9.60674640e-01 6.23505438e-04 1.68939465e+02] [ 9.60672151e-01 2.77676497e-01 2.18662025e-03 8.19490086e+01] [-2.27376343e-03 -8.18721108e-06 9.99997415e-01 -5.56931880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:81.97, Z:-0.56 [[ 2.74646796e-01 -9.61544980e-01 6.22880516e-04 1.68946755e+02] [ 9.61542494e-01 2.74647502e-01 2.18679825e-03 8.19747209e+01] [-2.27377746e-03 -1.67104954e-06 9.99997415e-01 -5.56651772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:82.00, Z:-0.56 [[ 2.71260384e-01 -9.62505801e-01 6.22222094e-04 1.68954189e+02] [ 9.62503316e-01 2.71261098e-01 2.18698558e-03 8.20015114e+01] [-2.27377096e-03 5.64827888e-06 9.99997415e-01 -5.57045594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.96, Y:82.03, Z:-0.56 [[ 2.68198171e-01 -9.63363563e-01 6.21607359e-04 1.68961940e+02] [ 9.63361081e-01 2.68198891e-01 2.18716030e-03 8.20285648e+01] [-2.27374494e-03 1.22399476e-05 9.99997415e-01 -5.56744607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:82.05, Z:-0.56 [[ 2.64961467e-01 -9.64258801e-01 6.20977356e-04 1.68969423e+02] [ 9.64256320e-01 2.64962194e-01 2.18733915e-03 8.20549673e+01] [-2.27369655e-03 1.92207486e-05 9.99997415e-01 -5.57293342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:82.08, Z:-0.56 [[ 2.58387908e-01 -9.66041047e-01 6.20313725e-04 1.68977538e+02] [ 9.66038571e-01 2.58388650e-01 2.18752734e-03 8.20819214e+01] [-2.27352322e-03 3.40163722e-05 9.99997415e-01 -5.58370952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:82.11, Z:-0.56 [[ 2.58115647e-01 -9.66113828e-01 6.19696888e-04 1.68985266e+02] [ 9.66111352e-01 2.58116389e-01 2.18770206e-03 8.21094638e+01] [-2.27352314e-03 3.40160636e-05 9.99997415e-01 -5.58435716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:82.14, Z:-0.56 [[ 2.54940094e-01 -9.66956651e-01 6.19080297e-04 1.68993208e+02] [ 9.66954177e-01 2.54940843e-01 2.18787653e-03 8.21363975e+01] [-2.27341062e-03 4.08448291e-05 9.99997415e-01 -5.59206450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:82.16, Z:-0.56 [[ 2.51983717e-01 -9.67731277e-01 6.18457411e-04 1.69000612e+02] [ 9.67728804e-01 2.51984472e-01 2.18805259e-03 8.21627778e+01] [-2.27328859e-03 4.71454248e-05 9.99997415e-01 -5.60282940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:82.19, Z:-0.56 [[ 2.47588670e-01 -9.68865042e-01 6.17800896e-04 1.69008351e+02] [ 9.68862572e-01 2.47589434e-01 2.18823795e-03 8.21896725e+01] [-2.27306822e-03 5.67812415e-05 9.99997415e-01 -5.61125113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:82.22, Z:-0.56 [[ 2.45982078e-01 -9.69274180e-01 6.17177987e-04 1.69015591e+02] [ 9.69271712e-01 2.45982845e-01 2.18841362e-03 8.22164736e+01] [-2.27298801e-03 5.99026348e-05 9.99997415e-01 -5.61725893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:82.24, Z:-0.56 [[ 2.44946576e-01 -9.69536381e-01 6.16553250e-04 1.69022636e+02] [ 9.69533913e-01 2.44947344e-01 2.18858962e-03 8.22428630e+01] [-2.27294034e-03 6.16817524e-05 9.99997415e-01 -5.62808883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:82.27, Z:-0.56 [[ 2.44468338e-01 -9.69657080e-01 6.16098473e-04 1.69030127e+02] [ 9.69654612e-01 2.44469106e-01 2.18871763e-03 8.22703108e+01] [-2.27292259e-03 6.23305644e-05 9.99997415e-01 -5.63263089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:82.29, Z:-0.57 [[ 2.39437368e-01 -9.70911617e-01 6.15475738e-04 1.69030964e+02] [ 9.70909152e-01 2.39438148e-01 2.18889273e-03 8.22943359e+01] [-2.27258975e-03 7.34683124e-05 9.99997415e-01 -5.68468191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:82.32, Z:-0.57 [[ 2.38358522e-01 -9.71177056e-01 5.83943217e-04 1.69035534e+02] [ 9.71174570e-01 2.38359233e-01 2.19775170e-03 8.23194279e+01] [-2.27359429e-03 4.32579564e-05 9.99997414e-01 -5.70529102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:82.35, Z:-0.56 [[ 2.48471392e-01 -9.68639069e-01 5.66399305e-04 1.69051898e+02] [ 9.68636565e-01 2.48472038e-01 2.20267461e-03 8.23514356e+01] [-2.27433107e-03 1.33345015e-06 9.99997414e-01 -5.63589734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:82.38, Z:-0.56 [[ 2.50352174e-01 -9.68154642e-01 6.15641683e-04 1.69058244e+02] [ 9.68152169e-01 2.50352926e-01 2.18882441e-03 8.23784451e+01] [-2.27324821e-03 4.80578822e-05 9.99997415e-01 -5.63545215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:82.41, Z:-0.56 [[ 2.52467676e-01 -9.67605134e-01 6.15023722e-04 1.69064506e+02] [ 9.67602658e-01 2.52468421e-01 2.18899803e-03 8.24054020e+01] [-2.27335980e-03 4.24473431e-05 9.99997415e-01 -5.63221387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:82.43, Z:-0.56 [[ 2.54620074e-01 -9.67040971e-01 6.14401053e-04 1.69070696e+02] [ 9.67038494e-01 2.54620813e-01 2.18917279e-03 8.24327009e+01] [-2.27345907e-03 3.67421327e-05 9.99997415e-01 -5.63458941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:82.46, Z:-0.56 [[ 2.58693085e-01 -9.65959373e-01 6.13781170e-04 1.69076505e+02] [ 9.65956893e-01 2.58693812e-01 2.18934657e-03 8.24603593e+01] [-2.27360123e-03 2.65173338e-05 9.99997415e-01 -5.62590774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:82.49, Z:-0.56 [[ 2.60125192e-01 -9.65574704e-01 6.13159935e-04 1.69083181e+02] [ 9.65572222e-01 2.60125913e-01 2.18952054e-03 8.24874042e+01] [-2.27364444e-03 2.25007507e-05 9.99997415e-01 -5.61431596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.09, Y:82.51, Z:-0.56 [[ 2.61367790e-01 -9.65239091e-01 6.12524327e-04 1.69089648e+02] [ 9.65236608e-01 2.61368507e-01 2.18969834e-03 8.25141401e+01] [-2.27367701e-03 1.89142877e-05 9.99997415e-01 -5.61050002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:82.54, Z:-0.56 [[ 2.62562099e-01 -9.64914903e-01 6.11854151e-04 1.69096053e+02] [ 9.64912418e-01 2.62562811e-01 2.18988559e-03 8.25408785e+01] [-2.27370339e-03 1.54047128e-05 9.99997415e-01 -5.60511402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:82.57, Z:-0.56 [[ 2.64452529e-01 -9.64398510e-01 6.11202360e-04 1.69100970e+02] [ 9.64396023e-01 2.64453235e-01 2.19006749e-03 8.25686086e+01] [-2.27373227e-03 1.02722391e-05 9.99997415e-01 -5.59564339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:82.59, Z:-0.57 [[ 2.58926701e-01 -9.65896781e-01 6.10574741e-04 1.69098821e+02] [ 9.65894298e-01 2.58927420e-01 2.19024245e-03 8.25917865e+01] [-2.27364267e-03 2.26384082e-05 9.99997415e-01 -5.65911747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:82.62, Z:-0.56 [[ 2.65249973e-01 -9.64179510e-01 5.69157014e-04 1.69113473e+02] [ 9.64176997e-01 2.65250582e-01 2.20175700e-03 8.26232989e+01] [-2.27385822e-03 -3.52478854e-05 9.99997414e-01 -5.60890580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:82.65, Z:-0.57 [[ 2.59402716e-01 -9.65769050e-01 6.10049971e-04 1.69112724e+02] [ 9.65766567e-01 2.59403432e-01 2.19036771e-03 8.26468290e+01] [-2.27363840e-03 2.09785341e-05 9.99997415e-01 -5.66838361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:82.68, Z:-0.56 [[ 2.64662941e-01 -9.64340810e-01 5.74407428e-04 1.69126915e+02] [ 9.64338300e-01 2.64663563e-01 2.20026482e-03 8.26768777e+01] [-2.27382987e-03 -2.84054747e-05 9.99997414e-01 -5.62365267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:82.70, Z:-0.56 [[ 2.62833713e-01 -9.64840955e-01 6.09202808e-04 1.69134319e+02] [ 9.64838468e-01 2.62834419e-01 2.19058822e-03 8.27043757e+01] [-2.27368869e-03 1.20218683e-05 9.99997415e-01 -5.63097541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:82.73, Z:-0.57 [[ 2.55153347e-01 -9.66900408e-01 6.08580842e-04 1.69132858e+02] [ 9.66897927e-01 2.55154071e-01 2.19076100e-03 8.27260665e+01] [-2.27352958e-03 2.94555534e-05 9.99997415e-01 -5.69874043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.15, Y:82.76, Z:-0.56 [[ 2.61092861e-01 -9.65313525e-01 5.62664386e-04 1.69149470e+02] [ 9.65311011e-01 2.61093465e-01 2.20348013e-03 8.27579611e+01] [-2.27395717e-03 -3.21668039e-05 9.99997414e-01 -5.63506052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:82.79, Z:-0.56 [[ 2.60505133e-01 -9.65472271e-01 6.08108542e-04 1.69156634e+02] [ 9.65469785e-01 2.60505842e-01 2.19086641e-03 8.27852452e+01] [-2.27363660e-03 1.63784774e-05 9.99997415e-01 -5.63356430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:82.81, Z:-0.56 [[ 2.60656803e-01 -9.65431335e-01 6.07472553e-04 1.69163584e+02] [ 9.65428849e-01 2.60657510e-01 2.19104274e-03 8.28114345e+01] [-2.27364360e-03 1.53613308e-05 9.99997415e-01 -5.63690013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:82.84, Z:-0.56 [[ 2.61388252e-01 -9.65233554e-01 6.06801219e-04 1.69171110e+02] [ 9.65231067e-01 2.61388956e-01 2.19122865e-03 8.28385741e+01] [-2.27365856e-03 1.29419605e-05 9.99997415e-01 -5.63543439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:82.86, Z:-0.56 [[ 2.62594026e-01 -9.64906218e-01 6.06176063e-04 1.69178284e+02] [ 9.64903730e-01 2.62594725e-01 2.19140158e-03 8.28643335e+01] [-2.27367565e-03 9.45258126e-06 9.99997415e-01 -5.64029445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:82.89, Z:-0.56 [[ 2.63829654e-01 -9.64569099e-01 6.05516766e-04 1.69186022e+02] [ 9.64566609e-01 2.63830349e-01 2.19158374e-03 8.28916989e+01] [-2.27368765e-03 5.85647459e-06 9.99997415e-01 -5.63872248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:82.92, Z:-0.57 [[ 2.62114664e-01 -9.65036547e-01 6.04877586e-04 1.69188342e+02] [ 9.65034058e-01 2.62115362e-01 2.19176014e-03 8.29162302e+01] [-2.27367634e-03 9.23499898e-06 9.99997415e-01 -5.70184425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:82.94, Z:-0.57 [[ 2.62270953e-01 -9.64994101e-01 5.76688480e-04 1.69194058e+02] [ 9.64991594e-01 2.62271587e-01 2.19952416e-03 8.29419815e+01] [-2.27377684e-03 -2.03717633e-05 9.99997415e-01 -5.72142936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:82.97, Z:-0.57 [[ 2.65425563e-01 -9.64131190e-01 5.64693721e-04 1.69203955e+02] [ 9.64128674e-01 2.65426161e-01 2.20282712e-03 8.29704412e+01] [-2.27369882e-03 -4.02492223e-05 9.99997414e-01 -5.71063374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:83.00, Z:-0.57 [[ 2.71641936e-01 -9.62398216e-01 5.76464086e-04 1.69217631e+02] [ 9.62395703e-01 2.71642545e-01 2.19958480e-03 8.30004550e+01] [-2.27346866e-03 -4.27129164e-05 9.99997415e-01 -5.66397316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:83.03, Z:-0.57 [[ 2.73105779e-01 -9.61983819e-01 6.04421850e-04 1.69225355e+02] [ 9.61981322e-01 2.73106447e-01 2.19187530e-03 8.30269733e+01] [-2.27362007e-03 -1.71712793e-05 9.99997415e-01 -5.66038421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:83.05, Z:-0.56 [[ 2.75201916e-01 -9.61386260e-01 6.03796821e-04 1.69234025e+02] [ 9.61383761e-01 2.75202578e-01 2.19204746e-03 8.30533613e+01] [-2.27357075e-03 -2.27752025e-05 9.99997415e-01 -5.64920724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:83.08, Z:-0.56 [[ 2.75443707e-01 -9.61317014e-01 6.03168636e-04 1.69241883e+02] [ 9.61314514e-01 2.75444366e-01 2.19222030e-03 8.30788810e+01] [-2.27355807e-03 -2.39985204e-05 9.99997415e-01 -5.64385955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:83.10, Z:-0.56 [[ 2.75222747e-01 -9.61380298e-01 6.02506236e-04 1.69250034e+02] [ 9.61377798e-01 2.75223405e-01 2.19240234e-03 8.31047353e+01] [-2.27355623e-03 -2.41628753e-05 9.99997415e-01 -5.63967069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:83.13, Z:-0.57 [[ 2.69056401e-01 -9.63124234e-01 6.01848966e-04 1.69251024e+02] [ 9.63121739e-01 2.69057074e-01 2.19258275e-03 8.31275642e+01] [-2.27366131e-03 -1.02746023e-05 9.99997415e-01 -5.68651781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:83.15, Z:-0.57 [[ 2.67066940e-01 -9.63677816e-01 5.62721764e-04 1.69260163e+02] [ 9.63675298e-01 2.67067529e-01 2.20329478e-03 8.31527293e+01] [-2.27355101e-03 -4.61461307e-05 9.99997414e-01 -5.68159502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:83.18, Z:-0.56 [[ 2.71680009e-01 -9.62387479e-01 5.59872445e-04 1.69277136e+02] [ 9.62384957e-01 2.71680579e-01 2.20407413e-03 8.31838648e+01] [-2.27327981e-03 -5.99900587e-05 9.99997414e-01 -5.62859154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:83.21, Z:-0.56 [[ 2.70360233e-01 -9.62759048e-01 6.00863552e-04 1.69285883e+02] [ 9.62756550e-01 2.70360900e-01 2.19284210e-03 8.32101329e+01] [-2.27362858e-03 -1.43719805e-05 9.99997415e-01 -5.62952406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:83.24, Z:-0.56 [[ 2.68808287e-01 -9.63193514e-01 6.00234509e-04 1.69294610e+02] [ 9.63191017e-01 2.68808957e-01 2.19301427e-03 8.32360692e+01] [-2.27364553e-03 -1.13599232e-05 9.99997415e-01 -5.63037421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:83.26, Z:-0.56 [[ 2.67348900e-01 -9.63599609e-01 5.99571697e-04 1.69303112e+02] [ 9.63597113e-01 2.67349572e-01 2.19319547e-03 8.32616110e+01] [-2.27365753e-03 -8.60284047e-06 9.99997415e-01 -5.63461913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:83.29, Z:-0.56 [[ 2.65836592e-01 -9.64017919e-01 5.98922231e-04 1.69311557e+02] [ 9.64015424e-01 2.65837266e-01 2.19337281e-03 8.32882983e+01] [-2.27366654e-03 -5.70848429e-06 9.99997415e-01 -5.63952498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:83.31, Z:-0.57 [[ 2.63351387e-01 -9.64699792e-01 5.98306530e-04 1.69320393e+02] [ 9.64697298e-01 2.63352067e-01 2.19354075e-03 8.33134596e+01] [-2.27367357e-03 -4.87307459e-07 9.99997415e-01 -5.65644468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:83.34, Z:-0.57 [[ 2.61847027e-01 -9.65109205e-01 5.97857845e-04 1.69328740e+02] [ 9.65106712e-01 2.61847710e-01 2.19366303e-03 8.33405404e+01] [-2.27367209e-03 2.59247464e-06 9.99997415e-01 -5.65971760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:83.37, Z:-0.57 [[ 2.60180201e-01 -9.65559893e-01 5.97244978e-04 1.69337389e+02] [ 9.65557400e-01 2.60180886e-01 2.19382988e-03 8.33678119e+01] [-2.27366587e-03 5.88320957e-06 9.99997415e-01 -5.66345480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:83.39, Z:-0.57 [[ 2.52892787e-01 -9.67494125e-01 5.96629450e-04 1.69337887e+02] [ 9.67491638e-01 2.52893490e-01 2.19399727e-03 8.33903379e+01] [-2.27356317e-03 2.23879200e-05 9.99997415e-01 -5.71810912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:83.42, Z:-0.57 [[ 2.56993489e-01 -9.66412975e-01 5.56023997e-04 1.69354579e+02] [ 9.66410459e-01 2.56994089e-01 2.20501446e-03 8.34213963e+01] [-2.27384946e-03 -2.93269532e-05 9.99997414e-01 -5.66612056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:83.45, Z:-0.57 [[ 2.55490512e-01 -9.66811379e-01 5.96568758e-04 1.69362274e+02] [ 9.66808890e-01 2.55491208e-01 2.19398992e-03 8.34480949e+01] [-2.27359249e-03 1.62243716e-05 9.99997415e-01 -5.66366112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:83.47, Z:-0.57 [[ 2.49417950e-01 -9.68395751e-01 5.95951380e-04 1.69362631e+02] [ 9.68393266e-01 2.49418660e-01 2.19415760e-03 8.34724466e+01] [-2.27345430e-03 2.98530125e-05 9.99997415e-01 -5.70829176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.38, Y:83.50, Z:-0.57 [[ 2.53337975e-01 -9.67377667e-01 5.65084130e-04 1.69375550e+02] [ 9.67375160e-01 2.53338605e-01 2.20252031e-03 8.35022250e+01] [-2.27382658e-03 -1.13336836e-05 9.99997415e-01 -5.66298564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.38, Y:83.53, Z:-0.57 [[ 2.52224297e-01 -9.67668616e-01 5.95294695e-04 1.69382091e+02] [ 9.67666128e-01 2.52224999e-01 2.19432453e-03 8.35289911e+01] [-2.27352719e-03 2.25845496e-05 9.99997415e-01 -5.66376979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.38, Y:83.55, Z:-0.57 [[ 2.46360596e-01 -9.69178055e-01 5.94623281e-04 1.69381755e+02] [ 9.69175572e-01 2.46361311e-01 2.19450646e-03 8.35521806e+01] [-2.27335967e-03 3.56544377e-05 9.99997415e-01 -5.70670144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:83.58, Z:-0.57 [[ 2.50057239e-01 -9.68230895e-01 5.58177487e-04 1.69394615e+02] [ 9.68228385e-01 2.50057862e-01 2.20435982e-03 8.35827117e+01] [-2.27390595e-03 -1.07728437e-05 9.99997415e-01 -5.65559050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:83.61, Z:-0.56 [[ 2.49086442e-01 -9.68481074e-01 5.94120767e-04 1.69401402e+02] [ 9.68478588e-01 2.49087149e-01 2.19462941e-03 8.36100163e+01] [-2.27344489e-03 2.87408107e-05 9.99997415e-01 -5.64970182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:83.64, Z:-0.56 [[ 2.47937997e-01 -9.68775721e-01 5.93500863e-04 1.69407917e+02] [ 9.68773235e-01 2.47938706e-01 2.19479704e-03 8.36378428e+01] [-2.27341792e-03 3.07941699e-05 9.99997415e-01 -5.64456205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:83.66, Z:-0.57 [[ 2.43550039e-01 -9.69888152e-01 5.92874305e-04 1.69409566e+02] [ 9.69885669e-01 2.43550757e-01 2.19496627e-03 8.36625940e+01] [-2.27326677e-03 4.04361709e-05 9.99997415e-01 -5.67471708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:83.69, Z:-0.56 [[ 2.46558522e-01 -9.69127738e-01 5.67369204e-04 1.69420908e+02] [ 9.69125237e-01 2.46559175e-01 2.20184320e-03 8.36917494e+01] [-2.27375740e-03 6.96860912e-06 9.99997415e-01 -5.64698512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:83.72, Z:-0.57 [[ 2.46214630e-01 -9.69215149e-01 5.92179941e-04 1.69427082e+02] [ 9.69212664e-01 2.46215340e-01 2.19515007e-03 8.37191289e+01] [-2.27337649e-03 3.34702344e-05 9.99997415e-01 -5.65263753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:83.75, Z:-0.57 [[ 2.46472963e-01 -9.69149487e-01 5.91565168e-04 1.69431999e+02] [ 9.69147001e-01 2.46473671e-01 2.19531573e-03 8.37469240e+01] [-2.27339435e-03 3.22276364e-05 9.99997415e-01 -5.65929135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:83.77, Z:-0.57 [[ 2.46659221e-01 -9.69102100e-01 5.90935185e-04 1.69438020e+02] [ 9.69099613e-01 2.46659927e-01 2.19548530e-03 8.37738902e+01] [-2.27340944e-03 3.11383655e-05 9.99997415e-01 -5.66056103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:83.80, Z:-0.57 [[ 2.47116485e-01 -9.68985601e-01 5.90271456e-04 1.69444129e+02] [ 9.68983114e-01 2.47117188e-01 2.19566373e-03 8.38010482e+01] [-2.27343276e-03 2.93783709e-05 9.99997415e-01 -5.66114031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:83.83, Z:-0.57 [[ 2.46838430e-01 -9.69056470e-01 5.89641763e-04 1.69451486e+02] [ 9.69053983e-01 2.46839132e-01 2.19583282e-03 8.38286925e+01] [-2.27343266e-03 2.93787724e-05 9.99997415e-01 -5.66178790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:83.86, Z:-0.57 [[ 2.47270618e-01 -9.68946281e-01 5.89011631e-04 1.69457368e+02] [ 9.68943793e-01 2.47271317e-01 2.19600183e-03 8.38556085e+01] [-2.27345349e-03 2.77124343e-05 9.99997415e-01 -5.66492357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:83.88, Z:-0.57 [[ 2.44617135e-01 -9.69619570e-01 5.88552277e-04 1.69457743e+02] [ 9.69617084e-01 2.44617841e-01 2.19612494e-03 8.38806798e+01] [-2.27337611e-03 3.34605522e-05 9.99997415e-01 -5.70485045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:83.91, Z:-0.57 [[ 2.48872318e-01 -9.68536139e-01 5.63370226e-04 1.69469065e+02] [ 9.68533633e-01 2.48872956e-01 2.20286120e-03 8.39104647e+01] [-2.27375829e-03 -2.58816172e-06 9.99997415e-01 -5.67072210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:83.94, Z:-0.57 [[ 2.49163134e-01 -9.68461350e-01 5.87869454e-04 1.69474968e+02] [ 9.68458860e-01 2.49163827e-01 2.19630366e-03 8.39369109e+01] [-2.27351101e-03 2.20894783e-05 9.99997415e-01 -5.67872796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:83.96, Z:-0.57 [[ 2.49427392e-01 -9.68393325e-01 5.87410037e-04 1.69481123e+02] [ 9.68390834e-01 2.49428083e-01 2.19642653e-03 8.39638465e+01] [-2.27352135e-03 2.09935557e-05 9.99997415e-01 -5.68149735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:83.99, Z:-0.57 [[ 2.50101110e-01 -9.68219547e-01 5.86790309e-04 1.69487532e+02] [ 9.68217055e-01 2.50101798e-01 2.19659208e-03 8.39914932e+01] [-2.27354070e-03 1.87702668e-05 9.99997415e-01 -5.67857058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:84.02, Z:-0.57 [[ 2.50367766e-01 -9.68150628e-01 5.86171215e-04 1.69494530e+02] [ 9.68148136e-01 2.50368452e-01 2.19675727e-03 8.40190748e+01] [-2.27355071e-03 1.75033578e-05 9.99997415e-01 -5.67640192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:84.04, Z:-0.57 [[ 2.46718732e-01 -9.69086954e-01 5.85552907e-04 1.69495697e+02] [ 9.69084464e-01 2.46719425e-01 2.19692207e-03 8.40434221e+01] [-2.27347580e-03 2.54283968e-05 9.99997415e-01 -5.72027915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:84.07, Z:-0.57 [[ 2.47513477e-01 -9.68884290e-01 5.57819202e-04 1.69502706e+02] [ 9.68881783e-01 2.47514105e-01 2.20430233e-03 8.40711163e+01] [-2.27378202e-03 -5.13367125e-06 9.99997415e-01 -5.72723341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.51, Y:84.10, Z:-0.57 [[ 2.49390899e-01 -9.68402740e-01 5.59460459e-04 1.69510196e+02] [ 9.68400232e-01 2.49391527e-01 2.20386540e-03 8.40994130e+01] [-2.27375399e-03 -7.84233623e-06 9.99997415e-01 -5.73933563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:84.13, Z:-0.57 [[ 2.50969575e-01 -9.67994812e-01 5.61936604e-04 1.69518727e+02] [ 9.67992305e-01 2.50970204e-01 2.20320587e-03 8.41276548e+01] [-2.27372120e-03 -8.98733331e-06 9.99997415e-01 -5.73695863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:84.15, Z:-0.57 [[ 2.50970478e-01 -9.67994575e-01 5.67960185e-04 1.69525237e+02] [ 9.67992071e-01 2.50971121e-01 2.20160218e-03 8.41537618e+01] [-2.27368057e-03 -2.75619523e-06 9.99997415e-01 -5.74541152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:84.18, Z:-0.57 [[ 2.51599288e-01 -9.67831326e-01 5.67217969e-04 1.69532986e+02] [ 9.67828822e-01 2.51599928e-01 2.20179971e-03 8.41812679e+01] [-2.27368274e-03 -5.00134289e-06 9.99997415e-01 -5.74618182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:84.21, Z:-0.57 [[ 2.51385224e-01 -9.67886949e-01 5.68179667e-04 1.69539952e+02] [ 9.67884445e-01 2.51385866e-01 2.20154374e-03 8.42086367e+01] [-2.27367779e-03 -3.50330406e-06 9.99997415e-01 -5.74756911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:84.23, Z:-0.57 [[ 2.51530689e-01 -9.67849160e-01 5.62743605e-04 1.69547749e+02] [ 9.67846653e-01 2.51531318e-01 2.20298933e-03 8.42346619e+01] [-2.27370901e-03 -9.46990882e-06 9.99997415e-01 -5.74574523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:84.26, Z:-0.57 [[ 2.55338059e-01 -9.66851674e-01 5.61575517e-04 1.69560057e+02] [ 9.66849164e-01 2.55338676e-01 2.20329962e-03 8.42634279e+01] [-2.27365588e-03 -1.96274286e-05 9.99997415e-01 -5.69749687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:84.29, Z:-0.57 [[ 2.55318737e-01 -9.66856763e-01 5.84203840e-04 1.69568212e+02] [ 9.66854267e-01 2.55319406e-01 2.19728330e-03 8.42901475e+01] [-2.27361680e-03 3.83237631e-06 9.99997415e-01 -5.69648668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:84.31, Z:-0.57 [[ 2.51053835e-01 -9.67972950e-01 5.83583870e-04 1.69570980e+02] [ 9.67970455e-01 2.51054513e-01 2.19744795e-03 8.43148232e+01] [-2.27358154e-03 1.32142084e-05 9.99997415e-01 -5.74220834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:84.34, Z:-0.57 [[ 2.51660413e-01 -9.67815440e-01 5.58045121e-04 1.69579216e+02] [ 9.67812930e-01 2.51661031e-01 2.20422201e-03 8.43425413e+01] [-2.27371831e-03 -1.46321380e-05 9.99997415e-01 -5.74316835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:84.37, Z:-0.57 [[ 2.57117793e-01 -9.66379908e-01 5.59653684e-04 1.69591155e+02] [ 9.66377396e-01 2.57118401e-01 2.20379558e-03 8.43711966e+01] [-2.27360103e-03 -2.57983867e-05 9.99997415e-01 -5.71329561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:84.40, Z:-0.58 [[ 2.53842936e-01 -9.67245276e-01 5.83060214e-04 1.69594063e+02] [ 9.67242780e-01 2.53843605e-01 2.19758540e-03 8.43963876e+01] [-2.27361020e-03 6.11925274e-06 9.99997415e-01 -5.76361243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:84.43, Z:-0.57 [[ 2.58733568e-01 -9.65948564e-01 5.58818170e-04 1.69606428e+02] [ 9.65946050e-01 2.58734170e-01 2.20400483e-03 8.44256068e+01] [-2.27354066e-03 -3.04618319e-05 9.99997415e-01 -5.72374123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:84.45, Z:-0.58 [[ 2.56405756e-01 -9.66569060e-01 5.82541881e-04 1.69609389e+02] [ 9.66566562e-01 2.56406418e-01 2.19771646e-03 8.44499622e+01] [-2.27361221e-03 -4.41649348e-07 9.99997415e-01 -5.77522565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:84.48, Z:-0.57 [[ 2.61307161e-01 -9.65255542e-01 5.54397754e-04 1.69622856e+02] [ 9.65253023e-01 2.61307746e-01 2.20515945e-03 8.44800001e+01] [-2.27341081e-03 -4.10898478e-05 9.99997415e-01 -5.72836115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:84.50, Z:-0.58 [[ 2.58196633e-01 -9.66092211e-01 5.81905105e-04 1.69626333e+02] [ 9.66089711e-01 2.58197288e-01 2.19787667e-03 8.45042435e+01] [-2.27359785e-03 -5.31181966e-06 9.99997415e-01 -5.77020598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:84.53, Z:-0.57 [[ 2.62508462e-01 -9.64929530e-01 5.56753453e-04 1.69639326e+02] [ 9.64927012e-01 2.62509049e-01 2.20452445e-03 8.45335965e+01] [-2.27336356e-03 -4.14798763e-05 9.99997415e-01 -5.72677617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:84.56, Z:-0.58 [[ 2.59652517e-01 -9.65701938e-01 5.81347565e-04 1.69643721e+02] [ 9.65699436e-01 2.59653167e-01 2.19801963e-03 8.45594833e+01] [-2.27358055e-03 -9.31431245e-06 9.99997415e-01 -5.75395152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:84.59, Z:-0.57 [[ 2.63084133e-01 -9.64772730e-01 5.63708378e-04 1.69655000e+02] [ 9.64770217e-01 2.63084734e-01 2.20267754e-03 8.45872667e+01] [-2.27338630e-03 -3.56404572e-05 9.99997415e-01 -5.72388210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:84.61, Z:-0.57 [[ 2.63575851e-01 -9.64638499e-01 5.80575060e-04 1.69663829e+02] [ 9.64635995e-01 2.63576490e-01 2.19822286e-03 8.46128646e+01] [-2.27351634e-03 -1.93548620e-05 9.99997415e-01 -5.72580317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:84.64, Z:-0.57 [[ 2.63379907e-01 -9.64692017e-01 5.80126586e-04 1.69672273e+02] [ 9.64689513e-01 2.63380546e-01 2.19834121e-03 8.46392537e+01] [-2.27351628e-03 -1.93568715e-05 9.99997415e-01 -5.71716669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:84.67, Z:-0.57 [[ 2.63002510e-01 -9.64794975e-01 5.79507610e-04 1.69680812e+02] [ 9.64792470e-01 2.63003148e-01 2.19850437e-03 8.46658621e+01] [-2.27351829e-03 -1.91075897e-05 9.99997415e-01 -5.71268087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:84.69, Z:-0.57 [[ 2.62393314e-01 -9.64960835e-01 5.78919112e-04 1.69689079e+02] [ 9.64958331e-01 2.62393952e-01 2.19865933e-03 8.46922311e+01] [-2.27352501e-03 -1.82806879e-05 9.99997415e-01 -5.71419477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:84.72, Z:-0.57 [[ 2.58500015e-01 -9.66011081e-01 5.78251314e-04 1.69693078e+02] [ 9.66008578e-01 2.58500662e-01 2.19883494e-03 8.47169805e+01] [-2.27357727e-03 -9.80313658e-06 9.99997415e-01 -5.74411987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:84.75, Z:-0.57 [[ 2.61808886e-01 -9.65119577e-01 5.57018150e-04 1.69705906e+02] [ 9.65117060e-01 2.61809475e-01 2.20440969e-03 8.47455962e+01] [-2.27335158e-03 -3.95463256e-05 9.99997415e-01 -5.68989245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:84.77, Z:-0.57 [[ 2.61425623e-01 -9.65223451e-01 5.77559510e-04 1.69714375e+02] [ 9.65220946e-01 2.61426261e-01 2.19901461e-03 8.47729131e+01] [-2.27352970e-03 -1.74062293e-05 9.99997415e-01 -5.67721180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:84.80, Z:-0.57 [[ 2.60998532e-01 -9.65339025e-01 5.76932449e-04 1.69721063e+02] [ 9.65336520e-01 2.60999169e-01 2.19917912e-03 8.48004555e+01] [-2.27353231e-03 -1.70485580e-05 9.99997415e-01 -5.67826356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:84.83, Z:-0.57 [[ 2.60461644e-01 -9.65484024e-01 5.76302926e-04 1.69726934e+02] [ 9.65481519e-01 2.60462281e-01 2.19934407e-03 8.48271468e+01] [-2.27353674e-03 -1.64349499e-05 9.99997415e-01 -5.68581331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:84.85, Z:-0.57 [[ 2.59213351e-01 -9.65819915e-01 5.75841028e-04 1.69731047e+02] [ 9.65817410e-01 2.59213990e-01 2.19946500e-03 8.48547166e+01] [-2.27355315e-03 -1.39734022e-05 9.99997415e-01 -5.70488786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:84.88, Z:-0.58 [[ 2.53928278e-01 -9.67222880e-01 5.75206780e-04 1.69730986e+02] [ 9.67220378e-01 2.53928930e-01 2.19963086e-03 8.48797823e+01] [-2.27359494e-03 -2.19675711e-06 9.99997415e-01 -5.76364447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:84.91, Z:-0.57 [[ 2.58272672e-01 -9.66071906e-01 5.46782982e-04 1.69742833e+02] [ 9.66069386e-01 2.58273248e-01 2.20704652e-03 8.49103386e+01] [-2.27338505e-03 -4.17895028e-05 9.99997415e-01 -5.72351692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:84.94, Z:-0.57 [[ 2.57752397e-01 -9.66210832e-01 5.74555081e-04 1.69749053e+02] [ 9.66208328e-01 2.57753037e-01 2.19979284e-03 8.49370235e+01] [-2.27355698e-03 -1.18619717e-05 9.99997415e-01 -5.72817787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:84.96, Z:-0.57 [[ 2.57659060e-01 -9.66235727e-01 5.73892025e-04 1.69756332e+02] [ 9.66233222e-01 2.57659699e-01 2.19996580e-03 8.49642840e+01] [-2.27355440e-03 -1.23275806e-05 9.99997415e-01 -5.72482030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:84.99, Z:-0.57 [[ 2.57537874e-01 -9.66268035e-01 5.73267935e-04 1.69763823e+02] [ 9.66265530e-01 2.57538512e-01 2.20012842e-03 8.49914632e+01] [-2.27355233e-03 -1.26873510e-05 9.99997415e-01 -5.71944098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:85.02, Z:-0.58 [[ 2.52332050e-01 -9.67640537e-01 5.72640557e-04 1.69764841e+02] [ 9.67638035e-01 2.52332699e-01 2.20029170e-03 8.50158547e+01] [-2.27358738e-03 -1.09533075e-06 9.99997415e-01 -5.77023835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:85.05, Z:-0.57 [[ 2.56243582e-01 -9.66612090e-01 5.42129315e-04 1.69777231e+02] [ 9.66609569e-01 2.56244152e-01 2.20821112e-03 8.50456515e+01] [-2.27340104e-03 -4.18125455e-05 9.99997415e-01 -5.74041908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:85.07, Z:-0.57 [[ 2.54773104e-01 -9.67000692e-01 5.71962299e-04 1.69783659e+02] [ 9.66998188e-01 2.54773746e-01 2.20045667e-03 8.50733098e+01] [-2.27356410e-03 -7.53067011e-06 9.99997415e-01 -5.74266271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:85.10, Z:-0.57 [[ 2.52668201e-01 -9.67552817e-01 5.71332568e-04 1.69790286e+02] [ 9.67550314e-01 2.52668847e-01 2.20062016e-03 8.51005964e+01] [-2.27357418e-03 -3.23373292e-06 9.99997415e-01 -5.74925327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:85.13, Z:-0.57 [[ 2.50394685e-01 -9.68143675e-01 5.70701771e-04 1.69797356e+02] [ 9.68141174e-01 2.50395335e-01 2.20078374e-03 8.51274445e+01] [-2.27357592e-03 1.45533087e-06 9.99997415e-01 -5.74828788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:85.15, Z:-0.57 [[ 2.47789840e-01 -9.68813641e-01 5.70069903e-04 1.69804846e+02] [ 9.68811141e-01 2.47790495e-01 2.20094740e-03 8.51534935e+01] [-2.27356577e-03 6.91766957e-06 9.99997415e-01 -5.74844418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:85.18, Z:-0.57 [[ 2.42364038e-01 -9.70185214e-01 5.69404137e-04 1.69814116e+02] [ 9.70182717e-01 2.42364707e-01 2.20111963e-03 8.51804154e+01] [-2.27349718e-03 1.89538112e-05 9.99997415e-01 -5.72811148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:85.21, Z:-0.57 [[ 2.39430142e-01 -9.70913427e-01 5.68766374e-04 1.69821881e+02] [ 9.70910932e-01 2.39430816e-01 2.20128441e-03 8.52068903e+01] [-2.27343679e-03 2.51676510e-05 9.99997415e-01 -5.72966501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:85.23, Z:-0.57 [[ 2.36858592e-01 -9.71543970e-01 5.68095030e-04 1.69829417e+02] [ 9.71541476e-01 2.36859271e-01 2.20145765e-03 8.52336486e+01] [-2.27337148e-03 3.04937236e-05 9.99997415e-01 -5.72485049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:85.26, Z:-0.57 [[ 2.34516137e-01 -9.72112061e-01 5.67474343e-04 1.69836351e+02] [ 9.72109569e-01 2.34516821e-01 2.20161764e-03 8.52598525e+01] [-2.27330134e-03 3.53323755e-05 9.99997415e-01 -5.72636190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:85.29, Z:-0.57 [[ 2.32622692e-01 -9.72566893e-01 5.66819939e-04 1.69843581e+02] [ 9.72564402e-01 2.32623379e-01 2.20178611e-03 8.52871954e+01] [-2.27323984e-03 3.90834845e-05 9.99997415e-01 -5.72800102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.85, Y:85.31, Z:-0.57 [[ 2.29190020e-01 -9.73381536e-01 5.66198547e-04 1.69849897e+02] [ 9.73379046e-01 2.29190715e-01 2.20194589e-03 8.53145574e+01] [-2.27310092e-03 4.64617799e-05 9.99997415e-01 -5.73571229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:85.34, Z:-0.57 [[ 2.27782385e-01 -9.73711901e-01 5.65572903e-04 1.69856388e+02] [ 9.73709412e-01 2.27783082e-01 2.20210657e-03 8.53416374e+01] [-2.27304532e-03 4.91025713e-05 9.99997415e-01 -5.73155327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:85.37, Z:-0.57 [[ 2.26478512e-01 -9.74015998e-01 5.64936849e-04 1.69863345e+02] [ 9.74013510e-01 2.26479211e-01 2.20226974e-03 8.53682888e+01] [-2.27299241e-03 5.14893493e-05 9.99997415e-01 -5.73399199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:85.40, Z:-0.57 [[ 2.24778263e-01 -9.74409777e-01 5.64273997e-04 1.69870361e+02] [ 9.74407290e-01 2.24778964e-01 2.20243956e-03 8.53956509e+01] [-2.27291557e-03 5.47721578e-05 9.99997415e-01 -5.73554816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:85.42, Z:-0.57 [[ 2.21887175e-01 -9.75072184e-01 5.63648204e-04 1.69876628e+02] [ 9.75069698e-01 2.21887882e-01 2.20259970e-03 8.54219957e+01] [-2.27276041e-03 6.08676587e-05 9.99997415e-01 -5.73098742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:85.45, Z:-0.57 [[ 2.20580189e-01 -9.75368681e-01 5.63191123e-04 1.69882956e+02] [ 9.75366195e-01 2.20580899e-01 2.20271657e-03 8.54490182e+01] [-2.27268996e-03 6.34419452e-05 9.99997415e-01 -5.72250462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:85.47, Z:-0.57 [[ 2.15559581e-01 -9.76490528e-01 5.62568250e-04 1.69883867e+02] [ 9.76488046e-01 2.15560303e-01 2.20287564e-03 8.54736524e+01] [-2.27235458e-03 7.44902207e-05 9.99997415e-01 -5.73439761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.89, Y:85.50, Z:-0.57 [[ 2.19383984e-01 -9.75638448e-01 5.35162731e-04 1.69894977e+02] [ 9.75635946e-01 2.19384634e-01 2.20985925e-03 8.55032777e+01] [-2.27343013e-03 3.73162695e-05 9.99997415e-01 -5.71138157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:85.53, Z:-0.57 [[ 2.19111356e-01 -9.75699697e-01 5.61952769e-04 1.69901966e+02] [ 9.75697212e-01 2.19112067e-01 2.20302559e-03 8.55310143e+01] [-2.27262203e-03 6.55878247e-05 9.99997415e-01 -5.71215240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:85.56, Z:-0.57 [[ 2.18876702e-01 -9.75752363e-01 5.61337139e-04 1.69907420e+02] [ 9.75749878e-01 2.18877412e-01 2.20318244e-03 8.55585126e+01] [-2.27262450e-03 6.54993376e-05 9.99997415e-01 -5.69943850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:85.58, Z:-0.57 [[ 2.13952717e-01 -9.76843857e-01 5.60713293e-04 1.69905300e+02] [ 9.76841375e-01 2.13953439e-01 2.20334120e-03 8.55811997e+01] [-2.27228686e-03 7.63171056e-05 9.99997415e-01 -5.74607320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:85.61, Z:-0.57 [[ 2.21867462e-01 -9.75076693e-01 5.20982445e-04 1.69917521e+02] [ 9.75074181e-01 2.21868073e-01 2.21342630e-03 8.56127508e+01] [-2.27384976e-03 1.69092571e-05 9.99997415e-01 -5.69396971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:85.64, Z:-0.57 [[ 2.23483240e-01 -9.74707611e-01 5.60356672e-04 1.69923359e+02] [ 9.74705122e-01 2.23483936e-01 2.20341292e-03 8.56402202e+01] [-2.27291406e-03 5.37566607e-05 9.99997415e-01 -5.68545838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:85.67, Z:-0.57 [[ 2.25422609e-01 -9.74260917e-01 5.59728899e-04 1.69929009e+02] [ 9.74258426e-01 2.25423299e-01 2.20357238e-03 8.56681481e+01] [-2.27303038e-03 4.85855624e-05 9.99997415e-01 -5.68218602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:85.69, Z:-0.57 [[ 2.27766063e-01 -9.73715722e-01 5.59098509e-04 1.69933779e+02] [ 9.73713229e-01 2.27766746e-01 2.20373231e-03 8.56946779e+01] [-2.27315285e-03 4.24661811e-05 9.99997415e-01 -5.68808770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:85.72, Z:-0.57 [[ 2.33349056e-01 -9.72392877e-01 5.58435336e-04 1.69936607e+02] [ 9.72390379e-01 2.33349722e-01 2.20390035e-03 8.57229404e+01] [-2.27336773e-03 2.87390823e-05 9.99997415e-01 -5.70526022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:85.75, Z:-0.57 [[ 2.36458548e-01 -9.71641417e-01 5.57816165e-04 1.69941238e+02] [ 9.71638918e-01 2.36459205e-01 2.20405705e-03 8.57495644e+01] [-2.27345389e-03 2.08277640e-05 9.99997415e-01 -5.72046598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:85.78, Z:-0.57 [[ 2.39260965e-01 -9.70955138e-01 5.57169053e-04 1.69946567e+02] [ 9.70952636e-01 2.39261613e-01 2.20422063e-03 8.57769577e+01] [-2.27350851e-03 1.36008069e-05 9.99997415e-01 -5.73384951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:85.80, Z:-0.58 [[ 2.44217253e-01 -9.69720384e-01 5.56547974e-04 1.69951945e+02] [ 9.69717879e-01 2.44217888e-01 2.20437743e-03 8.58046459e+01] [-2.27354870e-03 1.34751857e-06 9.99997415e-01 -5.75491623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.96, Y:85.83, Z:-0.58 [[ 2.46325362e-01 -9.69187034e-01 5.55919936e-04 1.69958579e+02] [ 9.69184527e-01 2.46325989e-01 2.20453581e-03 8.58305383e+01] [-2.27354505e-03 -4.24407930e-06 9.99997415e-01 -5.76365986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:85.86, Z:-0.58 [[ 2.47791712e-01 -9.68813170e-01 5.55460718e-04 1.69965433e+02] [ 9.68810662e-01 2.47792335e-01 2.20465150e-03 8.58565590e+01] [-2.27353432e-03 -8.15810599e-06 9.99997415e-01 -5.76834933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:85.88, Z:-0.58 [[ 2.48866224e-01 -9.68537710e-01 5.54806088e-04 1.69972446e+02] [ 9.68535200e-01 2.48866842e-01 2.20481623e-03 8.58836273e+01] [-2.27352050e-03 -1.13550643e-05 9.99997415e-01 -5.76001195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:85.91, Z:-0.58 [[ 2.43776310e-01 -9.69831327e-01 5.54183002e-04 1.69971369e+02] [ 9.69828821e-01 2.43776940e-01 2.20497283e-03 8.59064883e+01] [-2.27354877e-03 -5.74933841e-08 9.99997415e-01 -5.81367179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:85.94, Z:-0.57 [[ 2.51101096e-01 -9.67960730e-01 5.13496647e-04 1.69986793e+02] [ 9.67958198e-01 2.51101615e-01 2.21516285e-03 8.59377621e+01] [-2.27313049e-03 -5.91865321e-05 9.99997415e-01 -5.74144255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:85.96, Z:-0.57 [[ 2.51654725e-01 -9.67816921e-01 5.53305033e-04 1.69994338e+02] [ 9.67814409e-01 2.51655332e-01 2.20517445e-03 8.59647856e+01] [-2.27344731e-03 -1.94459850e-05 9.99997416e-01 -5.72604816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:85.99, Z:-0.57 [[ 2.52094759e-01 -9.67702396e-01 5.52680469e-04 1.70001838e+02] [ 9.67699883e-01 2.52095363e-01 2.20533097e-03 8.59916498e+01] [-2.27343225e-03 -2.11235534e-05 9.99997416e-01 -5.71484344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:86.02, Z:-0.57 [[ 2.52883915e-01 -9.67496471e-01 5.52051451e-04 1.70009642e+02] [ 9.67493957e-01 2.52884516e-01 2.20548842e-03 8.60181062e+01] [-2.27340753e-03 -2.36261018e-05 9.99997416e-01 -5.70529477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:86.04, Z:-0.58 [[ 2.46992589e-01 -9.69017212e-01 5.51592558e-04 1.70008706e+02] [ 9.69014702e-01 2.46993205e-01 2.20560318e-03 8.60401639e+01] [-2.27350706e-03 -1.02663411e-05 9.99997416e-01 -5.75655592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:86.07, Z:-0.57 [[ 2.54930614e-01 -9.66959216e-01 5.06453801e-04 1.70026157e+02] [ 9.66956678e-01 2.54931106e-01 2.21685648e-03 8.60714372e+01] [-2.27272063e-03 -7.54256984e-05 9.99997415e-01 -5.69928252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:86.10, Z:-0.57 [[ 2.55367930e-01 -9.66843791e-01 5.51133487e-04 1.70033161e+02] [ 9.66841276e-01 2.55368523e-01 2.20569243e-03 8.60974883e+01] [-2.27330217e-03 -3.04045047e-05 9.99997416e-01 -5.70732997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:86.12, Z:-0.57 [[ 2.55798232e-01 -9.66730035e-01 5.50473297e-04 1.70040467e+02] [ 9.66727519e-01 2.55798822e-01 2.20585718e-03 8.61249828e+01] [-2.27327881e-03 -3.20966823e-05 9.99997416e-01 -5.70589024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:86.15, Z:-0.57 [[ 2.56519075e-01 -9.66539012e-01 5.49833838e-04 1.70047566e+02] [ 9.66536495e-01 2.56519662e-01 2.20601656e-03 8.61507751e+01] [-2.27324426e-03 -3.44508570e-05 9.99997416e-01 -5.71830571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:86.18, Z:-0.57 [[ 2.56713090e-01 -9.66487500e-01 5.49164661e-04 1.70054783e+02] [ 9.66484983e-01 2.56713675e-01 2.20618313e-03 8.61775374e+01] [-2.27322650e-03 -3.55966915e-05 9.99997416e-01 -5.72952193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:86.20, Z:-0.58 [[ 2.56283599e-01 -9.66601477e-01 5.48535410e-04 1.70063682e+02] [ 9.66598960e-01 2.56284184e-01 2.20633957e-03 8.62047330e+01] [-2.27323204e-03 -3.52348905e-05 9.99997416e-01 -5.75791896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:86.23, Z:-0.58 [[ 2.54972812e-01 -9.66948067e-01 5.47941435e-04 1.70071812e+02] [ 9.66945550e-01 2.54973399e-01 2.20648708e-03 8.62315227e+01] [-2.27326891e-03 -3.27646826e-05 9.99997416e-01 -5.76706548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:86.26, Z:-0.58 [[ 2.52828275e-01 -9.67511015e-01 5.47301317e-04 1.70080206e+02] [ 9.67508499e-01 2.52828866e-01 2.20664584e-03 8.62580727e+01] [-2.27332773e-03 -2.83837870e-05 9.99997416e-01 -5.77618823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:86.28, Z:-0.58 [[ 2.49861453e-01 -9.68281444e-01 5.46663640e-04 1.70088961e+02] [ 9.68278930e-01 2.49862050e-01 2.20680381e-03 8.62834573e+01] [-2.27339767e-03 -2.20723202e-05 9.99997416e-01 -5.78225669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:86.31, Z:-0.58 [[ 2.41513311e-01 -9.70397353e-01 5.46198398e-04 1.70101333e+02] [ 9.70394843e-01 2.41513929e-01 2.20691895e-03 8.63093112e+01] [-2.27350283e-03 -2.97219429e-06 9.99997416e-01 -5.77054377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:86.34, Z:-0.58 [[ 2.36371268e-01 -9.71662661e-01 5.45571334e-04 1.70110662e+02] [ 9.71660154e-01 2.36371897e-01 2.20707396e-03 8.63356542e+01] [-2.27348908e-03 8.42105789e-06 9.99997416e-01 -5.76142870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:86.36, Z:-0.58 [[ 2.25169256e-01 -9.74319511e-01 5.45015030e-04 1.70112259e+02] [ 9.74317011e-01 2.25169913e-01 2.20721132e-03 8.63581793e+01] [-2.27325004e-03 3.40212846e-05 9.99997416e-01 -5.79108300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:86.39, Z:-0.57 [[ 2.27390173e-01 -9.73803601e-01 5.06128129e-04 1.70127524e+02] [ 9.73801078e-01 2.27390736e-01 2.21678626e-03 8.63884994e+01] [-2.27380329e-03 -1.12072944e-05 9.99997415e-01 -5.72079187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:86.42, Z:-0.57 [[ 2.24127756e-01 -9.74559620e-01 5.44456446e-04 1.70134530e+02] [ 9.74557121e-01 2.24128415e-01 2.20733227e-03 8.64162045e+01] [-2.27320506e-03 3.58794780e-05 9.99997416e-01 -5.70153052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:86.44, Z:-0.57 [[ 2.18358053e-01 -9.75868569e-01 5.43863757e-04 1.70140580e+02] [ 9.75866074e-01 2.18358725e-01 2.20747829e-03 8.64431898e+01] [-2.27296608e-03 4.87175270e-05 9.99997416e-01 -5.68440873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:86.47, Z:-0.57 [[ 2.15239468e-01 -9.76561148e-01 5.43240228e-04 1.70146834e+02] [ 9.76558655e-01 2.15240147e-01 2.20763173e-03 8.64701954e+01] [-2.27281448e-03 5.53364675e-05 9.99997416e-01 -5.67928802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:86.50, Z:-0.57 [[ 2.12192803e-01 -9.77227671e-01 5.42620832e-04 1.70153033e+02] [ 9.77225179e-01 2.12193488e-01 2.20778396e-03 8.64971674e+01] [-2.27264818e-03 6.17868738e-05 9.99997416e-01 -5.67920616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:86.52, Z:-0.57 [[ 2.09027943e-01 -9.77909518e-01 5.42003049e-04 1.70159119e+02] [ 9.77907028e-01 2.09028634e-01 2.20793561e-03 8.65247164e+01] [-2.27245541e-03 6.85083530e-05 9.99997416e-01 -5.68221675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:86.55, Z:-0.57 [[ 2.03477121e-01 -9.79079551e-01 5.41383721e-04 1.70163042e+02] [ 9.79077065e-01 2.03477825e-01 2.20808746e-03 8.65512821e+01] [-2.27205286e-03 8.07611048e-05 9.99997416e-01 -5.69759877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:86.58, Z:-0.57 [[ 2.00784286e-01 -9.79635329e-01 5.40932063e-04 1.70167621e+02] [ 9.79632844e-01 2.00784996e-01 2.20819810e-03 8.65790425e+01] [-2.27183991e-03 8.65433368e-05 9.99997416e-01 -5.70578175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:86.61, Z:-0.57 [[ 1.98427217e-01 -9.80115477e-01 5.40306644e-04 1.70171546e+02] [ 9.80112993e-01 1.98427932e-01 2.20835112e-03 8.66066051e+01] [-2.27165104e-03 9.13645950e-05 9.99997416e-01 -5.71494721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:86.63, Z:-0.57 [[ 1.96395148e-01 -9.80524683e-01 5.39680570e-04 1.70175385e+02] [ 9.80522201e-01 1.96395866e-01 2.20850411e-03 8.66340817e+01] [-2.27148383e-03 9.54292886e-05 9.99997416e-01 -5.72382403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:86.66, Z:-0.57 [[ 1.94680881e-01 -9.80866486e-01 5.39059274e-04 1.70178722e+02] [ 9.80864005e-01 1.94681603e-01 2.20865575e-03 8.66607458e+01] [-2.27134132e-03 9.87607910e-05 9.99997416e-01 -5.73281373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:86.69, Z:-0.57 [[ 1.93487204e-01 -9.81102651e-01 5.38612158e-04 1.70182676e+02] [ 9.81100170e-01 1.93487927e-01 2.20876478e-03 8.66886957e+01] [-2.27123993e-03 1.01064759e-04 9.99997416e-01 -5.71922560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:86.71, Z:-0.57 [[ 1.90601783e-01 -9.81667291e-01 5.37987732e-04 1.70180804e+02] [ 9.81664812e-01 1.90602512e-01 2.20891686e-03 8.67147905e+01] [-2.27096324e-03 1.07100133e-04 9.99997416e-01 -5.70992562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:86.74, Z:-0.57 [[ 1.91312896e-01 -9.81528964e-01 5.17544361e-04 1.70185068e+02] [ 9.81526471e-01 1.91313577e-01 2.21388881e-03 8.67429599e+01] [-2.27200925e-03 8.44380111e-05 9.99997415e-01 -5.70268529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:86.77, Z:-0.57 [[ 1.92631908e-01 -9.81270951e-01 5.18201487e-04 1.70189639e+02] [ 9.81268458e-01 1.92632587e-01 2.21372897e-03 8.67719121e+01] [-2.27209042e-03 8.20599396e-05 9.99997415e-01 -5.69776908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:86.80, Z:-0.57 [[ 1.96048415e-01 -9.80594078e-01 5.23204002e-04 1.70195362e+02] [ 9.80591585e-01 1.96049097e-01 2.21251163e-03 8.68009495e+01] [-2.27214947e-03 7.92900429e-05 9.99997416e-01 -5.69993193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:86.83, Z:-0.57 [[ 2.02169083e-01 -9.79350488e-01 5.33350581e-04 1.70194778e+02] [ 9.79347997e-01 2.02169772e-01 2.21004327e-03 8.68299186e+01] [-2.27223432e-03 7.55334022e-05 9.99997416e-01 -5.69818844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:86.86, Z:-0.57 [[ 2.05504295e-01 -9.78656069e-01 5.33297778e-04 1.70197419e+02] [ 9.78653575e-01 2.05504976e-01 2.21005611e-03 8.68577643e+01] [-2.27248017e-03 6.77377555e-05 9.99997416e-01 -5.69327380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:170.20, Y:86.89, Z:-0.57 [[ 2.10357333e-01 -9.77624423e-01 5.29189776e-04 1.70201388e+02] [ 9.77621924e-01 2.10357992e-01 2.21105366e-03 8.68854194e+01] [-2.27289936e-03 5.22361757e-05 9.99997416e-01 -5.69517330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:86.91, Z:-0.57 [[ 2.14684470e-01 -9.76683313e-01 5.33796636e-04 1.70204938e+02] [ 9.76680814e-01 2.14685128e-01 2.20993551e-03 8.69136920e+01] [-2.27300534e-03 4.69100998e-05 9.99997416e-01 -5.69202932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:86.94, Z:-0.57 [[ 2.18357585e-01 -9.75868681e-01 5.32191217e-04 1.70207601e+02] [ 9.75866178e-01 2.18358230e-01 2.21032478e-03 8.69407762e+01] [-2.27319506e-03 3.67062275e-05 9.99997416e-01 -5.69185271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:86.97, Z:-0.57 [[ 2.27891231e-01 -9.73686454e-01 5.24595062e-04 1.70209644e+02] [ 9.73683941e-01 2.27891835e-01 2.21216446e-03 8.69705184e+01] [-2.27350550e-03 6.65690402e-06 9.99997416e-01 -5.70247725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:87.00, Z:-0.57 [[ 2.32021381e-01 -9.72710543e-01 5.28049683e-04 1.70212907e+02] [ 9.72708029e-01 2.32021982e-01 2.21132862e-03 8.69978195e+01] [-2.27350180e-03 5.62646978e-07 9.99997416e-01 -5.71471292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:87.03, Z:-0.57 [[ 2.34843574e-01 -9.72033034e-01 5.26105094e-04 1.70215235e+02] [ 9.72030517e-01 2.34844163e-01 2.21179868e-03 8.70252053e+01] [-2.27349409e-03 -8.03650001e-06 9.99997416e-01 -5.72550978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:87.06, Z:-0.57 [[ 2.39150991e-01 -9.70982253e-01 5.16821894e-04 1.70220883e+02] [ 9.70979730e-01 2.39151547e-01 2.21404017e-03 8.70550562e+01] [-2.27339247e-03 -2.76663157e-05 9.99997415e-01 -5.73458814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:87.08, Z:-0.58 [[ 2.43157074e-01 -9.69986785e-01 5.23668989e-04 1.70221802e+02] [ 9.69984262e-01 2.43157636e-01 2.21238773e-03 8.70811897e+01] [-2.27332098e-03 -3.00070503e-05 9.99997416e-01 -5.76561347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:87.11, Z:-0.58 [[ 2.44087067e-01 -9.69753187e-01 5.11138689e-04 1.70227988e+02] [ 9.69750657e-01 2.44087598e-01 2.21540780e-03 8.71095834e+01] [-2.27316139e-03 -4.50753109e-05 9.99997415e-01 -5.77113350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:87.14, Z:-0.58 [[ 2.42402024e-01 -9.70175752e-01 5.17875468e-04 1.70231575e+02] [ 9.70173227e-01 2.42402575e-01 2.21378344e-03 8.71350412e+01] [-2.27329336e-03 -3.41966725e-05 9.99997415e-01 -5.81188092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:87.16, Z:-0.58 [[ 2.46455828e-01 -9.69153895e-01 5.01569531e-04 1.70244107e+02] [ 9.69151360e-01 2.46456331e-01 2.21770765e-03 8.71648589e+01] [-2.27291500e-03 -6.04701838e-05 9.99997415e-01 -5.77210260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:87.19, Z:-0.58 [[ 2.43329021e-01 -9.69943660e-01 5.32668095e-04 1.70248474e+02] [ 9.69941142e-01 2.43329603e-01 2.21021280e-03 8.71908563e+01] [-2.27339581e-03 -2.11522177e-05 9.99997416e-01 -5.77015733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:87.22, Z:-0.58 [[ 2.44345611e-01 -9.69688070e-01 5.18827781e-04 1.70258563e+02] [ 9.69685544e-01 2.44346159e-01 2.21354315e-03 8.72194448e+01] [-2.27321997e-03 -3.77697552e-05 9.99997416e-01 -5.76448127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:87.25, Z:-0.58 [[ 2.38540244e-01 -9.71132467e-01 5.31905529e-04 1.70262707e+02] [ 9.71129952e-01 2.38540837e-01 2.21039615e-03 8.72452828e+01] [-2.27346866e-03 -1.07190460e-05 9.99997416e-01 -5.78605427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:87.27, Z:-0.58 [[ 2.38384843e-01 -9.71170634e-01 5.15576323e-04 1.70269385e+02] [ 9.71168110e-01 2.38385399e-01 2.21431935e-03 8.72730359e+01] [-2.27338780e-03 -2.71488867e-05 9.99997415e-01 -5.78663996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:87.30, Z:-0.58 [[ 2.39758767e-01 -9.70832359e-01 5.14811347e-04 1.70279813e+02] [ 9.70829833e-01 2.39759318e-01 2.21450295e-03 8.73009429e+01] [-2.27334194e-03 -3.11522824e-05 9.99997415e-01 -5.75491598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:87.33, Z:-0.58 [[ 2.34698886e-01 -9.72067977e-01 5.30771213e-04 1.70283307e+02] [ 9.72065463e-01 2.34699486e-01 2.21067106e-03 8.73262967e+01] [-2.27349428e-03 -2.89767086e-06 9.99997416e-01 -5.80520337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:87.35, Z:-0.58 [[ 2.34414433e-01 -9.72136623e-01 5.10141866e-04 1.70292932e+02] [ 9.72134098e-01 2.34414987e-01 2.21560937e-03 8.73542063e+01] [-2.27345991e-03 -2.34445123e-05 9.99997415e-01 -5.79752338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:87.38, Z:-0.59 [[ 2.28370330e-01 -9.73574197e-01 5.24115904e-04 1.70297215e+02] [ 9.73571684e-01 2.28370931e-01 2.21226363e-03 8.73760259e+01] [-2.27349562e-03 5.04902817e-06 9.99997416e-01 -5.85290501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:87.40, Z:-0.58 [[ 2.28281018e-01 -9.73595161e-01 4.89578424e-04 1.70307187e+02] [ 9.73592629e-01 2.28281541e-01 2.22056728e-03 8.74040228e+01] [-2.27369527e-03 -3.02634133e-05 9.99997415e-01 -5.84993255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:87.43, Z:-0.58 [[ 2.31747259e-01 -9.72775903e-01 5.00252783e-04 1.70321509e+02] [ 9.72773375e-01 2.31747797e-01 2.21800418e-03 8.74342856e+01] [-2.27355350e-03 -2.73838016e-05 9.99997415e-01 -5.78315866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:87.46, Z:-0.58 [[ 2.24960074e-01 -9.74367837e-01 5.31462240e-04 1.70327785e+02] [ 9.74365330e-01 2.24960701e-01 2.21050061e-03 8.74596294e+01] [-2.27339882e-03 2.05639995e-05 9.99997416e-01 -5.83316133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:87.49, Z:-0.58 [[ 2.22472853e-01 -9.74938747e-01 5.18089551e-04 1.70336208e+02] [ 9.74936234e-01 2.22473456e-01 2.21370905e-03 8.74859515e+01] [-2.27349190e-03 1.26141073e-05 9.99997416e-01 -5.81058968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:87.51, Z:-0.58 [[ 2.23296648e-01 -9.74750401e-01 5.12395295e-04 1.70348978e+02] [ 9.74747884e-01 2.23297236e-01 2.21507889e-03 8.75145961e+01] [-2.27356548e-03 4.83653985e-06 9.99997415e-01 -5.77299547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:170.36, Y:87.54, Z:-0.58 [[ 2.20791928e-01 -9.75320789e-01 5.32105004e-04 1.70360102e+02] [ 9.75318285e-01 2.20792567e-01 2.21033407e-03 8.75435427e+01] [-2.27326960e-03 3.09478186e-05 9.99997416e-01 -5.78121189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:87.57, Z:-0.58 [[ 2.16628316e-01 -9.76253995e-01 5.57428434e-04 1.70365582e+02] [ 9.76251508e-01 2.16629023e-01 2.20423358e-03 8.75665170e+01] [-2.27264702e-03 6.66909414e-05 9.99997415e-01 -5.75708934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:87.59, Z:-0.57 [[ 2.09592941e-01 -9.77788585e-01 5.30845691e-04 1.70376060e+02] [ 9.77786088e-01 2.09593606e-01 2.21061702e-03 8.75930937e+01] [-2.27277795e-03 5.57238087e-05 9.99997416e-01 -5.72831501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:87.62, Z:-0.57 [[ 2.05879897e-01 -9.78577124e-01 5.30249393e-04 1.70383895e+02] [ 9.78574628e-01 2.05880570e-01 2.21076004e-03 8.76203637e+01] [-2.27256725e-03 6.37375535e-05 9.99997416e-01 -5.71496779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:87.65, Z:-0.57 [[ 2.02751964e-01 -9.79229983e-01 5.29621551e-04 1.70391564e+02] [ 9.79227490e-01 2.02752644e-01 2.21091044e-03 8.76475898e+01] [-2.27237196e-03 7.03535476e-05 9.99997416e-01 -5.70384581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:87.67, Z:-0.57 [[ 2.00220819e-01 -9.79750654e-01 5.28993510e-04 1.70398544e+02] [ 9.79748162e-01 2.00221503e-01 2.21106070e-03 8.76745767e+01] [-2.27220404e-03 7.55800358e-05 9.99997416e-01 -5.69751042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:87.70, Z:-0.57 [[ 1.97910928e-01 -9.80219866e-01 5.28363561e-04 1.70405367e+02] [ 9.80217375e-01 1.97911617e-01 2.21121122e-03 8.77008087e+01] [-2.27204245e-03 8.02882780e-05 9.99997416e-01 -5.68771441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:87.73, Z:-0.57 [[ 1.97473744e-01 -9.80308034e-01 5.27699765e-04 1.70411593e+02] [ 9.80305543e-01 1.97474432e-01 2.21136962e-03 8.77277202e+01] [-2.27203062e-03 8.06195666e-05 9.99997416e-01 -5.68894591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:87.75, Z:-0.57 [[ 1.91200517e-01 -9.81550857e-01 5.27080152e-04 1.70409300e+02] [ 9.81548370e-01 1.91201220e-01 2.21151730e-03 8.77504783e+01] [-2.27149507e-03 9.45114136e-05 9.99997416e-01 -5.74496791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:87.78, Z:-0.57 [[ 1.94784456e-01 -9.80845953e-01 4.82389483e-04 1.70418739e+02] [ 9.80843436e-01 1.94785049e-01 2.22214058e-03 8.77806208e+01] [-2.27353986e-03 4.03101132e-05 9.99997415e-01 -5.73917894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:87.81, Z:-0.58 [[ 1.94714821e-01 -9.80859770e-01 4.99371097e-04 1.70422143e+02] [ 9.80857264e-01 1.94715453e-01 2.21810006e-03 8.78067874e+01] [-2.27288039e-03 5.79148116e-05 9.99997415e-01 -5.75936485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:87.84, Z:-0.58 [[ 1.98975540e-01 -9.80004336e-01 4.85920315e-04 1.70431010e+02] [ 9.80001819e-01 1.98976130e-01 2.22129931e-03 8.78362447e+01] [-2.27356950e-03 3.42185626e-05 9.99997415e-01 -5.75986778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:87.87, Z:-0.57 [[ 2.06274600e-01 -9.78494015e-01 5.02205538e-04 1.70438769e+02] [ 9.78491503e-01 2.06275209e-01 2.21742261e-03 8.78664688e+01] [-2.27332730e-03 3.40058892e-05 9.99997415e-01 -5.73833809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:87.89, Z:-0.57 [[ 2.08145582e-01 -9.78097718e-01 5.19836024e-04 1.70443457e+02] [ 9.78095215e-01 2.08146226e-01 2.21322391e-03 8.78941001e+01] [-2.27295117e-03 4.77763470e-05 9.99997416e-01 -5.74952975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:87.92, Z:-0.58 [[ 2.10399431e-01 -9.77615371e-01 5.15711743e-04 1.70448783e+02] [ 9.77612864e-01 2.10400059e-01 2.21420512e-03 8.79218849e+01] [-2.27314674e-03 3.82989391e-05 9.99997416e-01 -5.75514012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:87.95, Z:-0.58 [[ 2.16709116e-01 -9.76236085e-01 5.15408269e-04 1.70454819e+02] [ 9.76233574e-01 2.16709727e-01 2.21427722e-03 8.79498321e+01] [-2.27335131e-03 2.33047978e-05 9.99997416e-01 -5.76316440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:87.98, Z:-0.58 [[ 2.18744755e-01 -9.75781972e-01 5.25341602e-04 1.70461081e+02] [ 9.75779465e-01 2.18745384e-01 2.21191801e-03 8.79779100e+01] [-2.27326576e-03 2.87720861e-05 9.99997416e-01 -5.77458068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:88.00, Z:-0.58 [[ 2.19343411e-01 -9.75647575e-01 5.26525970e-04 1.70465956e+02] [ 9.75645069e-01 2.19344041e-01 2.21163691e-03 8.80049872e+01] [-2.27326852e-03 2.85944838e-05 9.99997416e-01 -5.77099991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:88.03, Z:-0.58 [[ 2.20514214e-01 -9.75383622e-01 5.21311651e-04 1.70472866e+02] [ 9.75381112e-01 2.20514829e-01 2.21287274e-03 8.80329127e+01] [-2.27335678e-03 2.05076456e-05 9.99997416e-01 -5.76890243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:88.06, Z:-0.58 [[ 2.20546570e-01 -9.75376303e-01 5.27333152e-04 1.70478090e+02] [ 9.75373796e-01 2.20547199e-01 2.21144595e-03 8.80590040e+01] [-2.27329382e-03 2.66201198e-05 9.99997416e-01 -5.75437345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:88.09, Z:-0.57 [[ 2.20670607e-01 -9.75348250e-01 5.23736953e-04 1.70485303e+02] [ 9.75345741e-01 2.20671227e-01 2.21229731e-03 8.80873544e+01] [-2.27333398e-03 2.26356181e-05 9.99997416e-01 -5.74888512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:88.12, Z:-0.57 [[ 2.21132569e-01 -9.75243618e-01 5.23113654e-04 1.70493030e+02] [ 9.75241108e-01 2.21133186e-01 2.21244477e-03 8.81151232e+01] [-2.27335043e-03 2.09183439e-05 9.99997416e-01 -5.74660869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:88.14, Z:-0.57 [[ 2.20415402e-01 -9.75405951e-01 5.29786714e-04 1.70497861e+02] [ 9.75403446e-01 2.20416037e-01 2.21086630e-03 8.81412808e+01] [-2.27326564e-03 2.94468009e-05 9.99997416e-01 -5.73826550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:88.17, Z:-0.57 [[ 2.20618880e-01 -9.75359952e-01 5.22651563e-04 1.70504344e+02] [ 9.75357443e-01 2.20619498e-01 2.21255177e-03 8.81681238e+01] [-2.27334152e-03 2.16413965e-05 9.99997416e-01 -5.74299866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:88.19, Z:-0.58 [[ 2.21290540e-01 -9.75207785e-01 5.22017191e-04 1.70510702e+02] [ 9.75205275e-01 2.21291155e-01 2.21270144e-03 8.81947221e+01] [-2.27336145e-03 1.94240230e-05 9.99997416e-01 -5.75344386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:88.22, Z:-0.58 [[ 2.24496403e-01 -9.74474778e-01 5.21348264e-04 1.70517905e+02] [ 9.74472266e-01 2.24497008e-01 2.21285903e-03 8.82215867e+01] [-2.27341644e-03 1.12605312e-05 9.99997416e-01 -5.77482024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:88.25, Z:-0.58 [[ 2.26358932e-01 -9.74043820e-01 5.20721224e-04 1.70524615e+02] [ 9.74041306e-01 2.26359531e-01 2.21300658e-03 8.82486533e+01] [-2.27343559e-03 6.27017507e-06 9.99997416e-01 -5.78933749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:88.27, Z:-0.58 [[ 2.28466137e-01 -9.73551721e-01 5.20094835e-04 1.70531282e+02] [ 9.73549206e-01 2.28466729e-01 2.21315378e-03 8.82749162e+01] [-2.27344404e-03 7.07218535e-07 9.99997416e-01 -5.80695507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:88.30, Z:-0.58 [[ 2.30879501e-01 -9.72982213e-01 5.19442476e-04 1.70538537e+02] [ 9.72979695e-01 2.30880085e-01 2.21330688e-03 8.83025751e+01] [-2.27343715e-03 -5.60020551e-06 9.99997416e-01 -5.81359447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:88.33, Z:-0.58 [[ 2.33072067e-01 -9.72459327e-01 5.18850020e-04 1.70545449e+02] [ 9.72456808e-01 2.33072644e-01 2.21344576e-03 8.83283767e+01] [-2.27341572e-03 -1.13331439e-05 9.99997416e-01 -5.82693763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:88.36, Z:-0.58 [[ 2.35067547e-01 -9.71978899e-01 5.18388335e-04 1.70553045e+02] [ 9.71976378e-01 2.35068118e-01 2.21355388e-03 8.83553258e+01] [-2.27338423e-03 -1.64734641e-05 9.99997416e-01 -5.83347606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:88.38, Z:-0.58 [[ 2.38233640e-01 -9.71207735e-01 5.17764630e-04 1.70562708e+02] [ 9.71205213e-01 2.38234201e-01 2.21369976e-03 8.83822526e+01] [-2.27331157e-03 -2.45220438e-05 9.99997416e-01 -5.82871190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:170.58, Y:88.41, Z:-0.59 [[ 2.42448411e-01 -9.70164162e-01 5.17129779e-04 1.70576706e+02] [ 9.70161636e-01 2.42448960e-01 2.21384805e-03 8.84123417e+01] [-2.27317362e-03 -3.50444708e-05 9.99997416e-01 -5.86988320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:88.43, Z:-0.58 [[ 2.39518011e-01 -9.70891767e-01 5.46603964e-04 1.70578889e+02] [ 9.70889259e-01 2.39518634e-01 2.20695462e-03 8.84347689e+01] [-2.27363590e-03 2.08653907e-06 9.99997415e-01 -5.81490404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:88.46, Z:-0.58 [[ 2.40162331e-01 -9.70732604e-01 5.16016347e-04 1.70589630e+02] [ 9.70730079e-01 2.40162884e-01 2.21408339e-03 8.84607185e+01] [-2.27321091e-03 -3.08268398e-05 9.99997416e-01 -5.79790890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:88.49, Z:-0.58 [[ 2.40122789e-01 -9.70742386e-01 5.15449620e-04 1.70598629e+02] [ 9.70739862e-01 2.40123340e-01 2.21421532e-03 8.84874417e+01] [-2.27320415e-03 -3.13160660e-05 9.99997416e-01 -5.78772561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:88.51, Z:-0.58 [[ 2.39884986e-01 -9.70801179e-01 5.14819087e-04 1.70607587e+02] [ 9.70798654e-01 2.39885536e-01 2.21436192e-03 8.85138998e+01] [-2.27320281e-03 -3.14065002e-05 9.99997416e-01 -5.77684303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:88.54, Z:-0.58 [[ 2.39966111e-01 -9.70781129e-01 5.14185065e-04 1.70616118e+02] [ 9.70778604e-01 2.39966660e-01 2.21450913e-03 8.85392663e+01] [-2.27319095e-03 -3.22472851e-05 9.99997416e-01 -5.77078310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:88.57, Z:-0.58 [[ 2.40867832e-01 -9.70557790e-01 5.13516112e-04 1.70626416e+02] [ 9.70555264e-01 2.40868377e-01 2.21466424e-03 8.85652273e+01] [-2.27314942e-03 -3.50456091e-05 9.99997416e-01 -5.75696666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:88.59, Z:-0.58 [[ 2.41732445e-01 -9.70342806e-01 5.12834555e-04 1.70634601e+02] [ 9.70340279e-01 2.41732987e-01 2.21482205e-03 8.85918515e+01] [-2.27310568e-03 -3.77703263e-05 9.99997416e-01 -5.75626664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:88.62, Z:-0.58 [[ 2.42499769e-01 -9.70151328e-01 5.12194833e-04 1.70642378e+02] [ 9.70148801e-01 2.42500307e-01 2.21496998e-03 8.86182205e+01] [-2.27306348e-03 -4.02245074e-05 9.99997416e-01 -5.76103789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:88.65, Z:-0.58 [[ 2.43440044e-01 -9.69915812e-01 5.11520641e-04 1.70650356e+02] [ 9.69913284e-01 2.43440578e-01 2.21512567e-03 8.86450108e+01] [-2.27301029e-03 -4.31196256e-05 9.99997416e-01 -5.76048767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:88.67, Z:-0.58 [[ 2.43528609e-01 -9.69893580e-01 5.10880517e-04 1.70658271e+02] [ 9.69891051e-01 2.43529141e-01 2.21527329e-03 8.86722614e+01] [-2.27299364e-03 -4.39839821e-05 9.99997416e-01 -5.77116193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:88.70, Z:-0.58 [[ 2.41394909e-01 -9.70426833e-01 5.10244185e-04 1.70668720e+02] [ 9.70424305e-01 2.41395445e-01 2.21541985e-03 8.86992136e+01] [-2.27307349e-03 -3.96377153e-05 9.99997416e-01 -5.78276943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:88.73, Z:-0.58 [[ 2.39538357e-01 -9.70886768e-01 5.09646273e-04 1.70676838e+02] [ 9.70884241e-01 2.39538896e-01 2.21555739e-03 8.87250611e+01] [-2.27313546e-03 -3.59034419e-05 9.99997416e-01 -5.79419850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:88.75, Z:-0.58 [[ 2.37310599e-01 -9.71433693e-01 5.08985875e-04 1.70684891e+02] [ 9.71431167e-01 2.37311143e-01 2.21570909e-03 8.87518907e+01] [-2.27320249e-03 -3.13665093e-05 9.99997416e-01 -5.79543781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:88.78, Z:-0.58 [[ 2.34902672e-01 -9.72018763e-01 5.08355470e-04 1.70692703e+02] [ 9.72016238e-01 2.34903221e-01 2.21585372e-03 8.87789584e+01] [-2.27326573e-03 -2.63801888e-05 9.99997416e-01 -5.79909856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:88.81, Z:-0.58 [[ 2.32401515e-01 -9.72619801e-01 5.07728040e-04 1.70699316e+02] [ 9.72617277e-01 2.32402068e-01 2.21599747e-03 8.88067981e+01] [-2.27332007e-03 -2.11761059e-05 9.99997416e-01 -5.78118372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:88.83, Z:-0.58 [[ 2.30776795e-01 -9.73006585e-01 5.07129261e-04 1.70704958e+02] [ 9.73004061e-01 2.30777352e-01 2.21613450e-03 8.88346487e+01] [-2.27334741e-03 -1.79935863e-05 9.99997416e-01 -5.76824407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:88.86, Z:-0.58 [[ 2.28764835e-01 -9.73481584e-01 5.06493151e-04 1.70710601e+02] [ 9.73479061e-01 2.28765395e-01 2.21627987e-03 8.88622096e+01] [-2.27337574e-03 -1.39464214e-05 9.99997416e-01 -5.76431933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:88.89, Z:-0.58 [[ 2.26408275e-01 -9.74032359e-01 5.05859447e-04 1.70716056e+02] [ 9.74029838e-01 2.26408839e-01 2.21642450e-03 8.88893557e+01] [-2.27340024e-03 -9.09465178e-06 9.99997416e-01 -5.75850416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:88.92, Z:-0.58 [[ 2.23484800e-01 -9.74707284e-01 5.05223095e-04 1.70721784e+02] [ 9.74704763e-01 2.23485371e-01 2.21656954e-03 8.89158507e+01] [-2.27341645e-03 -2.92624510e-06 9.99997416e-01 -5.75688479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:88.94, Z:-0.57 [[ 2.20237690e-01 -9.75446106e-01 5.04554255e-04 1.70728293e+02] [ 9.75443587e-01 2.20238268e-01 2.21672178e-03 8.89434347e+01] [-2.27341478e-03 3.95852771e-06 9.99997416e-01 -5.74396419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:88.97, Z:-0.57 [[ 2.19959308e-01 -9.75508918e-01 5.03921604e-04 1.70734568e+02] [ 9.75506399e-01 2.19959886e-01 2.21686559e-03 8.89713453e+01] [-2.27341469e-03 3.95852751e-06 9.99997416e-01 -5.74461169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:89.00, Z:-0.57 [[ 2.12563588e-01 -9.77147106e-01 5.03288913e-04 1.70742804e+02] [ 9.77144592e-01 2.12564183e-01 2.21700922e-03 8.89978360e+01] [-2.27332534e-03 2.05306043e-05 9.99997416e-01 -5.73073197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:89.02, Z:-0.57 [[ 2.08407801e-01 -9.78041889e-01 5.02657586e-04 1.70749620e+02] [ 9.78039376e-01 2.08408405e-01 2.21715235e-03 8.90243623e+01] [-2.27322594e-03 2.95470658e-05 9.99997416e-01 -5.73230513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:89.05, Z:-0.58 [[ 1.99238156e-01 -9.79950971e-01 5.01992905e-04 1.70748479e+02] [ 9.79948464e-01 1.99238782e-01 2.21730283e-03 8.90477642e+01] [-2.27286452e-03 5.01558494e-05 9.99997416e-01 -5.77391831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:89.08, Z:-0.57 [[ 1.95247925e-01 -9.80753807e-01 4.66375943e-04 1.70756059e+02] [ 9.80751283e-01 1.95248480e-01 2.22536196e-03 8.90791957e+01] [-2.27359141e-03 2.29014994e-05 9.99997415e-01 -5.72558371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:89.11, Z:-0.57 [[ 1.94490784e-01 -9.80904224e-01 4.87417735e-04 1.70764310e+02] [ 9.80901712e-01 1.94491390e-01 2.22059771e-03 8.91084000e+01] [-2.27299222e-03 4.62231011e-05 9.99997416e-01 -5.74837774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:89.13, Z:-0.57 [[ 1.86929009e-01 -9.82373296e-01 5.02109592e-04 1.70765410e+02] [ 9.82370797e-01 1.86929667e-01 2.21727068e-03 8.91335808e+01] [-2.27204668e-03 7.87855886e-05 9.99997416e-01 -5.74171044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:89.16, Z:-0.57 [[ 1.86674134e-01 -9.82421771e-01 4.81335161e-04 1.70775174e+02] [ 9.82419260e-01 1.86674745e-01 2.22196510e-03 8.91634549e+01] [-2.27276000e-03 5.80895226e-05 9.99997416e-01 -5.74657707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:89.19, Z:-0.57 [[ 1.83024012e-01 -9.83108315e-01 5.01405696e-04 1.70780928e+02] [ 9.83105818e-01 1.83024678e-01 2.21742674e-03 8.91909231e+01] [-2.27174028e-03 8.70925199e-05 9.99997416e-01 -5.74635799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:89.22, Z:-0.57 [[ 1.79643079e-01 -9.83731728e-01 5.00775806e-04 1.70786675e+02] [ 9.83729233e-01 1.79643752e-01 2.21756898e-03 8.92182924e+01] [-2.27145421e-03 9.42568814e-05 9.99997416e-01 -5.74318518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.78, Y:89.24, Z:-0.58 [[ 1.69311241e-01 -9.85562506e-01 5.00146730e-04 1.70782379e+02] [ 9.85560018e-01 1.69311939e-01 2.21771085e-03 8.92408066e+01] [-2.27037348e-03 1.17441243e-04 9.99997416e-01 -5.81797488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:89.27, Z:-0.58 [[ 1.76469508e-01 -9.84306004e-01 4.51922319e-04 1.70796011e+02] [ 9.84303482e-01 1.76470079e-01 2.22854401e-03 8.92730375e+01] [-2.27332001e-03 5.15586474e-05 9.99997415e-01 -5.76656780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:89.30, Z:-0.58 [[ 1.77738348e-01 -9.84077654e-01 4.99635235e-04 1.70800205e+02] [ 9.84075160e-01 1.77739024e-01 2.21779502e-03 8.93006971e+01] [-2.27128720e-03 9.74913998e-05 9.99997416e-01 -5.75769526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:89.32, Z:-0.58 [[ 1.75076541e-01 -9.84554699e-01 4.99013824e-04 1.70797883e+02] [ 9.84552206e-01 1.75077222e-01 2.21793483e-03 8.93249155e+01] [-2.27104412e-03 1.02996802e-04 9.99997416e-01 -5.81247830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:89.36, Z:-0.58 [[ 1.80566389e-01 -9.83562688e-01 4.66889353e-04 1.70805081e+02] [ 9.83560173e-01 1.80566984e-01 2.22515260e-03 8.93554373e+01] [-2.27288187e-03 5.74260025e-05 9.99997415e-01 -5.77942411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:89.38, Z:-0.58 [[ 1.89216368e-01 -9.81935300e-01 4.82017333e-04 1.70806295e+02] [ 9.81932788e-01 1.89216974e-01 2.22175045e-03 8.93826947e+01] [-2.27282105e-03 5.29170745e-05 9.99997416e-01 -5.79049751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:89.41, Z:-0.57 [[ 1.99045498e-01 -9.79990137e-01 4.70387906e-04 1.70815829e+02] [ 9.79987613e-01 1.99046053e-01 2.22436065e-03 8.94132557e+01] [-2.27348035e-03 1.82253490e-05 9.99997415e-01 -5.74781656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:89.44, Z:-0.58 [[ 2.00590479e-01 -9.79675054e-01 4.98443305e-04 1.70815184e+02] [ 9.79672544e-01 2.00591093e-01 2.21805602e-03 8.94386551e+01] [-2.27295744e-03 4.33903022e-05 9.99997416e-01 -5.78440247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:89.47, Z:-0.58 [[ 2.10161173e-01 -9.77666640e-01 4.71857652e-04 1.70824207e+02] [ 9.77664110e-01 2.10161703e-01 2.22401370e-03 8.94697609e+01] [-2.27351041e-03 -6.08303533e-06 9.99997416e-01 -5.75085551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:89.50, Z:-0.58 [[ 2.15835286e-01 -9.76429660e-01 4.97454490e-04 1.70828629e+02] [ 9.76427141e-01 2.15835859e-01 2.21827353e-03 8.94974317e+01] [-2.27335659e-03 6.94636328e-06 9.99997416e-01 -5.75362176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:89.53, Z:-0.58 [[ 2.25535405e-01 -9.74234846e-01 4.96820765e-04 1.70831415e+02] [ 9.74232320e-01 2.25535952e-01 2.21841546e-03 8.95252570e+01] [-2.27330858e-03 -1.63123824e-05 9.99997416e-01 -5.75908741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:89.55, Z:-0.58 [[ 2.29570795e-01 -9.73291839e-01 4.96186999e-04 1.70836546e+02] [ 9.73289311e-01 2.29571329e-01 2.21855720e-03 8.95533925e+01] [-2.27321393e-03 -2.63824370e-05 9.99997416e-01 -5.75576929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:89.58, Z:-0.58 [[ 2.29616288e-01 -9.73281108e-01 4.95551777e-04 1.70838418e+02] [ 9.73278579e-01 2.29616821e-01 2.21869908e-03 8.95797284e+01] [-2.27320492e-03 -2.71395160e-05 9.99997416e-01 -5.78386045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:89.61, Z:-0.58 [[ 2.37327447e-01 -9.71429594e-01 4.76637330e-04 1.70847642e+02] [ 9.71427053e-01 2.37327916e-01 2.22291479e-03 8.96089720e+01] [-2.27252456e-03 -6.45402958e-05 9.99997416e-01 -5.75615134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:89.64, Z:-0.58 [[ 2.38572844e-01 -9.71124479e-01 4.94595187e-04 1.70853625e+02] [ 9.71121945e-01 2.38573352e-01 2.21891199e-03 8.96366486e+01] [-2.27283698e-03 -4.90599045e-05 9.99997416e-01 -5.75647184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:89.66, Z:-0.58 [[ 2.36678711e-01 -9.71587847e-01 4.93960023e-04 1.70856421e+02] [ 9.71585314e-01 2.36679223e-01 2.21905338e-03 8.96623430e+01] [-2.27291537e-03 -4.52783906e-05 9.99997416e-01 -5.76916296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:89.69, Z:-0.58 [[ 2.40566387e-01 -9.70632571e-01 4.74715171e-04 1.70866197e+02] [ 9.70630028e-01 2.40566844e-01 2.22332758e-03 8.96911746e+01] [-2.27223489e-03 -7.40850819e-05 9.99997416e-01 -5.76300393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:89.72, Z:-0.58 [[ 2.40966358e-01 -9.70533344e-01 4.93123183e-04 1.70872684e+02] [ 9.70530808e-01 2.40966856e-01 2.21923725e-03 8.97184477e+01] [-2.27267009e-03 -5.61702765e-05 9.99997416e-01 -5.76616719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:89.74, Z:-0.58 [[ 2.38107349e-01 -9.71238718e-01 4.92479524e-04 1.70876616e+02] [ 9.71236184e-01 2.38107853e-01 2.21938007e-03 8.97427835e+01] [-2.27281110e-03 -5.01367709e-05 9.99997416e-01 -5.76526660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:89.77, Z:-0.58 [[ 2.37978922e-01 -9.71270204e-01 4.72418329e-04 1.70883655e+02] [ 9.71267661e-01 2.37979380e-01 2.22383002e-03 8.97694492e+01] [-2.27236566e-03 -7.03800244e-05 9.99997416e-01 -5.76811306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:89.80, Z:-0.58 [[ 2.40248785e-01 -9.70711234e-01 4.70741740e-04 1.70894827e+02] [ 9.70708689e-01 2.40249233e-01 2.22420150e-03 8.97985072e+01] [-2.27215272e-03 -7.74086088e-05 9.99997416e-01 -5.78159047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.90, Y:89.83, Z:-0.58 [[ 2.39010414e-01 -9.71016879e-01 4.92045180e-04 1.70902500e+02] [ 9.71014344e-01 2.39010915e-01 2.21947865e-03 8.98252977e+01] [-2.27275540e-03 -5.26955833e-05 9.99997416e-01 -5.78176301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:89.85, Z:-0.58 [[ 2.37608295e-01 -9.71360930e-01 4.91413151e-04 1.70910814e+02] [ 9.71358395e-01 2.37608798e-01 2.21961858e-03 8.98526767e+01] [-2.27281486e-03 -5.00614969e-05 9.99997416e-01 -5.78656846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:89.88, Z:-0.58 [[ 2.34740928e-01 -9.72057846e-01 4.90786051e-04 1.70920798e+02] [ 9.72055312e-01 2.34741437e-01 2.21975723e-03 8.98790638e+01] [-2.27294025e-03 -4.39966839e-05 9.99997416e-01 -5.79486505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:89.91, Z:-0.58 [[ 2.33019572e-01 -9.72471922e-01 4.90158220e-04 1.70928865e+02] [ 9.72469389e-01 2.33020084e-01 2.21989586e-03 8.99064650e+01] [-2.27300310e-03 -4.06153168e-05 9.99997416e-01 -5.80088977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:89.93, Z:-0.58 [[ 2.31352179e-01 -9.72869945e-01 4.89533262e-04 1.70936899e+02] [ 9.72867413e-01 2.31352694e-01 2.22003366e-03 8.99330836e+01] [-2.27305887e-03 -3.73586668e-05 9.99997416e-01 -5.80800322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:89.96, Z:-0.58 [[ 2.27546284e-01 -9.73767143e-01 4.88912287e-04 1.70947120e+02] [ 9.73764613e-01 2.27546807e-01 2.22017041e-03 8.99591253e+01] [-2.27317943e-03 -2.91060429e-05 9.99997416e-01 -5.79729539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:89.98, Z:-0.58 [[ 2.25346058e-01 -9.74278664e-01 4.88277630e-04 1.70955079e+02] [ 9.74276135e-01 2.25346586e-01 2.22030998e-03 8.99848738e+01] [-2.27323234e-03 -2.46208613e-05 9.99997416e-01 -5.80796262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:90.01, Z:-0.58 [[ 2.22936642e-01 -9.74832814e-01 4.87608743e-04 1.70963346e+02] [ 9.74830286e-01 2.22937174e-01 2.22045687e-03 9.00120338e+01] [-2.27328033e-03 -1.96854271e-05 9.99997416e-01 -5.79401398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:90.04, Z:-0.58 [[ 2.20884068e-01 -9.75299949e-01 4.86983772e-04 1.70971554e+02] [ 9.75297422e-01 2.20884605e-01 2.22059393e-03 9.00392857e+01] [-2.27331236e-03 -1.55398031e-05 9.99997416e-01 -5.80883103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:90.06, Z:-0.58 [[ 2.18336332e-01 -9.75873459e-01 4.87450398e-04 1.70979455e+02] [ 9.75870933e-01 2.18336876e-01 2.22049169e-03 9.00649278e+01] [-2.27334730e-03 -9.12533600e-06 9.99997416e-01 -5.79201946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:90.09, Z:-0.58 [[ 2.15942688e-01 -9.76405919e-01 4.85950812e-04 1.70987360e+02] [ 9.76403394e-01 2.15943234e-01 2.22081982e-03 9.00917514e+01] [-2.27335941e-03 -5.08577952e-06 9.99997416e-01 -5.77212060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:90.11, Z:-0.58 [[ 2.08184912e-01 -9.78089365e-01 4.85338239e-04 1.70989315e+02] [ 9.78086844e-01 2.08185478e-01 2.22095369e-03 9.01144225e+01] [-2.27333156e-03 1.23338972e-05 9.99997416e-01 -5.78923844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:90.14, Z:-0.58 [[ 2.08068427e-01 -9.78114165e-01 4.58769194e-04 1.70996204e+02] [ 9.78111630e-01 2.08068932e-01 2.22677811e-03 9.01396436e+01] [-2.27349882e-03 -1.45947347e-05 9.99997415e-01 -5.77194902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:90.17, Z:-0.57 [[ 2.12230945e-01 -9.77219435e-01 4.49594570e-04 1.71009624e+02] [ 9.77216894e-01 2.12231419e-01 2.22878747e-03 9.01708666e+01] [-2.27343253e-03 -3.36662616e-05 9.99997415e-01 -5.74546914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:90.20, Z:-0.57 [[ 2.09579920e-01 -9.77791399e-01 4.87372271e-04 1.71010656e+02] [ 9.77788878e-01 2.09580487e-01 2.22049572e-03 9.01957844e+01] [-2.27332533e-03 1.11758705e-05 9.99997416e-01 -5.72411407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:90.23, Z:-0.57 [[ 2.13217431e-01 -9.77004665e-01 4.60153371e-04 1.71020602e+02] [ 9.77002128e-01 2.13217926e-01 2.22645264e-03 9.02260790e+01] [-2.27336756e-03 -2.51476899e-05 9.99997416e-01 -5.72821217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:90.25, Z:-0.57 [[ 2.14120007e-01 -9.76807241e-01 4.86720256e-04 1.71026254e+02] [ 9.76804717e-01 2.14120560e-01 2.22062968e-03 9.02535823e+01] [-2.27334397e-03 -5.06005143e-08 9.99997416e-01 -5.73552023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:90.28, Z:-0.58 [[ 2.09665826e-01 -9.77772982e-01 4.86093862e-04 1.71023833e+02] [ 9.77770460e-01 2.09666389e-01 2.22076679e-03 9.02761210e+01] [-2.27332331e-03 9.66931524e-06 9.99997416e-01 -5.77935809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:90.31, Z:-0.57 [[ 2.16656060e-01 -9.76247897e-01 4.40821738e-04 1.71037288e+02] [ 9.76245350e-01 2.16656502e-01 2.23063997e-03 9.03083555e+01] [-2.27316447e-03 -5.29314951e-05 9.99997415e-01 -5.74746849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:90.34, Z:-0.58 [[ 2.18218970e-01 -9.75899711e-01 4.85388806e-04 1.71042793e+02] [ 9.75897184e-01 2.18219510e-01 2.22089961e-03 9.03362320e+01] [-2.27329660e-03 -1.09528580e-05 9.99997416e-01 -5.75956767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:90.36, Z:-0.58 [[ 2.21628903e-01 -9.75130963e-01 4.84765242e-04 1.71047541e+02] [ 9.75128433e-01 2.21629432e-01 2.22103571e-03 9.03639875e+01] [-2.27323894e-03 -1.95373370e-05 9.99997416e-01 -5.76650830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:90.39, Z:-0.58 [[ 2.23095594e-01 -9.74796451e-01 4.84136739e-04 1.71052886e+02] [ 9.74793921e-01 2.23096118e-01 2.22117270e-03 9.03912652e+01] [-2.27320030e-03 -2.36002925e-05 9.99997416e-01 -5.76839946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:90.42, Z:-0.58 [[ 2.24254380e-01 -9.74530522e-01 4.83503683e-04 1.71057781e+02] [ 9.74527991e-01 2.24254900e-01 2.22131050e-03 9.04190199e+01] [-2.27316295e-03 -2.69507368e-05 9.99997416e-01 -5.76747525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:90.45, Z:-0.58 [[ 2.25380355e-01 -9.74270734e-01 4.82863619e-04 1.71062975e+02] [ 9.74268201e-01 2.25380870e-01 2.22144963e-03 9.04462681e+01] [-2.27312158e-03 -3.02324365e-05 9.99997416e-01 -5.76675233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:90.47, Z:-0.58 [[ 2.27020992e-01 -9.73889746e-01 4.82225111e-04 1.71068113e+02] [ 9.73887212e-01 2.27021501e-01 2.22158822e-03 9.04734760e+01] [-2.27305746e-03 -3.47142926e-05 9.99997416e-01 -5.75385341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:90.50, Z:-0.58 [[ 2.26774674e-01 -9.73947132e-01 4.81586242e-04 1.71073581e+02] [ 9.73944598e-01 2.26775183e-01 2.22172670e-03 9.05004774e+01] [-2.27305616e-03 -3.47930306e-05 9.99997416e-01 -5.75398110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:90.53, Z:-0.57 [[ 2.26504725e-01 -9.74009948e-01 4.80911447e-04 1.71079616e+02] [ 9.74007414e-01 2.26505233e-01 2.22187276e-03 9.05281529e+01] [-2.27305513e-03 -3.48533636e-05 9.99997416e-01 -5.74564907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:90.55, Z:-0.57 [[ 2.25613042e-01 -9.74216878e-01 4.80271779e-04 1.71085389e+02] [ 9.74214344e-01 2.25613550e-01 2.22201102e-03 9.05549448e+01] [-2.27307646e-03 -3.34270085e-05 9.99997416e-01 -5.74738118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:90.58, Z:-0.57 [[ 2.24656345e-01 -9.74437939e-01 4.79598211e-04 1.71091541e+02] [ 9.74435406e-01 2.24656855e-01 2.22215639e-03 9.05818935e+01] [-2.27309852e-03 -3.18840557e-05 9.99997416e-01 -5.74337538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:90.61, Z:-0.57 [[ 2.23112019e-01 -9.74792695e-01 4.78968304e-04 1.71098730e+02] [ 9.74790162e-01 2.23112531e-01 2.22229216e-03 9.06090485e+01] [-2.27313799e-03 -2.89264987e-05 9.99997416e-01 -5.73775883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:90.64, Z:-0.57 [[ 2.22708168e-01 -9.74885041e-01 4.78332883e-04 1.71105282e+02] [ 9.74882508e-01 2.22708680e-01 2.22242892e-03 9.06353787e+01] [-2.27314159e-03 -2.86347127e-05 9.99997416e-01 -5.73878083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:90.66, Z:-0.57 [[ 2.21999778e-01 -9.75046599e-01 4.77661931e-04 1.71111692e+02] [ 9.75044066e-01 2.22000290e-01 2.22257311e-03 9.06629121e+01] [-2.27315344e-03 -2.76693060e-05 9.99997416e-01 -5.73152395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:90.69, Z:-0.57 [[ 2.21559791e-01 -9.75146672e-01 4.77019087e-04 1.71117511e+02] [ 9.75144139e-01 2.21560303e-01 2.22271108e-03 9.06889496e+01] [-2.27315780e-03 -2.73010354e-05 9.99997416e-01 -5.73998983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:90.72, Z:-0.57 [[ 2.21291177e-01 -9.75207664e-01 4.76551035e-04 1.71123426e+02] [ 9.75205131e-01 2.21291688e-01 2.22281142e-03 9.07169367e+01] [-2.27315952e-03 -2.71535411e-05 9.99997416e-01 -5.74063798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:90.74, Z:-0.58 [[ 2.18454715e-01 -9.75846971e-01 4.75938720e-04 1.71127517e+02] [ 9.75844439e-01 2.18455233e-01 2.22294252e-03 9.07445138e+01] [-2.27322303e-03 -2.11701221e-05 9.99997416e-01 -5.76329991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:90.77, Z:-0.57 [[ 2.20420202e-01 -9.75404897e-01 4.70706673e-04 1.71134811e+02] [ 9.75402362e-01 2.20420703e-01 2.22406096e-03 9.07711467e+01] [-2.27311345e-03 -3.10995666e-05 9.99997416e-01 -5.74897380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:90.80, Z:-0.58 [[ 2.20065342e-01 -9.75485018e-01 4.75040477e-04 1.71140848e+02] [ 9.75482485e-01 2.20065853e-01 2.22313491e-03 9.07984531e+01] [-2.27317499e-03 -2.58412799e-05 9.99997416e-01 -5.75309258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:90.83, Z:-0.58 [[ 2.19310941e-01 -9.75654901e-01 4.74404105e-04 1.71147016e+02] [ 9.75652368e-01 2.19311453e-01 2.22327070e-03 9.08262793e+01] [-2.27318721e-03 -2.47341017e-05 9.99997416e-01 -5.76482934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:90.85, Z:-0.58 [[ 2.16677838e-01 -9.76243049e-01 4.73766664e-04 1.71153059e+02] [ 9.76240517e-01 2.16678355e-01 2.22340653e-03 9.08532512e+01] [-2.27324015e-03 -1.92527069e-05 9.99997416e-01 -5.77314008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:90.88, Z:-0.58 [[ 2.13637213e-01 -9.76912953e-01 4.73125198e-04 1.71159256e+02] [ 9.76910423e-01 2.13637736e-01 2.22354302e-03 9.08811556e+01] [-2.27328537e-03 -1.28305956e-05 9.99997416e-01 -5.78671172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:90.91, Z:-0.58 [[ 2.09244225e-01 -9.77863299e-01 4.72530005e-04 1.71166983e+02] [ 9.77860770e-01 2.09244759e-01 2.22366950e-03 9.09085864e+01] [-2.27331922e-03 -3.22144602e-06 9.99997416e-01 -5.79611500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:90.94, Z:-0.58 [[ 2.07963672e-01 -9.78136437e-01 4.71896793e-04 1.71173723e+02] [ 9.78133909e-01 2.07964207e-01 2.22380387e-03 9.09362586e+01] [-2.27332123e-03 -8.92162302e-07 9.99997416e-01 -5.79719108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:90.96, Z:-0.58 [[ 2.06730635e-01 -9.78397783e-01 4.71266500e-04 1.71180095e+02] [ 9.78395256e-01 2.06731172e-01 2.22393743e-03 9.09628705e+01] [-2.27332093e-03 1.32891094e-06 9.99997416e-01 -5.80016407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:90.98, Z:-0.59 [[ 1.98079779e-01 -9.80185788e-01 4.70605233e-04 1.71175565e+02] [ 9.80183265e-01 1.98080337e-01 2.22407735e-03 9.09836783e+01] [-2.27322665e-03 2.07346238e-05 9.99997416e-01 -5.87433513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:91.02, Z:-0.58 [[ 2.03399885e-01 -9.79095661e-01 4.16465731e-04 1.71191388e+02] [ 9.79093110e-01 2.03400306e-01 2.23547832e-03 9.10173009e+01] [-2.27345638e-03 -4.69373038e-05 9.99997415e-01 -5.80514071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:91.04, Z:-0.58 [[ 2.02091859e-01 -9.79366458e-01 4.69833516e-04 1.71196343e+02] [ 9.79363933e-01 2.02092405e-01 2.22420509e-03 9.10435197e+01] [-2.27326165e-03 1.06442591e-05 9.99997416e-01 -5.80395469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:91.07, Z:-0.59 [[ 1.95458056e-01 -9.80711950e-01 4.69184382e-04 1.71193405e+02] [ 9.80709428e-01 1.95458617e-01 2.22434201e-03 9.10656167e+01] [-2.27314492e-03 2.53679815e-05 9.99997416e-01 -5.85236676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:91.10, Z:-0.58 [[ 2.00856910e-01 -9.79620498e-01 4.26187491e-04 1.71207771e+02] [ 9.79617953e-01 2.00857360e-01 2.23337659e-03 9.10975097e+01] [-2.27346438e-03 -3.10882030e-05 9.99997415e-01 -5.77667487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:91.13, Z:-0.58 [[ 2.00709067e-01 -9.79650780e-01 4.68597101e-04 1.71214135e+02] [ 9.79648255e-01 2.00709614e-01 2.22444266e-03 9.11251324e+01] [-2.27322893e-03 1.25945201e-05 9.99997416e-01 -5.76091715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:91.15, Z:-0.58 [[ 2.00469008e-01 -9.79699933e-01 4.67973983e-04 1.71219519e+02] [ 9.79697407e-01 2.00469554e-01 2.22457374e-03 9.11517741e+01] [-2.27322928e-03 1.25148057e-05 9.99997416e-01 -5.76123879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:91.17, Z:-0.58 [[ 1.95631618e-01 -9.80677343e-01 4.67519548e-04 1.71217154e+02] [ 9.80674820e-01 1.95632176e-01 2.22466924e-03 9.11740712e+01] [-2.27314459e-03 2.32690039e-05 9.99997416e-01 -5.81933953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:91.21, Z:-0.58 [[ 2.01191052e-01 -9.79551924e-01 4.35149041e-04 1.71229625e+02] [ 9.79549382e-01 2.01191522e-01 2.23146519e-03 9.12063211e+01] [-2.27338431e-03 -2.27008545e-05 9.99997416e-01 -5.76451683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:91.23, Z:-0.58 [[ 1.96708559e-01 -9.80461893e-01 4.67856883e-04 1.71224653e+02] [ 9.80459370e-01 1.96709114e-01 2.22458634e-03 9.12287161e+01] [-2.27315385e-03 2.11194921e-05 9.99997416e-01 -5.83076492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:91.26, Z:-0.58 [[ 1.99600573e-01 -9.79877248e-01 4.36070662e-04 1.71230542e+02] [ 9.79874708e-01 1.99601049e-01 2.23130766e-03 9.12551568e+01] [-2.27344777e-03 -1.80756764e-05 9.99997416e-01 -5.81083172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:91.28, Z:-0.58 [[ 2.00181419e-01 -9.79758752e-01 4.33492509e-04 1.71235477e+02] [ 9.79756210e-01 2.00181887e-01 2.23185327e-03 9.12829121e+01] [-2.27345513e-03 -2.20585771e-05 9.99997415e-01 -5.81334954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:91.31, Z:-0.58 [[ 2.06563769e-01 -9.78433045e-01 4.30413132e-04 1.71248333e+02] [ 9.78430499e-01 2.06564213e-01 2.23250446e-03 9.13144017e+01] [-2.27326408e-03 -4.00251988e-05 9.99997415e-01 -5.78279507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:91.34, Z:-0.58 [[ 2.06954551e-01 -9.78350444e-01 4.71355775e-04 1.71253506e+02] [ 9.78347917e-01 2.06955087e-01 2.22382638e-03 9.13415792e+01] [-2.27323100e-03 9.18952422e-07 9.99997416e-01 -5.78111568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:91.37, Z:-0.58 [[ 2.07733317e-01 -9.78185385e-01 4.70687838e-04 1.71258249e+02] [ 9.78182857e-01 2.07733850e-01 2.22396774e-03 9.13689596e+01] [-2.27323054e-03 -1.57342077e-06 9.99997416e-01 -5.77092468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:91.40, Z:-0.58 [[ 2.08039890e-01 -9.78120229e-01 4.70053046e-04 1.71263191e+02] [ 9.78117701e-01 2.08040421e-01 2.22410190e-03 9.13955795e+01] [-2.27322909e-03 -2.93471040e-06 9.99997416e-01 -5.78590476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:91.42, Z:-0.58 [[ 2.08296229e-01 -9.78065673e-01 4.69589670e-04 1.71268306e+02] [ 9.78063144e-01 2.08296758e-01 2.22419973e-03 9.14228731e+01] [-2.27322741e-03 -4.00406621e-06 9.99997416e-01 -5.77186226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:91.45, Z:-0.58 [[ 2.08372416e-01 -9.78049445e-01 4.68962806e-04 1.71273422e+02] [ 9.78046915e-01 2.08372944e-01 2.22433190e-03 9.14492171e+01] [-2.27322574e-03 -4.82178631e-06 9.99997416e-01 -5.78302207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:91.48, Z:-0.57 [[ 2.08622376e-01 -9.77996158e-01 4.68301323e-04 1.71278623e+02] [ 9.77993628e-01 2.08622901e-01 2.22447115e-03 9.14770896e+01] [-2.27322262e-03 -6.07874641e-06 9.99997416e-01 -5.74784848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:91.50, Z:-0.57 [[ 2.08404379e-01 -9.78042635e-01 4.67660349e-04 1.71283678e+02] [ 9.78040105e-01 2.08404903e-01 2.22460590e-03 9.15038191e+01] [-2.27322213e-03 -6.22703303e-06 9.99997416e-01 -5.74542276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:91.53, Z:-0.58 [[ 2.04035097e-01 -9.78963463e-01 4.66985077e-04 1.71283306e+02] [ 9.78960935e-01 2.04035631e-01 2.22474764e-03 9.15275075e+01] [-2.27322825e-03 3.23354628e-06 9.99997416e-01 -5.77147529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:91.56, Z:-0.57 [[ 2.08574680e-01 -9.78006347e-01 4.33717270e-04 1.71294152e+02] [ 9.78003802e-01 2.08575127e-01 2.23171162e-03 9.15586517e+01] [-2.27309076e-03 -4.13013987e-05 9.99997416e-01 -5.73579047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:91.58, Z:-0.58 [[ 2.05302576e-01 -9.78698439e-01 4.66402163e-04 1.71294579e+02] [ 9.78695910e-01 2.05303106e-01 2.22485981e-03 9.15835210e+01] [-2.27322064e-03 -3.03561528e-07 9.99997416e-01 -5.75717898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:91.61, Z:-0.57 [[ 2.09658001e-01 -9.77774682e-01 4.41318660e-04 1.71302598e+02] [ 9.77772139e-01 2.09658462e-01 2.23010635e-03 9.16141617e+01] [-2.27306772e-03 -3.60505490e-05 9.99997416e-01 -5.73406311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:91.64, Z:-0.57 [[ 2.08015639e-01 -9.78125389e-01 4.65744588e-04 1.71304811e+02] [ 9.78122859e-01 2.08016161e-01 2.22499342e-03 9.16405542e+01] [-2.27320495e-03 -7.27800041e-06 9.99997416e-01 -5.73909226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:91.67, Z:-0.57 [[ 2.08960110e-01 -9.77924063e-01 4.47527003e-04 1.71310194e+02] [ 9.77921523e-01 2.08960587e-01 2.22880223e-03 9.16685767e+01] [-2.27311484e-03 -2.80844713e-05 9.99997416e-01 -5.74275156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:171.32, Y:91.70, Z:-0.58 [[ 2.11028688e-01 -9.77479765e-01 4.48428440e-04 1.71315624e+02] [ 9.77477225e-01 2.11029162e-01 2.22861509e-03 9.16966959e+01] [-2.27305764e-03 -3.19731323e-05 9.99997416e-01 -5.78813283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:91.72, Z:-0.58 [[ 2.11520886e-01 -9.77373369e-01 4.61676941e-04 1.71320290e+02] [ 9.77370834e-01 2.11521389e-01 2.22586716e-03 9.17241326e+01] [-2.27315784e-03 -1.95878176e-05 9.99997416e-01 -5.76236737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:91.75, Z:-0.58 [[ 2.11934937e-01 -9.77283669e-01 4.60808426e-04 1.71325323e+02] [ 9.77281134e-01 2.11935437e-01 2.22604695e-03 9.17520505e+01] [-2.27314097e-03 -2.14377397e-05 9.99997416e-01 -5.77256348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:91.78, Z:-0.58 [[ 2.12260258e-01 -9.77213063e-01 4.60173982e-04 1.71330209e+02] [ 9.77210528e-01 2.12260755e-01 2.22617810e-03 9.17782850e+01] [-2.27312720e-03 -2.28422771e-05 9.99997416e-01 -5.77924952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:91.81, Z:-0.58 [[ 2.13269055e-01 -9.76993398e-01 4.59503157e-04 1.71335523e+02] [ 9.76990861e-01 2.13269548e-01 2.22631655e-03 9.18056656e+01] [-2.27309461e-03 -2.58740416e-05 9.99997416e-01 -5.78652331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:91.83, Z:-0.58 [[ 2.13329192e-01 -9.76980269e-01 4.58879209e-04 1.71341328e+02] [ 9.76977732e-01 2.13329684e-01 2.22644515e-03 9.18333500e+01] [-2.27308554e-03 -2.66509765e-05 9.99997416e-01 -5.78713891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:91.86, Z:-0.58 [[ 2.13418621e-01 -9.76960737e-01 4.58249791e-04 1.71347180e+02] [ 9.76958200e-01 2.13419111e-01 2.22657469e-03 9.18596153e+01] [-2.27307532e-03 -2.75016085e-05 9.99997416e-01 -5.78878143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:91.89, Z:-0.58 [[ 2.13219932e-01 -9.77004120e-01 4.57587643e-04 1.71353241e+02] [ 9.77001583e-01 2.13220421e-01 2.22671076e-03 9.18861103e+01] [-2.27307262e-03 -2.77152661e-05 9.99997416e-01 -5.78952782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:91.91, Z:-0.58 [[ 2.08985984e-01 -9.77918529e-01 4.56929308e-04 1.71354042e+02] [ 9.77915994e-01 2.08986482e-01 2.22684585e-03 9.19098399e+01] [-2.27316587e-03 -1.85410914e-05 9.99997416e-01 -5.81498730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:91.94, Z:-0.58 [[ 2.13548061e-01 -9.76932468e-01 4.23460294e-04 1.71365882e+02] [ 9.76929916e-01 2.13548471e-01 2.23369368e-03 9.19404116e+01] [-2.27259717e-03 -6.33099235e-05 9.99997416e-01 -5.77937042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:91.96, Z:-0.58 [[ 2.10782402e-01 -9.77532900e-01 4.56448606e-04 1.71368714e+02] [ 9.77530364e-01 2.10782895e-01 2.22693215e-03 9.19647129e+01] [-2.27311100e-03 -2.32057355e-05 9.99997416e-01 -5.80340899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:91.99, Z:-0.58 [[ 2.10748965e-01 -9.77540121e-01 4.30720224e-04 1.71374230e+02] [ 9.77537574e-01 2.10749399e-01 2.23219283e-03 9.19912476e+01] [-2.27283208e-03 -4.93871257e-05 9.99997416e-01 -5.80605135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:92.02, Z:-0.58 [[ 2.15383234e-01 -9.76529508e-01 4.27487115e-04 1.71385439e+02] [ 9.76526957e-01 2.15383649e-01 2.23285305e-03 9.20218597e+01] [-2.27252062e-03 -6.34664175e-05 9.99997416e-01 -5.76889040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:92.04, Z:-0.58 [[ 2.07383828e-01 -9.78259547e-01 4.55393444e-04 1.71380342e+02] [ 9.78257012e-01 2.07384327e-01 2.22714693e-03 9.20408292e+01] [-2.27316921e-03 -1.63824260e-05 9.99997416e-01 -5.83128983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:92.08, Z:-0.58 [[ 2.18670817e-01 -9.75798607e-01 3.90068723e-04 1.71397849e+02] [ 9.75796041e-01 2.18671137e-01 2.24042785e-03 9.20752869e+01] [-2.27150315e-03 -1.09288673e-04 9.99997414e-01 -5.76559439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:92.10, Z:-0.58 [[ 2.19187688e-01 -9.75682607e-01 4.54821462e-04 1.71403532e+02] [ 9.75680066e-01 2.19188155e-01 2.22720458e-03 9.21021494e+01] [-2.27273625e-03 -4.44155901e-05 9.99997416e-01 -5.77149161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:92.13, Z:-0.58 [[ 2.19191356e-01 -9.75681784e-01 4.54150327e-04 1.71408997e+02] [ 9.75679243e-01 2.19191822e-01 2.22734143e-03 9.21299397e+01] [-2.27272249e-03 -4.51089400e-05 9.99997416e-01 -5.77715438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:92.16, Z:-0.58 [[ 2.19290717e-01 -9.75659457e-01 4.53524039e-04 1.71414221e+02] [ 9.75656915e-01 2.19291181e-01 2.22746894e-03 9.21564815e+01] [-2.27270496e-03 -4.59793971e-05 9.99997416e-01 -5.78475230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:92.18, Z:-0.58 [[ 2.16883033e-01 -9.76197493e-01 4.52865938e-04 1.71416242e+02] [ 9.76194952e-01 2.16883502e-01 2.22760273e-03 9.21812498e+01] [-2.27279935e-03 -4.10437949e-05 9.99997416e-01 -5.78016827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:171.42, Y:92.21, Z:-0.58 [[ 2.17971160e-01 -9.75955116e-01 4.29475341e-04 1.71423558e+02] [ 9.75952566e-01 2.17971573e-01 2.23229816e-03 9.22109326e+01] [-2.27223623e-03 -6.74290603e-05 9.99997416e-01 -5.82711288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:92.23, Z:-0.58 [[ 2.16724458e-01 -9.76232711e-01 4.51238076e-04 1.71426290e+02] [ 9.76230170e-01 2.16724924e-01 2.22793029e-03 9.22306258e+01] [-2.27277296e-03 -4.23347599e-05 9.99997416e-01 -5.84095965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:92.26, Z:-0.58 [[ 2.23443352e-01 -9.74716832e-01 4.06488996e-04 1.71441327e+02] [ 9.74714271e-01 2.23443698e-01 2.23708226e-03 9.22637670e+01] [-2.27134914e-03 -1.03650533e-04 9.99997415e-01 -5.78825225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:92.29, Z:-0.58 [[ 2.18078750e-01 -9.75931068e-01 4.56822381e-04 1.71440607e+02] [ 9.75928529e-01 2.18079225e-01 2.22675629e-03 9.22870890e+01] [-2.27278412e-03 -3.97822349e-05 9.99997416e-01 -5.82833580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:92.32, Z:-0.58 [[ 2.23578315e-01 -9.74685879e-01 4.18199192e-04 1.71453599e+02] [ 9.74683321e-01 2.23578687e-01 2.23465087e-03 9.23188311e+01] [-2.27158307e-03 -9.20076995e-05 9.99997416e-01 -5.80229545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:92.35, Z:-0.59 [[ 2.21412060e-01 -9.75180236e-01 4.56041054e-04 1.71458204e+02] [ 9.75177694e-01 2.21412524e-01 2.22690134e-03 9.23468607e+01] [-2.27260337e-03 -4.83417485e-05 9.99997416e-01 -5.85358430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:92.37, Z:-0.58 [[ 2.18361247e-01 -9.75867900e-01 4.54516053e-04 1.71459035e+02] [ 9.75865360e-01 2.18361716e-01 2.22721334e-03 9.23693723e+01] [-2.27271491e-03 -4.27906113e-05 9.99997416e-01 -5.81588294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:92.40, Z:-0.58 [[ 2.23480954e-01 -9.74708207e-01 4.17999420e-04 1.71471763e+02] [ 9.74705650e-01 2.23481326e-01 2.23465770e-03 9.24005535e+01] [-2.27155426e-03 -9.19770378e-05 9.99997416e-01 -5.80115105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:92.43, Z:-0.58 [[ 2.23206152e-01 -9.74771156e-01 4.54957948e-04 1.71477397e+02] [ 9.74768613e-01 2.23206610e-01 2.22710774e-03 9.24285977e+01] [-2.27247001e-03 -5.36254215e-05 9.99997416e-01 -5.80196843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:92.46, Z:-0.58 [[ 2.22801173e-01 -9.74863801e-01 4.54330038e-04 1.71483761e+02] [ 9.74861258e-01 2.22801630e-01 2.22723582e-03 9.24562221e+01] [-2.27247706e-03 -5.33220018e-05 9.99997416e-01 -5.77995986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:92.48, Z:-0.58 [[ 2.22182945e-01 -9.75004889e-01 4.53685609e-04 1.71489603e+02] [ 9.75002346e-01 2.22183402e-01 2.22736709e-03 9.24828047e+01] [-2.27249521e-03 -5.25384465e-05 9.99997416e-01 -5.77753362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:92.51, Z:-0.58 [[ 2.21624736e-01 -9.75131925e-01 4.53007075e-04 1.71495697e+02] [ 9.75129382e-01 2.21625193e-01 2.22750508e-03 9.25103042e+01] [-2.27250910e-03 -5.19297157e-05 9.99997417e-01 -5.77381299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:92.53, Z:-0.58 [[ 2.17022892e-01 -9.76166410e-01 4.52373468e-04 1.71495575e+02] [ 9.76163869e-01 2.17023359e-01 2.22763375e-03 9.25336421e+01] [-2.27271685e-03 -4.18568831e-05 9.99997417e-01 -5.76280163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:92.56, Z:-0.58 [[ 2.16305636e-01 -9.76325611e-01 4.16463142e-04 1.71501324e+02] [ 9.76323056e-01 2.16306023e-01 2.23491104e-03 9.25605180e+01] [-2.27208438e-03 -7.68212865e-05 9.99997416e-01 -5.76076210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:92.59, Z:-0.58 [[ 2.18721745e-01 -9.75787183e-01 4.13390603e-04 1.71514124e+02] [ 9.75784626e-01 2.18722119e-01 2.23553321e-03 9.25917726e+01] [-2.27182232e-03 -8.55795292e-05 9.99997416e-01 -5.76095498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:92.62, Z:-0.58 [[ 2.17846572e-01 -9.75982923e-01 4.52149142e-04 1.71520396e+02] [ 9.75980382e-01 2.17847037e-01 2.22766639e-03 9.26195932e+01] [-2.27266371e-03 -4.40007952e-05 9.99997417e-01 -5.75817112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:171.53, Y:92.65, Z:-0.58 [[ 2.17357153e-01 -9.76092037e-01 4.51512505e-04 1.71526378e+02] [ 9.76089495e-01 2.17357618e-01 2.22779542e-03 9.26468103e+01] [-2.27267305e-03 -4.35106573e-05 9.99997417e-01 -5.75948152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:92.67, Z:-0.58 [[ 2.17186537e-01 -9.76130014e-01 4.50879517e-04 1.71531723e+02] [ 9.76127473e-01 2.17187001e-01 2.22792352e-03 9.26745288e+01] [-2.27266819e-03 -4.37591107e-05 9.99997417e-01 -5.75619321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:92.70, Z:-0.58 [[ 2.17367868e-01 -9.76089651e-01 4.50233024e-04 1.71536584e+02] [ 9.76087109e-01 2.17368329e-01 2.22805416e-03 9.27013397e+01] [-2.27264701e-03 -4.48407306e-05 9.99997417e-01 -5.76445626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:92.73, Z:-0.58 [[ 2.17701716e-01 -9.76015246e-01 4.49553849e-04 1.71541378e+02] [ 9.76012704e-01 2.17702175e-01 2.22819119e-03 9.27292381e+01] [-2.27261742e-03 -4.63107780e-05 9.99997417e-01 -5.76978252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:92.76, Z:-0.58 [[ 2.18241586e-01 -9.75894671e-01 4.48918171e-04 1.71545862e+02] [ 9.75892128e-01 2.18242042e-01 2.22831925e-03 9.27568572e+01] [-2.27257770e-03 -4.82162181e-05 9.99997417e-01 -5.77627723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:92.78, Z:-0.58 [[ 2.18738921e-01 -9.75783318e-01 4.48282297e-04 1.71550581e+02] [ 9.75780775e-01 2.18739375e-01 2.22844717e-03 9.27846593e+01] [-2.27253856e-03 -5.00228827e-05 9.99997417e-01 -5.77299533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:92.81, Z:-0.58 [[ 2.18121223e-01 -9.75921581e-01 4.47632546e-04 1.71551384e+02] [ 9.75919037e-01 2.18121677e-01 2.22857768e-03 9.28094046e+01] [-2.27255541e-03 -4.92469660e-05 9.99997417e-01 -5.77713713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:92.84, Z:-0.58 [[ 2.17616225e-01 -9.76034323e-01 4.23737329e-04 1.71556873e+02] [ 9.76031770e-01 2.17616626e-01 2.23336437e-03 9.28382063e+01] [-2.27205257e-03 -7.24352284e-05 9.99997416e-01 -5.80234291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:92.86, Z:-0.58 [[ 2.17962292e-01 -9.75957095e-01 4.32641654e-04 1.71561206e+02] [ 9.75954546e-01 2.17962712e-01 2.23157917e-03 9.28639647e+01] [-2.27222527e-03 -6.41615211e-05 9.99997416e-01 -5.75868146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:92.89, Z:-0.58 [[ 2.19886196e-01 -9.75525441e-01 4.19141298e-04 1.71570390e+02] [ 9.75522885e-01 2.19886580e-01 2.23428174e-03 9.28944264e+01] [-2.27176222e-03 -8.24057833e-05 9.99997416e-01 -5.77575013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:92.92, Z:-0.58 [[ 2.19623648e-01 -9.75584570e-01 4.46812543e-04 1.71575459e+02] [ 9.75582026e-01 2.19624096e-01 2.22873426e-03 9.29210222e+01] [-2.27244955e-03 -5.35804624e-05 9.99997417e-01 -5.78132856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:92.95, Z:-0.58 [[ 2.18871321e-01 -9.75753630e-01 4.46138951e-04 1.71580246e+02] [ 9.75751085e-01 2.18871770e-01 2.22886909e-03 9.29474300e+01] [-2.27247432e-03 -5.25149564e-05 9.99997417e-01 -5.78380842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:92.98, Z:-0.58 [[ 2.17658650e-01 -9.76024853e-01 4.45475952e-04 1.71585621e+02] [ 9.76022309e-01 2.17659100e-01 2.22900159e-03 9.29751647e+01] [-2.27252284e-03 -5.03670095e-05 9.99997417e-01 -5.76842638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:93.00, Z:-0.58 [[ 2.17514951e-01 -9.76056888e-01 4.44836316e-04 1.71590912e+02] [ 9.76054344e-01 2.17515400e-01 2.22912923e-03 9.30026857e+01] [-2.27251569e-03 -5.06845174e-05 9.99997417e-01 -5.76161324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:93.03, Z:-0.58 [[ 2.17586501e-01 -9.76040940e-01 4.44187425e-04 1.71596244e+02] [ 9.76038396e-01 2.17586949e-01 2.22925853e-03 9.30295852e+01] [-2.27249698e-03 -5.15125812e-05 9.99997417e-01 -5.76379878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:93.06, Z:-0.58 [[ 2.17545650e-01 -9.76050047e-01 4.43505659e-04 1.71601486e+02] [ 9.76047502e-01 2.17546096e-01 2.22939415e-03 9.30568424e+01] [-2.27248319e-03 -5.21124111e-05 9.99997417e-01 -5.75969882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:93.08, Z:-0.58 [[ 2.17688284e-01 -9.76018245e-01 4.42867891e-04 1.71606784e+02] [ 9.76015700e-01 2.17688728e-01 2.22952084e-03 9.30839863e+01] [-2.27246037e-03 -5.30945516e-05 9.99997417e-01 -5.75531006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:93.11, Z:-0.58 [[ 2.17434574e-01 -9.76074798e-01 4.42228105e-04 1.71611683e+02] [ 9.76072252e-01 2.17435017e-01 2.22964773e-03 9.31111789e+01] [-2.27245884e-03 -5.31559227e-05 9.99997417e-01 -5.75638114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:93.14, Z:-0.58 [[ 2.16798564e-01 -9.76216261e-01 4.41590265e-04 1.71616702e+02] [ 9.76213716e-01 2.16799008e-01 2.22977405e-03 9.31386338e+01] [-2.27247802e-03 -5.23253398e-05 9.99997417e-01 -5.75798662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:93.16, Z:-0.58 [[ 2.09571104e-01 -9.77793310e-01 4.40954602e-04 1.71612054e+02] [ 9.77790768e-01 2.09571565e-01 2.22989975e-03 9.31587084e+01] [-2.27279261e-03 -3.61612148e-05 9.99997417e-01 -5.82490296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:93.18, Z:-0.58 [[ 2.10448245e-01 -9.77604921e-01 3.93478019e-04 1.71618041e+02] [ 9.77602360e-01 2.10448595e-01 2.23931160e-03 9.31849710e+01] [-2.27196893e-03 -8.65941562e-05 9.99997415e-01 -5.81512055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:93.22, Z:-0.58 [[ 2.17038296e-01 -9.76163012e-01 3.90595313e-04 1.71632846e+02] [ 9.76160448e-01 2.17038622e-01 2.23988305e-03 9.32181584e+01] [-2.27126525e-03 -1.04856705e-04 9.99997415e-01 -5.75917064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:93.24, Z:-0.58 [[ 2.10965989e-01 -9.77493302e-01 4.43476431e-04 1.71630461e+02] [ 9.77490760e-01 2.10966452e-01 2.22936367e-03 9.32408590e+01] [-2.27274671e-03 -3.68257979e-05 9.99997417e-01 -5.83097444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:93.27, Z:-0.58 [[ 2.09440038e-01 -9.77821409e-01 4.04116700e-04 1.71635417e+02] [ 9.77818852e-01 2.09440415e-01 2.23718898e-03 9.32668733e+01] [-2.27220965e-03 -7.34040170e-05 9.99997416e-01 -5.84674806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:93.29, Z:-0.59 [[ 2.08329783e-01 -9.78058560e-01 3.94001364e-04 1.71641348e+02] [ 9.78056000e-01 2.08330140e-01 2.23919647e-03 9.32940030e+01] [-2.27214763e-03 -8.11359178e-05 9.99997415e-01 -5.86062644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:93.33, Z:-0.58 [[ 2.14144837e-01 -9.76801840e-01 3.92934286e-04 1.71656607e+02] [ 9.76799278e-01 2.14145176e-01 2.23940845e-03 9.33266498e+01] [-2.27160328e-03 -9.57398311e-05 9.99997415e-01 -5.77837843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:93.35, Z:-0.58 [[ 2.12901477e-01 -9.77073571e-01 4.44291843e-04 1.71662307e+02] [ 9.77071029e-01 2.12901937e-01 2.22917248e-03 9.33526953e+01] [-2.27265611e-03 -4.04894266e-05 9.99997417e-01 -5.78262485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:93.38, Z:-0.58 [[ 2.11370032e-01 -9.77406012e-01 4.43623736e-04 1.71668154e+02] [ 9.77403471e-01 2.11370494e-01 2.22930544e-03 9.33793008e+01] [-2.27270550e-03 -3.76089808e-05 9.99997417e-01 -5.78241007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:93.41, Z:-0.58 [[ 2.08061160e-01 -9.78115718e-01 4.42962545e-04 1.71673856e+02] [ 9.78113178e-01 2.08061629e-01 2.22943681e-03 9.34069753e+01] [-2.27281069e-03 -3.05917054e-05 9.99997417e-01 -5.76481149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:93.43, Z:-0.58 [[ 2.06503666e-01 -9.78445727e-01 4.42351925e-04 1.71679319e+02] [ 9.78443187e-01 2.06504138e-01 2.22955796e-03 9.34337218e+01] [-2.27284896e-03 -2.75956643e-05 9.99997417e-01 -5.76225970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:93.46, Z:-0.58 [[ 2.04839779e-01 -9.78795418e-01 4.41676993e-04 1.71684912e+02] [ 9.78792878e-01 2.04840254e-01 2.22969165e-03 9.34609781e+01] [-2.27288520e-03 -2.44192502e-05 9.99997417e-01 -5.75640892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:93.49, Z:-0.57 [[ 2.01457751e-01 -9.79497106e-01 4.41051109e-04 1.71691111e+02] [ 9.79494568e-01 2.01458233e-01 2.22981545e-03 9.34888717e+01] [-2.27295116e-03 -1.72064392e-05 9.99997417e-01 -5.74434353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:93.52, Z:-0.57 [[ 1.99517880e-01 -9.79894087e-01 4.40415593e-04 1.71696731e+02] [ 9.79891550e-01 1.99518366e-01 2.22994096e-03 9.35166187e+01] [-2.27297697e-03 -1.33535764e-05 9.99997417e-01 -5.74358916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:93.54, Z:-0.57 [[ 1.97703036e-01 -9.80261861e-01 4.39781609e-04 1.71702090e+02] [ 9.80259324e-01 1.97703525e-01 2.23006599e-03 9.35437389e+01] [-2.27299501e-03 -9.79079445e-06 9.99997417e-01 -5.74436397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:93.57, Z:-0.57 [[ 1.95970805e-01 -9.80609632e-01 4.39150545e-04 1.71707424e+02] [ 9.80607096e-01 1.95971297e-01 2.23019025e-03 9.35705579e+01] [-2.27300695e-03 -6.41803792e-06 9.99997417e-01 -5.74635425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:93.60, Z:-0.57 [[ 1.94429647e-01 -9.80916368e-01 4.38484653e-04 1.71713033e+02] [ 9.80913832e-01 1.94430141e-01 2.23032117e-03 9.35980293e+01] [-2.27301317e-03 -3.52489503e-06 9.99997417e-01 -5.74784619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:93.63, Z:-0.58 [[ 1.92856376e-01 -9.81226899e-01 4.37856530e-04 1.71718276e+02] [ 9.81224364e-01 1.92856873e-01 2.23044448e-03 9.36255416e+01] [-2.27301576e-03 -5.19943375e-07 9.99997417e-01 -5.75011314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:93.65, Z:-0.58 [[ 1.90745633e-01 -9.81639400e-01 4.37219969e-04 1.71723615e+02] [ 9.81636866e-01 1.90746134e-01 2.23056925e-03 9.36533245e+01] [-2.27301268e-03 3.71989733e-06 9.99997417e-01 -5.75833551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:93.68, Z:-0.58 [[ 1.89876918e-01 -9.81807805e-01 4.36584628e-04 1.71728730e+02] [ 9.81805271e-01 1.89877420e-01 2.23069360e-03 9.36798889e+01] [-2.27300995e-03 5.08386319e-06 9.99997417e-01 -5.77203783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:93.71, Z:-0.58 [[ 1.89382071e-01 -9.81903377e-01 4.35914820e-04 1.71734489e+02] [ 9.81900842e-01 1.89382573e-01 2.23082448e-03 9.37072190e+01] [-2.27300876e-03 5.54696777e-06 9.99997417e-01 -5.76139906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:93.73, Z:-0.58 [[ 1.89506681e-01 -9.81879335e-01 4.35283542e-04 1.71740874e+02] [ 9.81876800e-01 1.89507181e-01 2.23094765e-03 9.37337044e+01] [-2.27301075e-03 4.61532599e-06 9.99997417e-01 -5.77058727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:93.76, Z:-0.58 [[ 1.89985815e-01 -9.81786739e-01 4.34823101e-04 1.71746902e+02] [ 9.81784204e-01 1.89986312e-01 2.23103739e-03 9.37609063e+01] [-2.27301336e-03 3.03699622e-06 9.99997417e-01 -5.76867329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:93.79, Z:-0.58 [[ 1.90892079e-01 -9.81610934e-01 4.34189823e-04 1.71752571e+02] [ 9.81608398e-01 1.90892573e-01 2.23116063e-03 9.37880834e+01] [-2.27301528e-03 2.93485635e-07 9.99997417e-01 -5.76892146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:93.82, Z:-0.58 [[ 1.92380495e-01 -9.81320313e-01 4.33557053e-04 1.71758361e+02] [ 9.81317776e-01 1.92380984e-01 2.23128358e-03 9.38158991e+01] [-2.27301203e-03 -3.79819683e-06 9.99997417e-01 -5.76853022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:93.84, Z:-0.58 [[ 1.93800618e-01 -9.81040842e-01 4.32924092e-04 1.71763799e+02] [ 9.81038304e-01 1.93801101e-01 2.23140638e-03 9.38439399e+01] [-2.27300196e-03 -7.73281827e-06 9.99997417e-01 -5.76261800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:93.87, Z:-0.58 [[ 1.95297775e-01 -9.80743897e-01 4.32280961e-04 1.71768599e+02] [ 9.80741359e-01 1.95298253e-01 2.23153097e-03 9.38701566e+01] [-2.27298409e-03 -1.18572158e-05 9.99997417e-01 -5.76287016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:171.77, Y:93.90, Z:-0.58 [[ 1.97715395e-01 -9.80259372e-01 4.31603765e-04 1.71772276e+02] [ 9.80256832e-01 1.97715865e-01 2.23166194e-03 9.38976226e+01] [-2.27294244e-03 -1.81513813e-05 9.99997417e-01 -5.80200917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:93.92, Z:-0.58 [[ 2.00199222e-01 -9.79755115e-01 4.30742384e-04 1.71778005e+02] [ 9.79752574e-01 2.00199684e-01 2.23182821e-03 9.39228382e+01] [-2.27287960e-03 -2.47893126e-05 9.99997417e-01 -5.75379904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:93.95, Z:-0.58 [[ 1.94745456e-01 -9.80853721e-01 4.30104848e-04 1.71774492e+02] [ 9.80851182e-01 1.94745931e-01 2.23195107e-03 9.39451457e+01] [-2.27297868e-03 -1.27934802e-05 9.99997417e-01 -5.82219547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:93.98, Z:-0.57 [[ 2.05122356e-01 -9.78736263e-01 3.83862729e-04 1.71788720e+02] [ 9.78733701e-01 2.05122698e-01 2.24081594e-03 9.39776324e+01] [-2.27190677e-03 -8.39420537e-05 9.99997416e-01 -5.74748885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:94.00, Z:-0.57 [[ 2.06484489e-01 -9.78449780e-01 4.29087982e-04 1.71793456e+02] [ 9.78447235e-01 2.06484931e-01 2.23212214e-03 9.40042702e+01] [-2.27261962e-03 -4.10586508e-05 9.99997417e-01 -5.74732700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:94.03, Z:-0.57 [[ 2.07617818e-01 -9.78209925e-01 4.28627214e-04 1.71798075e+02] [ 9.78207379e-01 2.07618256e-01 2.23221062e-03 9.40315721e+01] [-2.27256142e-03 -4.41603940e-05 9.99997417e-01 -5.74377572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:94.06, Z:-0.57 [[ 2.08918886e-01 -9.77932879e-01 4.27978330e-04 1.71802663e+02] [ 9.77930332e-01 2.08919318e-01 2.23233502e-03 9.40594756e+01] [-2.27248676e-03 -4.78439544e-05 9.99997417e-01 -5.74945596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:94.09, Z:-0.58 [[ 2.10438671e-01 -9.77606968e-01 4.27334208e-04 1.71807345e+02] [ 9.77604420e-01 2.10439099e-01 2.23245832e-03 9.40867926e+01] [-2.27239463e-03 -5.20317525e-05 9.99997417e-01 -5.75425917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:94.11, Z:-0.58 [[ 2.07464867e-01 -9.78242376e-01 4.26686885e-04 1.71804913e+02] [ 9.78239830e-01 2.07465301e-01 2.23258203e-03 9.41100970e+01] [-2.27252908e-03 -4.57802302e-05 9.99997417e-01 -5.80804233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:94.14, Z:-0.58 [[ 2.12922604e-01 -9.77068991e-01 3.89330305e-04 1.71816337e+02] [ 9.77066429e-01 2.12922938e-01 2.23969751e-03 9.41418740e+01] [-2.27123634e-03 -9.64806548e-05 9.99997416e-01 -5.78062704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:94.17, Z:-0.58 [[ 2.12644756e-01 -9.77129483e-01 4.26045491e-04 1.71821612e+02] [ 9.77126934e-01 2.12645175e-01 2.23269147e-03 9.41699922e+01] [-2.27222518e-03 -5.84696083e-05 9.99997417e-01 -5.78144353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:94.19, Z:-0.58 [[ 2.07969664e-01 -9.78135184e-01 4.25410568e-04 1.71820275e+02] [ 9.78132637e-01 2.07970094e-01 2.23281244e-03 9.41929467e+01] [-2.27246508e-03 -4.82492929e-05 9.99997417e-01 -5.80598273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:94.22, Z:-0.58 [[ 2.11537983e-01 -9.77369700e-01 3.89372398e-04 1.71832181e+02] [ 9.77367138e-01 2.11538321e-01 2.23965917e-03 9.42240814e+01] [-2.27134219e-03 -9.32131971e-05 9.99997416e-01 -5.79155682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:94.25, Z:-0.58 [[ 2.05896225e-01 -9.78573740e-01 4.25047403e-04 1.71831286e+02] [ 9.78571193e-01 2.05896659e-01 2.23286810e-03 9.42459411e+01] [-2.27254192e-03 -4.37999686e-05 9.99997417e-01 -5.79923856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:94.28, Z:-0.58 [[ 2.09508480e-01 -9.77806755e-01 3.84111380e-04 1.71844561e+02] [ 9.77804192e-01 2.09508811e-01 2.24063631e-03 9.42778842e+01] [-2.27138404e-03 -9.38465913e-05 9.99997416e-01 -5.78507643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:94.30, Z:-0.58 [[ 2.05758944e-01 -9.78602614e-01 4.24856852e-04 1.71852045e+02] [ 9.78600068e-01 2.05759378e-01 2.23288356e-03 9.43049270e+01] [-2.27252397e-03 -4.36708191e-05 9.99997417e-01 -5.76996899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:94.33, Z:-0.58 [[ 2.03266207e-01 -9.79123419e-01 4.24220695e-04 1.71858503e+02] [ 9.79120873e-01 2.03266646e-01 2.23300442e-03 9.43309148e+01] [-2.27261684e-03 -3.85310016e-05 9.99997417e-01 -5.76498982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:94.36, Z:-0.58 [[ 2.00502358e-01 -9.79693128e-01 4.23549806e-04 1.71865105e+02] [ 9.79690583e-01 2.00502803e-01 2.23313166e-03 9.43583389e+01] [-2.27270667e-03 -3.28004071e-05 9.99997417e-01 -5.75609935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:94.38, Z:-0.58 [[ 1.87365760e-01 -9.82290127e-01 4.22909863e-04 1.71862725e+02] [ 9.82287588e-01 1.87366237e-01 2.23325285e-03 9.43781491e+01] [-2.27294125e-03 -3.01600846e-06 9.99997417e-01 -5.79667314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:94.41, Z:-0.58 [[ 1.84778599e-01 -9.82780105e-01 3.68392971e-04 1.71869449e+02] [ 9.82777545e-01 1.84778958e-01 2.24356466e-03 9.44051959e+01] [-2.27300198e-03 -5.25143929e-05 9.99997415e-01 -5.79123654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:94.43, Z:-0.58 [[ 1.81032208e-01 -9.83477099e-01 3.68191218e-04 1.71874797e+02] [ 9.83474541e-01 1.81032577e-01 2.24360294e-03 9.44321291e+01] [-2.27318671e-03 -4.40577052e-05 9.99997415e-01 -5.79679669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:94.47, Z:-0.57 [[ 1.83428039e-01 -9.83033074e-01 3.60227538e-04 1.71891111e+02] [ 9.83030512e-01 1.83428384e-01 2.24511134e-03 9.44668331e+01] [-2.27309466e-03 -5.77017097e-05 9.99997415e-01 -5.74403428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:94.48, Z:-0.58 [[ 1.70873845e-01 -9.85292824e-01 4.24749475e-04 1.71880756e+02] [ 9.85290295e-01 1.70874369e-01 2.23283743e-03 9.44832315e+01] [-2.27257749e-03 3.69680192e-05 9.99997417e-01 -5.81991195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:94.52, Z:-0.57 [[ 1.79937379e-01 -9.83678008e-01 3.39633851e-04 1.71900781e+02] [ 9.83675440e-01 1.79937686e-01 2.24893485e-03 9.45207214e+01] [-2.27334068e-03 -7.05779649e-05 9.99997413e-01 -5.74975134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:94.55, Z:-0.58 [[ 1.77288433e-01 -9.84158844e-01 4.25096286e-04 1.71905311e+02] [ 9.84156312e-01 1.77288941e-01 2.23266292e-03 9.45475382e+01] [-2.27265983e-03 2.25358830e-05 9.99997417e-01 -5.75870527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:94.58, Z:-0.58 [[ 1.74345367e-01 -9.84684474e-01 4.24429639e-04 1.71910208e+02] [ 9.84681943e-01 1.74345881e-01 2.23278964e-03 9.45751835e+01] [-2.27259085e-03 2.86516723e-05 9.99997417e-01 -5.75771679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:94.60, Z:-0.58 [[ 1.71105243e-01 -9.85252666e-01 4.23789152e-04 1.71915003e+02] [ 9.85250137e-01 1.71105764e-01 2.23291120e-03 9.46018792e+01] [-2.27249448e-03 3.54755068e-05 9.99997417e-01 -5.76430066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:94.63, Z:-0.57 [[ 1.64875993e-01 -9.86314214e-01 4.23114299e-04 1.71920521e+02] [ 9.86311687e-01 1.64876528e-01 2.23303907e-03 9.46296457e+01] [-2.27223979e-03 4.91480449e-05 9.99997417e-01 -5.74478164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:94.65, Z:-0.58 [[ 1.49485023e-01 -9.88763900e-01 4.22475810e-04 1.71908905e+02] [ 9.88761381e-01 1.49485597e-01 2.23315986e-03 9.46451438e+01] [-2.27122190e-03 8.39038119e-05 9.99997417e-01 -5.83113702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:94.68, Z:-0.57 [[ 1.59172149e-01 -9.87250788e-01 3.29582856e-04 1.71930396e+02] [ 9.87248223e-01 1.59172487e-01 2.25061356e-03 9.46837888e+01] [-2.27438053e-03 -3.28549073e-05 9.99997413e-01 -5.74425414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:94.70, Z:-0.58 [[ 1.46940661e-01 -9.89145219e-01 4.22693335e-04 1.71920315e+02] [ 9.89142702e-01 1.46941242e-01 2.23298823e-03 9.47014586e+01] [-2.27086071e-03 8.99872609e-05 9.99997418e-01 -5.80619988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:94.74, Z:-0.57 [[ 1.54671680e-01 -9.87965866e-01 3.44844962e-04 1.71937835e+02] [ 9.87963309e-01 1.54672065e-01 2.24764089e-03 9.47389001e+01] [-2.27393036e-03 -6.95222382e-06 9.99997415e-01 -5.73069092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:94.77, Z:-0.57 [[ 1.54206593e-01 -9.88038536e-01 4.22769236e-04 1.71941880e+02] [ 9.88036015e-01 1.54207155e-01 2.23288691e-03 9.47652322e+01] [-2.27137235e-03 7.33853490e-05 9.99997418e-01 -5.73726986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:94.78, Z:-0.58 [[ 1.44829927e-01 -9.89456474e-01 4.22094740e-04 1.71932037e+02] [ 9.89453959e-01 1.44830511e-01 2.23301441e-03 9.47826056e+01] [-2.27060276e-03 9.42359989e-05 9.99997418e-01 -5.81670212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:94.81, Z:-0.58 [[ 1.48383316e-01 -9.88929861e-01 3.49081621e-04 1.71936863e+02] [ 9.88927309e-01 1.48383726e-01 2.24678160e-03 9.48121209e+01] [-2.27370744e-03 1.18314452e-05 9.99997415e-01 -5.80402956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:94.84, Z:-0.58 [[ 1.51062145e-01 -9.88524202e-01 3.61301384e-04 1.71941900e+02] [ 9.88521654e-01 1.51062576e-01 2.24446471e-03 9.48414767e+01] [-2.27328681e-03 1.81005869e-05 9.99997416e-01 -5.78890580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:94.87, Z:-0.58 [[ 1.52394079e-01 -9.88319740e-01 3.69336767e-04 1.71946437e+02] [ 9.88317195e-01 1.52394525e-01 2.24294032e-03 9.48703220e+01] [-2.27302710e-03 2.32110529e-05 9.99997416e-01 -5.78098753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:94.90, Z:-0.57 [[ 1.55229674e-01 -9.87878335e-01 3.77683437e-04 1.71951377e+02] [ 9.87875793e-01 1.55230132e-01 2.24135874e-03 9.48989068e+01] [-2.27281759e-03 2.51789375e-05 9.99997417e-01 -5.74853963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:94.93, Z:-0.57 [[ 1.63476944e-01 -9.86547080e-01 3.83374157e-04 1.71959559e+02] [ 9.86544537e-01 1.63477393e-01 2.24028068e-03 9.49320555e+01] [-2.27281537e-03 1.19814399e-05 9.99997417e-01 -5.73580296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:94.96, Z:-0.57 [[ 1.65591693e-01 -9.86194307e-01 4.23992208e-04 1.71962495e+02] [ 9.86191781e-01 1.65592229e-01 2.23256681e-03 9.49591621e+01] [-2.27195449e-03 4.84431144e-05 9.99997418e-01 -5.74067994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:94.98, Z:-0.57 [[ 1.64558201e-01 -9.86367284e-01 4.23309869e-04 1.71960649e+02] [ 9.86364759e-01 1.64558738e-01 2.23269618e-03 9.49836910e+01] [-2.27191780e-03 5.01294707e-05 9.99997418e-01 -5.73897132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:95.01, Z:-0.57 [[ 1.66491955e-01 -9.86042734e-01 3.94522622e-04 1.71962026e+02] [ 9.86040194e-01 1.66492421e-01 2.23813809e-03 9.50097931e+01] [-2.27258483e-03 1.63831781e-05 9.99997418e-01 -5.73129412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:95.04, Z:-0.58 [[ 1.69076596e-01 -9.85602838e-01 3.87839160e-04 1.71963524e+02] [ 9.85600294e-01 1.69077041e-01 2.23940329e-03 9.50364222e+01] [-2.27273693e-03 3.62370599e-06 9.99997417e-01 -5.75907045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:95.06, Z:-0.58 [[ 1.68810272e-01 -9.85648490e-01 3.81604458e-04 1.71961530e+02] [ 9.85645944e-01 1.68810704e-01 2.24058430e-03 9.50618623e+01] [-2.27284745e-03 -2.10675953e-06 9.99997417e-01 -5.78083532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:95.09, Z:-0.58 [[ 1.77994110e-01 -9.84031487e-01 3.58952773e-04 1.71966060e+02] [ 9.84028928e-01 1.77994466e-01 2.24486914e-03 9.50940105e+01] [-2.27291353e-03 -4.63535727e-05 9.99997416e-01 -5.75867808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:95.12, Z:-0.58 [[ 1.80907186e-01 -9.83500099e-01 3.81733013e-04 1.71969357e+02] [ 9.83497547e-01 1.80907587e-01 2.24055187e-03 9.51224063e+01] [-2.27264139e-03 -2.98984534e-05 9.99997417e-01 -5.76095646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:95.15, Z:-0.57 [[ 1.88182729e-01 -9.82133959e-01 3.84225475e-04 1.71978896e+02] [ 9.82131405e-01 1.88183117e-01 2.24007977e-03 9.51540997e+01] [-2.27236316e-03 -4.41844189e-05 9.99997417e-01 -5.73656895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:95.18, Z:-0.58 [[ 1.91762876e-01 -9.81441195e-01 4.23902062e-04 1.71979692e+02] [ 9.81438656e-01 1.91763344e-01 2.23254622e-03 9.51829218e+01] [-2.27240171e-03 -1.20856146e-05 9.99997418e-01 -5.75183787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:95.21, Z:-0.58 [[ 1.92925708e-01 -9.81213275e-01 4.23267032e-04 1.71983010e+02] [ 9.81210735e-01 1.92926172e-01 2.23266661e-03 9.52112162e+01] [-2.27238141e-03 -1.54246322e-05 9.99997418e-01 -5.76115226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:95.24, Z:-0.58 [[ 1.93855026e-01 -9.81030097e-01 4.22631095e-04 1.71986362e+02] [ 9.81027556e-01 1.93855486e-01 2.23278698e-03 9.52391051e+01] [-2.27236059e-03 -1.82242291e-05 9.99997418e-01 -5.76570278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:95.27, Z:-0.58 [[ 1.94349434e-01 -9.80932271e-01 4.21995829e-04 1.71989986e+02] [ 9.80929729e-01 1.94349891e-01 2.23290704e-03 9.52670909e+01] [-2.27234542e-03 -2.00159649e-05 9.99997418e-01 -5.77199580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:95.30, Z:-0.58 [[ 1.94972313e-01 -9.80808656e-01 4.21358248e-04 1.71993190e+02] [ 9.80806114e-01 1.94972767e-01 2.23302735e-03 9.52951472e+01] [-2.27232594e-03 -2.21077624e-05 9.99997418e-01 -5.78466505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:95.32, Z:-0.58 [[ 1.94875536e-01 -9.80827889e-01 4.20718023e-04 1.71997542e+02] [ 9.80825347e-01 1.94875988e-01 2.23314797e-03 9.53223255e+01] [-2.27232165e-03 -2.25350048e-05 9.99997418e-01 -5.78928737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:95.35, Z:-0.58 [[ 1.94742815e-01 -9.80854250e-01 4.20042925e-04 1.72002284e+02] [ 9.80851708e-01 1.94743267e-01 2.23327494e-03 9.53497460e+01] [-2.27231775e-03 -2.29144285e-05 9.99997418e-01 -5.79040257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:95.38, Z:-0.58 [[ 1.94491574e-01 -9.80904099e-01 4.19416191e-04 1.72006994e+02] [ 9.80901557e-01 1.94492025e-01 2.23339264e-03 9.53766203e+01] [-2.27231710e-03 -2.29700545e-05 9.99997418e-01 -5.79602950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:95.40, Z:-0.58 [[ 1.94324610e-01 -9.80937190e-01 4.18754839e-04 1.72012046e+02] [ 9.80934647e-01 1.94325060e-01 2.23351663e-03 9.54046769e+01] [-2.27231409e-03 -2.32561196e-05 9.99997418e-01 -5.79099638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:95.43, Z:-0.58 [[ 1.94042512e-01 -9.80993032e-01 4.18119682e-04 1.72017002e+02] [ 9.80990489e-01 1.94042962e-01 2.23363553e-03 9.54322203e+01] [-2.27231407e-03 -2.32488191e-05 9.99997418e-01 -5.78682683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:95.46, Z:-0.58 [[ 1.93768836e-01 -9.81047126e-01 4.17482444e-04 1.72022048e+02] [ 9.81044583e-01 1.93769285e-01 2.23375463e-03 9.54602077e+01] [-2.27231383e-03 -2.32631445e-05 9.99997418e-01 -5.78181294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:95.49, Z:-0.58 [[ 1.93291539e-01 -9.81141278e-01 4.16839037e-04 1.72026761e+02] [ 9.81138735e-01 1.93291987e-01 2.23387469e-03 9.54868753e+01] [-2.27231831e-03 -2.28121518e-05 9.99997418e-01 -5.77979265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:95.51, Z:-0.58 [[ 1.86606934e-01 -9.82434567e-01 4.16160558e-04 1.72023937e+02] [ 9.82432027e-01 1.86607398e-01 2.23400108e-03 9.55090805e+01] [-2.27241852e-03 -8.03063045e-06 9.99997418e-01 -5.83708616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:95.54, Z:-0.58 [[ 1.91818251e-01 -9.81430396e-01 3.70535880e-04 1.72037110e+02] [ 9.81427836e-01 1.91818598e-01 2.24246956e-03 9.55414031e+01] [-2.27190346e-03 -6.64923621e-05 9.99997417e-01 -5.77398949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:95.57, Z:-0.58 [[ 1.87113371e-01 -9.82338238e-01 4.16049342e-04 1.72038565e+02] [ 9.82335697e-01 1.87113834e-01 2.23399333e-03 9.55668918e+01] [-2.27238566e-03 -9.30990262e-06 9.99997418e-01 -5.80306781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:95.60, Z:-0.58 [[ 1.85736969e-01 -9.82599421e-01 3.95094754e-04 1.72044139e+02] [ 9.82596873e-01 1.85737387e-01 2.23788799e-03 9.55950501e+01] [-2.27233131e-03 -2.74396620e-05 9.99997418e-01 -5.80639593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:95.62, Z:-0.58 [[ 1.84367360e-01 -9.82857324e-01 3.95941931e-04 1.72049758e+02] [ 9.82854777e-01 1.84367784e-01 2.23773060e-03 9.56210997e+01] [-2.27236885e-03 -2.34110662e-05 9.99997418e-01 -5.79821857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:95.65, Z:-0.58 [[ 1.80439234e-01 -9.83586054e-01 3.95839801e-04 1.72055162e+02] [ 9.83583509e-01 1.80439668e-01 2.23774957e-03 9.56487650e+01] [-2.27244447e-03 -1.44363192e-05 9.99997418e-01 -5.80273284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:95.68, Z:-0.58 [[ 1.79239067e-01 -9.83805471e-01 3.90926308e-04 1.72061482e+02] [ 9.83802924e-01 1.79239492e-01 2.23866139e-03 9.56777098e+01] [-2.27247675e-03 -1.66611343e-05 9.99997418e-01 -5.78741757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:95.70, Z:-0.58 [[ 1.76528970e-01 -9.84295365e-01 3.96996922e-04 1.72066315e+02] [ 9.84292822e-01 1.76529416e-01 2.23753537e-03 9.57046935e+01] [-2.27247733e-03 -4.22859389e-06 9.99997418e-01 -5.79560639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:95.73, Z:-0.58 [[ 1.77644729e-01 -9.84094607e-01 3.93845348e-04 1.72075681e+02] [ 9.84092062e-01 1.77645165e-01 2.23811932e-03 9.57344718e+01] [-2.27248587e-03 -1.00100191e-05 9.99997418e-01 -5.77670003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:95.76, Z:-0.58 [[ 1.71988647e-01 -9.85098845e-01 4.14281374e-04 1.72077965e+02] [ 9.85096311e-01 1.71989145e-01 2.23433015e-03 9.57603644e+01] [-2.27228795e-03 2.38276331e-05 9.99997418e-01 -5.77001040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:95.79, Z:-0.58 [[ 1.70787481e-01 -9.85307809e-01 3.96512698e-04 1.72087450e+02] [ 9.85305269e-01 1.70787941e-01 2.23761755e-03 9.57889265e+01] [-2.27246163e-03 8.52898666e-06 9.99997418e-01 -5.75706876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:95.82, Z:-0.58 [[ 1.68749391e-01 -9.85658903e-01 4.13519959e-04 1.72092968e+02] [ 9.85656370e-01 1.68749894e-01 2.23447011e-03 9.58166754e+01] [-2.27220681e-03 3.05231114e-05 9.99997418e-01 -5.75274541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:95.84, Z:-0.57 [[ 1.67169695e-01 -9.85928051e-01 4.12891050e-04 1.72098437e+02] [ 9.85925520e-01 1.67170201e-01 2.23458632e-03 9.58439961e+01] [-2.27216442e-03 3.35247101e-05 9.99997418e-01 -5.74588862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:95.87, Z:-0.57 [[ 1.65974346e-01 -9.86129985e-01 4.12254177e-04 1.72103738e+02] [ 9.86127453e-01 1.65974854e-01 2.23470381e-03 9.58720497e+01] [-2.27213226e-03 3.56316587e-05 9.99997418e-01 -5.74825993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:95.90, Z:-0.57 [[ 1.65693993e-01 -9.86177130e-01 4.11618525e-04 1.72108852e+02] [ 9.86174598e-01 1.65694501e-01 2.23482089e-03 9.59001862e+01] [-2.27213217e-03 3.56313360e-05 9.99997418e-01 -5.74890717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:95.93, Z:-0.58 [[ 1.63581113e-01 -9.86529802e-01 4.10983155e-04 1.72110967e+02] [ 9.86527271e-01 1.63581624e-01 2.23493772e-03 9.59263043e+01] [-2.27206196e-03 3.98524914e-05 9.99997418e-01 -5.75542985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:95.95, Z:-0.58 [[ 1.64426356e-01 -9.86389282e-01 3.98358172e-04 1.72115763e+02] [ 9.86386745e-01 1.64426837e-01 2.23725622e-03 9.59540433e+01] [-2.27230633e-03 2.50713317e-05 9.99997418e-01 -5.75777835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:95.98, Z:-0.58 [[ 1.66887402e-01 -9.85975881e-01 3.97268178e-04 1.72122177e+02] [ 9.85973342e-01 1.66887874e-01 2.23745620e-03 9.59833618e+01] [-2.27237708e-03 1.82925820e-05 9.99997418e-01 -5.76435363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:96.01, Z:-0.58 [[ 1.71587662e-01 -9.85168773e-01 4.03833930e-04 1.72127416e+02] [ 9.85166235e-01 1.71588137e-01 2.23625239e-03 9.60115594e+01] [-2.27237914e-03 1.41302318e-05 9.99997418e-01 -5.77137278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:96.04, Z:-0.58 [[ 1.73157653e-01 -9.84894035e-01 4.09496412e-04 1.72131996e+02] [ 9.84891498e-01 1.73158136e-01 2.23521501e-03 9.60389411e+01] [-2.27235757e-03 1.62649496e-05 9.99997418e-01 -5.77346945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23999999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:172.14, Y:96.07, Z:-0.58 [[ 1.75235172e-01 -9.84526519e-01 4.08869596e-04 1.72136798e+02] [ 9.84523982e-01 1.75235649e-01 2.23532967e-03 9.60661170e+01] [-2.27238987e-03 1.08335432e-05 9.99997418e-01 -5.77422407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:96.09, Z:-0.58 [[ 1.76922818e-01 -9.84224644e-01 4.08247744e-04 1.72141446e+02] [ 9.84222105e-01 1.76923289e-01 2.23544323e-03 9.60942284e+01] [-2.27240685e-03 6.30553769e-06 9.99997418e-01 -5.77299300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:96.12, Z:-0.58 [[ 1.79778319e-01 -9.83707065e-01 4.07627878e-04 1.72145845e+02] [ 9.83704525e-01 1.79778781e-01 2.23555626e-03 9.61197727e+01] [-2.27241533e-03 -9.19157463e-07 9.99997418e-01 -5.79237248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:96.15, Z:-0.58 [[ 1.84430688e-01 -9.82845439e-01 4.05205898e-04 1.72149992e+02] [ 9.82842896e-01 1.84431132e-01 2.23599736e-03 9.61480423e+01] [-2.27237239e-03 -1.41327908e-05 9.99997418e-01 -5.76757088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:96.18, Z:-0.58 [[ 1.86916046e-01 -9.82375807e-01 4.06717253e-04 1.72154879e+02] [ 9.82373263e-01 1.86916487e-01 2.23572241e-03 9.61753103e+01] [-2.27234177e-03 -1.83442378e-05 9.99997418e-01 -5.76478800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:96.20, Z:-0.58 [[ 1.89446635e-01 -9.81890935e-01 4.06075691e-04 1.72160389e+02] [ 9.81888389e-01 1.89447069e-01 2.23583893e-03 9.62030536e+01] [-2.27227983e-03 -2.48511579e-05 9.99997418e-01 -5.75919435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:96.23, Z:-0.58 [[ 1.91716169e-01 -9.81450328e-01 4.05433934e-04 1.72165921e+02] [ 9.81447781e-01 1.91716595e-01 2.23595530e-03 9.62308982e+01] [-2.27220748e-03 -3.07565497e-05 9.99997418e-01 -5.75846712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:96.26, Z:-0.58 [[ 1.94155611e-01 -9.80970659e-01 4.04790056e-04 1.72171502e+02] [ 9.80968112e-01 1.94156030e-01 2.23607186e-03 9.62585829e+01] [-2.27211332e-03 -3.70597622e-05 9.99997418e-01 -5.75775039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:96.29, Z:-0.58 [[ 1.98189512e-01 -9.80163636e-01 4.04149111e-04 1.72177872e+02] [ 9.80161087e-01 1.98189918e-01 2.23618770e-03 9.62864848e+01] [-2.27192815e-03 -4.70577169e-05 9.99997418e-01 -5.75898526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:96.31, Z:-0.58 [[ 1.94867233e-01 -9.80829546e-01 4.03493446e-04 1.72178107e+02] [ 9.80826998e-01 1.94867647e-01 2.23630600e-03 9.63094929e+01] [-2.27206282e-03 -4.00254975e-05 9.99997418e-01 -5.79183277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:96.34, Z:-0.58 [[ 1.95703455e-01 -9.80663052e-01 3.68076106e-04 1.72183790e+02] [ 9.80660491e-01 1.95703785e-01 2.24267806e-03 9.63373633e+01] [-2.27134540e-03 -7.79421495e-05 9.99997417e-01 -5.80656703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:96.37, Z:-0.58 [[ 2.01939914e-01 -9.79397844e-01 3.65405925e-04 1.72197369e+02] [ 9.79395280e-01 2.01940222e-01 2.24315790e-03 9.63684518e+01] [-2.27073417e-03 -9.51062771e-05 9.99997417e-01 -5.79004061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:96.38, Z:-0.59 [[ 1.89285078e-01 -9.81922093e-01 4.02692668e-04 1.72187207e+02] [ 9.81919547e-01 1.89285505e-01 2.23644408e-03 9.63818506e+01] [-2.27223774e-03 -2.79136907e-05 9.99997418e-01 -5.87576682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:96.41, Z:-0.59 [[ 1.89204111e-01 -9.81937734e-01 3.00547231e-04 1.72194241e+02] [ 9.81935155e-01 1.89204304e-01 2.25468299e-03 9.64091713e+01] [-2.27082314e-03 -1.31477399e-04 9.99997413e-01 -5.87663952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:96.45, Z:-0.58 [[ 2.01346908e-01 -9.79519951e-01 2.95770815e-04 1.72218488e+02] [ 9.79517368e-01 2.01347058e-01 2.25553312e-03 9.64477553e+01] [-2.26889228e-03 -1.64431969e-04 9.99997413e-01 -5.79904389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:96.47, Z:-0.58 [[ 1.99271816e-01 -9.79944173e-01 4.01572938e-04 1.72227406e+02] [ 9.79941622e-01 1.99272214e-01 2.23653623e-03 9.64733644e+01] [-2.27170298e-03 -5.21605998e-05 9.99997418e-01 -5.80429541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:96.50, Z:-0.58 [[ 1.97437370e-01 -9.80315421e-01 4.00896817e-04 1.72234425e+02] [ 9.80312870e-01 1.97437771e-01 2.23665742e-03 9.65006867e+01] [-2.27178193e-03 -4.85954481e-05 9.99997418e-01 -5.80409720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:96.52, Z:-0.59 [[ 1.84343586e-01 -9.82861782e-01 4.00261474e-04 1.72227302e+02] [ 9.82859237e-01 1.84344020e-01 2.23677111e-03 9.65163564e+01] [-2.27222265e-03 -1.89337212e-05 9.99997418e-01 -5.88292112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:96.55, Z:-0.58 [[ 1.93521785e-01 -9.81095929e-01 3.12024796e-04 1.72250455e+02] [ 9.81093352e-01 1.93521993e-01 2.25243495e-03 9.65535461e+01] [-2.27023842e-03 -1.29769781e-04 9.99997415e-01 -5.80329445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:96.57, Z:-0.59 [[ 1.80511637e-01 -9.83572767e-01 3.99932173e-04 1.72251043e+02] [ 9.83570224e-01 1.80512080e-01 2.23671684e-03 9.65723548e+01] [-2.27216636e-03 -1.03920420e-05 9.99997419e-01 -5.85821606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:96.61, Z:-0.58 [[ 1.86267918e-01 -9.82498931e-01 3.37290678e-04 1.72270160e+02] [ 9.82496363e-01 1.86268203e-01 2.24785293e-03 9.66065548e+01] [-2.27133963e-03 -8.73160211e-05 9.99997417e-01 -5.79728036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:96.63, Z:-0.59 [[ 1.75125133e-01 -9.84546103e-01 3.99439342e-04 1.72266434e+02] [ 9.84543562e-01 1.75125589e-01 2.23675444e-03 9.66257165e+01] [-2.27213991e-03 1.55351293e-06 9.99997419e-01 -5.85900448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:96.65, Z:-0.59 [[ 1.70348953e-01 -9.85383744e-01 3.34290587e-04 1.72276608e+02] [ 9.85381180e-01 1.70349272e-01 2.24833853e-03 9.66518089e+01] [-2.27242239e-03 -5.35984607e-05 9.99997417e-01 -5.86638729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:96.68, Z:-0.59 [[ 1.69198690e-01 -9.85581907e-01 3.29085918e-04 1.72285796e+02] [ 9.85579342e-01 1.69199001e-01 2.24926525e-03 9.66794359e+01] [-2.27251615e-03 -5.62324516e-05 9.99997416e-01 -5.86474580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:96.71, Z:-0.59 [[ 1.67029162e-01 -9.85951899e-01 3.35222891e-04 1.72293649e+02] [ 9.85949337e-01 1.67029492e-01 2.24816975e-03 9.67063553e+01] [-2.27257934e-03 -4.49971224e-05 9.99997417e-01 -5.86476307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:96.74, Z:-0.58 [[ 1.74134110e-01 -9.84721890e-01 3.32819289e-04 1.72313806e+02] [ 9.84719325e-01 1.74134416e-01 2.24859852e-03 9.67411905e+01] [-2.27219947e-03 -6.38241159e-05 9.99997417e-01 -5.79021086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:96.76, Z:-0.59 [[ 1.64173948e-01 -9.86431323e-01 4.00831101e-04 1.72309187e+02] [ 9.86428788e-01 1.64174435e-01 2.23640878e-03 9.67603080e+01] [-2.27186989e-03 2.82312779e-05 9.99997419e-01 -5.86322803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:96.79, Z:-0.59 [[ 1.66488178e-01 -9.86043392e-01 3.39620312e-04 1.72314139e+02] [ 9.86040832e-01 1.66488520e-01 2.24734310e-03 9.67876848e+01] [-2.27252070e-03 -3.92765633e-05 9.99997417e-01 -5.85635881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:96.82, Z:-0.59 [[ 1.69610087e-01 -9.85511190e-01 3.35715585e-04 1.72320020e+02] [ 9.85508627e-01 1.69610412e-01 2.24804249e-03 9.68173204e+01] [-2.27241189e-03 -5.04400772e-05 9.99997417e-01 -5.85636985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:96.85, Z:-0.59 [[ 1.71724695e-01 -9.85144919e-01 3.43429674e-04 1.72325215e+02] [ 9.85142358e-01 1.71725032e-01 2.24665856e-03 9.68457285e+01] [-2.27225974e-03 -4.74796379e-05 9.99997417e-01 -5.85575944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:96.87, Z:-0.59 [[ 1.73250018e-01 -9.84877816e-01 3.44991773e-04 1.72330358e+02] [ 9.84875255e-01 1.73250355e-01 2.24637802e-03 9.68738630e+01] [-2.27217783e-03 -4.94111727e-05 9.99997417e-01 -5.86195143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:96.90, Z:-0.59 [[ 1.74365160e-01 -9.84681000e-01 3.44797204e-04 1.72336846e+02] [ 9.84678439e-01 1.74365494e-01 2.24641295e-03 9.69036593e+01] [-2.27212089e-03 -5.21817814e-05 9.99997417e-01 -5.85667113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:96.93, Z:-0.58 [[ 1.76890169e-01 -9.84230531e-01 3.61211168e-04 1.72342657e+02] [ 9.84227975e-01 1.76890533e-01 2.24345622e-03 9.69300680e+01] [-2.27197294e-03 -4.13312126e-05 9.99997418e-01 -5.83390900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:96.96, Z:-0.58 [[ 1.83718945e-01 -9.82978750e-01 3.55845244e-04 1.72355541e+02] [ 9.82976190e-01 1.83719279e-01 2.24442169e-03 9.69626038e+01] [-2.27159446e-03 -6.25553819e-05 9.99997418e-01 -5.78102109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:96.98, Z:-0.58 [[ 1.77767541e-01 -9.84072425e-01 4.03540220e-04 1.72351401e+02] [ 9.84069886e-01 1.77767999e-01 2.23581326e-03 9.69841769e+01] [-2.27193872e-03 -3.43247367e-07 9.99997419e-01 -5.81813013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:97.01, Z:-0.58 [[ 1.80274585e-01 -9.83616260e-01 3.56911235e-04 1.72354755e+02] [ 9.83613701e-01 1.80274930e-01 2.24421077e-03 9.70129552e+01] [-2.27178436e-03 -5.35113850e-05 9.99997418e-01 -5.80191298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:97.04, Z:-0.58 [[ 1.81092572e-01 -9.83465990e-01 3.57027746e-04 1.72358834e+02] [ 9.83463431e-01 1.81092916e-01 2.24418979e-03 9.70406717e+01] [-2.27173953e-03 -5.52823696e-05 9.99997418e-01 -5.80192776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:97.07, Z:-0.58 [[ 1.84477254e-01 -9.82836718e-01 3.58687456e-04 1.72364715e+02] [ 9.82834158e-01 1.84477593e-01 2.24389109e-03 9.70694033e+01] [-2.27154836e-03 -6.14165831e-05 9.99997418e-01 -5.79200363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:97.10, Z:-0.58 [[ 1.82832198e-01 -9.83144066e-01 3.65560553e-04 1.72366488e+02] [ 9.83141509e-01 1.82832556e-01 2.24265773e-03 9.70960264e+01] [-2.27169201e-03 -5.06322876e-05 9.99997418e-01 -5.83809550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:97.12, Z:-0.58 [[ 1.84721222e-01 -9.82790893e-01 3.62583987e-04 1.72371235e+02] [ 9.82788334e-01 1.84721569e-01 2.24319595e-03 9.71225624e+01] [-2.27156963e-03 -5.80225840e-05 9.99997418e-01 -5.83924061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:97.15, Z:-0.58 [[ 1.87785175e-01 -9.82210059e-01 3.58604907e-04 1.72378401e+02] [ 9.82207498e-01 1.87785505e-01 2.24391500e-03 9.71531711e+01] [-2.27133668e-03 -6.91495431e-05 9.99997418e-01 -5.81224976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:97.18, Z:-0.59 [[ 1.86463276e-01 -9.82461859e-01 3.76490108e-04 1.72380231e+02] [ 9.82459305e-01 1.86463650e-01 2.24067771e-03 9.71786415e+01] [-2.27158211e-03 -4.79178971e-05 9.99997419e-01 -5.87173846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:97.21, Z:-0.58 [[ 1.92130041e-01 -9.81369410e-01 3.58880747e-04 1.72392832e+02] [ 9.81366848e-01 1.92130359e-01 2.24385982e-03 9.72107736e+01] [-2.27100728e-03 -7.89192109e-05 9.99997418e-01 -5.84242382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:97.24, Z:-0.58 [[ 1.90920914e-01 -9.81605338e-01 4.05296886e-04 1.72398214e+02] [ 9.81602793e-01 1.90921342e-01 2.23544436e-03 9.72378727e+01] [-2.27170394e-03 -2.89525239e-05 9.99997419e-01 -5.82804566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:97.27, Z:-0.58 [[ 1.90210516e-01 -9.81743243e-01 4.04620176e-04 1.72403563e+02] [ 9.81740698e-01 1.90210944e-01 2.23556683e-03 9.72650718e+01] [-2.27171582e-03 -2.79962272e-05 9.99997419e-01 -5.81992189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:97.29, Z:-0.59 [[ 1.84107006e-01 -9.82906123e-01 4.03978893e-04 1.72402341e+02] [ 9.82903581e-01 1.84107449e-01 2.23568271e-03 9.72874140e+01] [-2.27184175e-03 -1.45325492e-05 9.99997419e-01 -5.85248474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:97.31, Z:-0.59 [[ 1.82921202e-01 -9.83127511e-01 3.61564819e-04 1.72407409e+02] [ 9.83124953e-01 1.82921551e-01 2.24331615e-03 9.73140663e+01] [-2.27160382e-03 -5.48866904e-05 9.99997418e-01 -5.85726693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:97.34, Z:-0.59 [[ 1.82299375e-01 -9.83243006e-01 3.59061254e-04 1.72413520e+02] [ 9.83240448e-01 1.82299720e-01 2.24376667e-03 9.73423623e+01] [-2.27162465e-03 -5.59937137e-05 9.99997418e-01 -5.85293528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:97.37, Z:-0.59 [[ 1.81783660e-01 -9.83338482e-01 3.60870335e-04 1.72419211e+02] [ 9.83335925e-01 1.81784010e-01 2.24344068e-03 9.73698962e+01] [-2.27166201e-03 -5.29640929e-05 9.99997418e-01 -5.85379555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:97.40, Z:-0.59 [[ 1.81272079e-01 -9.83432918e-01 3.58960425e-04 1.72425749e+02] [ 9.83430360e-01 1.81272427e-01 2.24378466e-03 9.73968913e+01] [-2.27168132e-03 -5.37229304e-05 9.99997418e-01 -5.85679110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:97.43, Z:-0.58 [[ 1.86528379e-01 -9.82449506e-01 3.62157828e-04 1.72438535e+02] [ 9.82446947e-01 1.86528720e-01 2.24320952e-03 9.74292373e+01] [-2.27139292e-03 -6.26213818e-05 9.99997418e-01 -5.81128154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:97.45, Z:-0.59 [[ 1.81622526e-01 -9.83368240e-01 4.03157201e-04 1.72437328e+02] [ 9.83365698e-01 1.81622973e-01 2.23581661e-03 9.74519960e+01] [-2.27185365e-03 -9.62369774e-06 9.99997419e-01 -5.85792598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:97.48, Z:-0.59 [[ 1.82618943e-01 -9.83183699e-01 3.68068719e-04 1.72442221e+02] [ 9.83181144e-01 1.82619308e-01 2.24213926e-03 9.74795121e+01] [-2.27165122e-03 -4.75788772e-05 9.99997419e-01 -5.86157782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:97.51, Z:-0.59 [[ 1.83876003e-01 -9.82949379e-01 3.66929702e-04 1.72446700e+02] [ 9.82946822e-01 1.83876362e-01 2.24234439e-03 9.75069235e+01] [-2.27158072e-03 -5.16409393e-05 9.99997419e-01 -5.86764292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:97.53, Z:-0.59 [[ 1.84730252e-01 -9.82789194e-01 3.65575465e-04 1.72447874e+02] [ 9.82786637e-01 1.84730606e-01 2.24258811e-03 9.75321120e+01] [-2.27152434e-03 -5.49911862e-05 9.99997419e-01 -5.90265249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:97.57, Z:-0.58 [[ 1.92341166e-01 -9.81328056e-01 3.49934152e-04 1.72461825e+02] [ 9.81325491e-01 1.92341464e-01 2.24539827e-03 9.75660553e+01] [-2.27077916e-03 -8.84832163e-05 9.99997418e-01 -5.84980036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:97.59, Z:-0.59 [[ 1.92659500e-01 -9.81265588e-01 4.02946265e-04 1.72466552e+02] [ 9.81263042e-01 1.92659918e-01 2.23584437e-03 9.75933500e+01] [-2.27158874e-03 -3.53603794e-05 9.99997419e-01 -5.85298839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:97.62, Z:-0.59 [[ 1.92571365e-01 -9.81282889e-01 4.02307538e-04 1.72471264e+02] [ 9.81280342e-01 1.92571782e-01 2.23595929e-03 9.76195572e+01] [-2.27158167e-03 -3.58052555e-05 9.99997419e-01 -5.85775802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:97.65, Z:-0.59 [[ 1.92295251e-01 -9.81337034e-01 4.01840456e-04 1.72476249e+02] [ 9.81334488e-01 1.92295668e-01 2.23604323e-03 9.76477283e+01] [-2.27158421e-03 -3.56405970e-05 9.99997419e-01 -5.85840583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:97.67, Z:-0.59 [[ 1.85012358e-01 -9.82736112e-01 4.01211260e-04 1.72471807e+02] [ 9.82733568e-01 1.85012792e-01 2.23615612e-03 9.76678179e+01] [-2.27178059e-03 -1.94327431e-05 9.99997419e-01 -5.93216131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:97.70, Z:-0.59 [[ 1.91874653e-01 -9.81419379e-01 3.45496281e-04 1.72487593e+02] [ 9.81416814e-01 1.91874942e-01 2.24609852e-03 9.77018340e+01] [-2.27065669e-03 -9.18935135e-05 9.99997418e-01 -5.85742350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:97.73, Z:-0.59 [[ 1.89750501e-01 -9.81832260e-01 4.00667745e-04 1.72494229e+02] [ 9.81829714e-01 1.89750921e-01 2.23621332e-03 9.77287092e+01] [-2.27161345e-03 -3.09350998e-05 9.99997419e-01 -5.85111546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.1 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:172.50, Y:97.75, Z:-0.59 [[ 1.89815645e-01 -9.81819668e-01 4.00034945e-04 1.72500049e+02] [ 9.81817122e-01 1.89816064e-01 2.23632651e-03 9.77524073e+01] [-2.27160241e-03 -3.17286006e-05 9.99997419e-01 -5.90901182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:97.78, Z:-0.58 [[ 1.85559302e-01 -9.82632992e-01 3.85868261e-04 1.72505207e+02] [ 9.82630442e-01 1.85559699e-01 2.23885192e-03 9.77801230e+01] [-2.27157136e-03 -3.62738982e-05 9.99997419e-01 -5.84311033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:97.81, Z:-0.58 [[ 1.82872284e-01 -9.83136597e-01 3.98209696e-04 1.72511232e+02] [ 9.83134053e-01 1.82872717e-01 2.23665467e-03 9.78074876e+01] [-2.27175875e-03 -1.75286371e-05 9.99997419e-01 -5.83555979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:97.83, Z:-0.58 [[ 1.77664292e-01 -9.84091074e-01 3.97578633e-04 1.72517987e+02] [ 9.84088532e-01 1.77664737e-01 2.23676684e-03 9.78348892e+01] [-2.27181798e-03 -6.14102450e-06 9.99997419e-01 -5.81439416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:97.86, Z:-0.58 [[ 1.75471894e-01 -9.84484361e-01 3.96937489e-04 1.72522843e+02] [ 9.84481820e-01 1.75472343e-01 2.23688061e-03 9.78624424e+01] [-2.27182553e-03 -1.73193686e-06 9.99997419e-01 -5.80486819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:97.88, Z:-0.59 [[ 1.66300671e-01 -9.86075012e-01 3.96300829e-04 1.72518563e+02] [ 9.86072475e-01 1.66301142e-01 2.23699340e-03 9.78839394e+01] [-2.27174858e-03 1.87678365e-05 9.99997419e-01 -5.85227652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:97.91, Z:-0.58 [[ 1.65244665e-01 -9.86252544e-01 3.47133613e-04 1.72523986e+02] [ 9.86249988e-01 1.65245027e-01 2.24569070e-03 9.79117348e+01] [-2.27218027e-03 -2.87278851e-05 9.99997418e-01 -5.84523531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:97.95, Z:-0.58 [[ 1.70264210e-01 -9.85398385e-01 3.48052932e-04 1.72536998e+02] [ 9.85395827e-01 1.70264561e-01 2.24552817e-03 9.79452844e+01] [-2.27200092e-03 -3.93631743e-05 9.99997418e-01 -5.79134237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:97.97, Z:-0.58 [[ 1.60961681e-01 -9.86960577e-01 3.96692898e-04 1.72533770e+02] [ 9.86958042e-01 1.60962167e-01 2.23690235e-03 9.79694099e+01] [-2.27158698e-03 3.14636841e-05 9.99997419e-01 -5.84603226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:98.00, Z:-0.59 [[ 1.58628695e-01 -9.87338243e-01 3.61092411e-04 1.72537285e+02] [ 9.87335695e-01 1.58629106e-01 2.24319663e-03 9.79974456e+01] [-2.27207358e-03 6.84073261e-07 9.99997419e-01 -5.85850690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:98.03, Z:-0.58 [[ 1.63412174e-01 -9.86557822e-01 3.54017930e-04 1.72549170e+02] [ 9.86555269e-01 1.63412556e-01 2.24444676e-03 9.80298902e+01] [-2.27212748e-03 -1.75116690e-05 9.99997419e-01 -5.81034274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:98.06, Z:-0.58 [[ 1.61758881e-01 -9.86830232e-01 3.96509206e-04 1.72553049e+02] [ 9.86827697e-01 1.61759364e-01 2.23691487e-03 9.80567875e+01] [-2.27159430e-03 2.94454194e-05 9.99997419e-01 -5.82252995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:98.09, Z:-0.58 [[ 1.60159798e-01 -9.87091020e-01 3.96040679e-04 1.72556705e+02] [ 9.87088486e-01 1.60160285e-01 2.23699782e-03 9.80851525e+01] [-2.27155045e-03 3.26500739e-05 9.99997419e-01 -5.82752141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:98.11, Z:-0.58 [[ 1.58756625e-01 -9.87317668e-01 3.95410368e-04 1.72560208e+02] [ 9.87315134e-01 1.58757113e-01 2.23710923e-03 9.81122647e+01] [-2.27151168e-03 3.52387298e-05 9.99997419e-01 -5.84061369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:98.14, Z:-0.58 [[ 1.57221932e-01 -9.87563217e-01 3.94746866e-04 1.72563532e+02] [ 9.87560684e-01 1.57222422e-01 2.23722630e-03 9.81403342e+01] [-2.27146546e-03 3.80954446e-05 9.99997419e-01 -5.83904507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:98.17, Z:-0.58 [[ 1.57016575e-01 -9.87595889e-01 3.94116336e-04 1.72567652e+02] [ 9.87593355e-01 1.57017065e-01 2.23733737e-03 9.81677026e+01] [-2.27146818e-03 3.79276229e-05 9.99997419e-01 -5.83910300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:98.20, Z:-0.58 [[ 1.56896172e-01 -9.87615024e-01 3.93483844e-04 1.72572050e+02] [ 9.87612491e-01 1.56896661e-01 2.23744860e-03 9.81959755e+01] [-2.27147416e-03 3.75624392e-05 9.99997419e-01 -5.83684781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:98.22, Z:-0.59 [[ 1.49886611e-01 -9.88703115e-01 3.92886137e-04 1.72566749e+02] [ 9.88700584e-01 1.49887117e-01 2.23755355e-03 9.82171673e+01] [-2.27116474e-03 5.30674343e-05 9.99997419e-01 -5.90931211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:98.25, Z:-0.58 [[ 1.59316967e-01 -9.87227424e-01 3.43502772e-04 1.72579823e+02] [ 9.87224869e-01 1.59317336e-01 2.24618010e-03 9.82506268e+01] [-2.27221654e-03 -1.87401215e-05 9.99997418e-01 -5.83496519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:98.28, Z:-0.58 [[ 1.60517052e-01 -9.87032989e-01 3.92236784e-04 1.72583421e+02] [ 9.87030453e-01 1.60517529e-01 2.23763749e-03 9.82781223e+01] [-2.27158290e-03 2.79706761e-05 9.99997420e-01 -5.83776917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:98.31, Z:-0.58 [[ 1.62103852e-01 -9.86773625e-01 3.91601635e-04 1.72587015e+02] [ 9.86771088e-01 1.62104324e-01 2.23774864e-03 9.83064709e+01] [-2.27163166e-03 2.36734966e-05 9.99997420e-01 -5.84187543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:98.33, Z:-0.59 [[ 1.57492704e-01 -9.87520073e-01 3.90964729e-04 1.72582623e+02] [ 9.87517538e-01 1.57493186e-01 2.23785991e-03 9.83295230e+01] [-2.27150586e-03 3.36379182e-05 9.99997420e-01 -5.90897822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:98.36, Z:-0.58 [[ 1.66720357e-01 -9.86004160e-01 3.46356073e-04 1.72594483e+02] [ 9.86001603e-01 1.66720713e-01 2.24562058e-03 9.83624527e+01] [-2.27193597e-03 -3.28830228e-05 9.99997419e-01 -5.84904864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:98.39, Z:-0.59 [[ 1.63417938e-01 -9.86556853e-01 3.90566082e-04 1.72591078e+02] [ 9.86554315e-01 1.63418404e-01 2.23790492e-03 9.83856230e+01] [-2.27164612e-03 1.96008455e-05 9.99997420e-01 -5.90998548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:98.41, Z:-0.59 [[ 1.69024561e-01 -9.85611776e-01 3.53452710e-04 1.72593552e+02] [ 9.85609221e-01 1.69024928e-01 2.24436842e-03 9.84128892e+01] [-2.27181826e-03 -3.09871370e-05 9.99997419e-01 -5.90745899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:98.45, Z:-0.58 [[ 1.78780896e-01 -9.83888852e-01 3.44750768e-04 1.72605466e+02] [ 9.83886290e-01 1.78781218e-01 2.24588055e-03 9.84458355e+01] [-2.27133180e-03 -6.23249834e-05 9.99997419e-01 -5.84595410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:98.47, Z:-0.59 [[ 1.78440550e-01 -9.83950618e-01 3.89930862e-04 1.72603241e+02] [ 9.83948073e-01 1.78440976e-01 2.23800877e-03 9.84702008e+01] [-2.27166976e-03 -1.56797968e-05 9.99997420e-01 -5.89841869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:98.50, Z:-0.59 [[ 1.80038052e-01 -9.83659580e-01 3.61365035e-04 1.72607431e+02] [ 9.83657024e-01 1.80038408e-01 2.24296579e-03 9.84979876e+01] [-2.27137437e-03 -4.83599375e-05 9.99997419e-01 -5.89789323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:98.53, Z:-0.59 [[ 1.81590835e-01 -9.83374108e-01 3.63602095e-04 1.72611722e+02] [ 9.83371552e-01 1.81591192e-01 2.24257724e-03 9.85253068e+01] [-2.27131933e-03 -4.96755151e-05 9.99997419e-01 -5.89393586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:98.55, Z:-0.59 [[ 1.81984534e-01 -9.83301328e-01 3.57386965e-04 1.72615925e+02] [ 9.83298770e-01 1.81984876e-01 2.24365602e-03 9.85525498e+01] [-2.27122897e-03 -5.68925306e-05 9.99997419e-01 -5.89736918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:98.58, Z:-0.59 [[ 1.82678676e-01 -9.83172606e-01 3.57029964e-04 1.72620909e+02] [ 9.83170048e-01 1.82679015e-01 2.24371796e-03 9.85799918e+01] [-2.27118392e-03 -5.88582597e-05 9.99997419e-01 -5.89746825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:98.61, Z:-0.59 [[ 1.81559514e-01 -9.83379894e-01 3.55646253e-04 1.72624549e+02] [ 9.83377336e-01 1.81559853e-01 2.24395800e-03 9.86068413e+01] [-2.27123426e-03 -5.76774587e-05 9.99997419e-01 -5.90322056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:98.64, Z:-0.58 [[ 1.87962301e-01 -9.82176184e-01 3.42714427e-04 1.72638420e+02] [ 9.82173619e-01 1.87962594e-01 2.24619885e-03 9.86395412e+01] [-2.27058051e-03 -8.55956352e-05 9.99997419e-01 -5.84708766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:98.66, Z:-0.59 [[ 1.80885289e-01 -9.83504124e-01 3.89165176e-04 1.72634591e+02] [ 9.83501577e-01 1.80885706e-01 2.23812198e-03 9.86607476e+01] [-2.27159662e-03 -2.20987764e-05 9.99997420e-01 -5.91000740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:98.69, Z:-0.59 [[ 1.87762466e-01 -9.82214407e-01 3.40615904e-04 1.72648576e+02] [ 9.82211841e-01 1.87762754e-01 2.24652645e-03 9.86937291e+01] [-2.27052562e-03 -8.72563705e-05 9.99997419e-01 -5.85087727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:98.72, Z:-0.59 [[ 1.87689585e-01 -9.82228318e-01 3.88903942e-04 1.72653464e+02] [ 9.82225769e-01 1.87689984e-01 2.23813580e-03 9.87213383e+01] [-2.27135374e-03 -3.80833071e-05 9.99997420e-01 -5.85825224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:98.74, Z:-0.59 [[ 1.81895419e-01 -9.83317805e-01 3.88250786e-04 1.72650434e+02] [ 9.83315258e-01 1.81895832e-01 2.23824910e-03 9.87429136e+01] [-2.27153139e-03 -2.53543376e-05 9.99997420e-01 -5.94204357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:98.78, Z:-0.59 [[ 1.89816089e-01 -9.81819605e-01 3.40084238e-04 1.72663959e+02] [ 9.81817039e-01 1.89816371e-01 2.24656666e-03 9.87754159e+01] [-2.27027675e-03 -9.25339984e-05 9.99997419e-01 -5.89293267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:98.80, Z:-0.59 [[ 1.90362016e-01 -9.81713885e-01 3.87713350e-04 1.72669106e+02] [ 9.81711335e-01 1.90362405e-01 2.23831652e-03 9.88032799e+01] [-2.27119245e-03 -4.54678531e-05 9.99997420e-01 -5.89670547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:98.83, Z:-0.59 [[ 1.90808212e-01 -9.81627260e-01 3.87066699e-04 1.72674171e+02] [ 9.81624708e-01 1.90808598e-01 2.23842833e-03 9.88300532e+01] [-2.27115793e-03 -4.71562719e-05 9.99997420e-01 -5.90146643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:98.85, Z:-0.59 [[ 1.85967386e-01 -9.82555842e-01 3.86386310e-04 1.72673439e+02] [ 9.82553292e-01 1.85967784e-01 2.23854577e-03 9.88534333e+01] [-2.27135163e-03 -3.66513658e-05 9.99997420e-01 -5.94098178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:98.89, Z:-0.59 [[ 1.91135044e-01 -9.81563687e-01 3.51335207e-04 1.72685616e+02] [ 9.81561124e-01 1.91135348e-01 2.24457162e-03 9.88850036e+01] [-2.27034257e-03 -8.41593127e-05 9.99997419e-01 -5.89778150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:98.91, Z:-0.59 [[ 1.89801677e-01 -9.81822374e-01 3.85785297e-04 1.72692684e+02] [ 9.81819823e-01 1.89802064e-01 2.23863481e-03 9.89122983e+01] [-2.27116459e-03 -4.61249914e-05 9.99997420e-01 -5.87286466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:98.94, Z:-0.59 [[ 1.88383491e-01 -9.82095470e-01 3.85144890e-04 1.72698283e+02] [ 9.82092919e-01 1.88383879e-01 2.23874499e-03 9.89385192e+01] [-2.27121640e-03 -4.34945256e-05 9.99997420e-01 -5.86994029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:98.96, Z:-0.59 [[ 1.82876459e-01 -9.83135826e-01 3.84468278e-04 1.72699279e+02] [ 9.83133277e-01 1.82876861e-01 2.23886118e-03 9.89628840e+01] [-2.27141499e-03 -3.14514472e-05 9.99997420e-01 -5.87858327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:98.99, Z:-0.58 [[ 1.85673782e-01 -9.82611379e-01 3.52077775e-04 1.72710368e+02] [ 9.82608819e-01 1.85674102e-01 2.24440282e-03 9.89936173e+01] [-2.27074747e-03 -7.07720328e-05 9.99997419e-01 -5.84945542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:99.02, Z:-0.58 [[ 1.83942163e-01 -9.82936994e-01 3.83801961e-04 1.72716243e+02] [ 9.82934444e-01 1.83942561e-01 2.23896468e-03 9.90216269e+01] [-2.27135872e-03 -3.45878393e-05 9.99997420e-01 -5.83779337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:99.04, Z:-0.59 [[ 1.76961973e-01 -9.84217615e-01 3.83150047e-04 1.72717168e+02] [ 9.84215068e-01 1.76962387e-01 2.23907623e-03 9.90445440e+01] [-2.27154142e-03 -1.91292981e-05 9.99997420e-01 -5.85176691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:99.08, Z:-0.58 [[ 1.79633782e-01 -9.83733492e-01 3.47524484e-04 1.72727708e+02] [ 9.83730932e-01 1.79634107e-01 2.24515124e-03 9.90767208e+01] [-2.27105772e-03 -6.14344233e-05 9.99997419e-01 -5.83930207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:99.10, Z:-0.58 [[ 1.78498325e-01 -9.83940141e-01 3.82747664e-04 1.72732616e+02] [ 9.83937594e-01 1.78498734e-01 2.23913034e-03 9.91048334e+01] [-2.27149019e-03 -2.30811987e-05 9.99997420e-01 -5.84111280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:99.13, Z:-0.59 [[ 1.74885326e-01 -9.84588735e-01 3.82108310e-04 1.72733132e+02] [ 9.84586189e-01 1.74885742e-01 2.23923944e-03 9.91284799e+01] [-2.27155522e-03 -1.53915542e-05 9.99997420e-01 -5.85146478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:99.16, Z:-0.59 [[ 1.74641157e-01 -9.84632085e-01 3.52526903e-04 1.72738641e+02] [ 9.84629528e-01 1.74641507e-01 2.24427666e-03 9.91568652e+01] [-2.27135263e-03 -4.48346746e-05 9.99997419e-01 -5.85583191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:99.18, Z:-0.59 [[ 1.74465218e-01 -9.84663273e-01 3.55264326e-04 1.72743368e+02] [ 9.84660718e-01 1.74465575e-01 2.24381073e-03 9.91847303e+01] [-2.27137941e-03 -4.16521024e-05 9.99997420e-01 -5.85553785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:99.21, Z:-0.59 [[ 1.74766667e-01 -9.84609814e-01 3.55643740e-04 1.72748687e+02] [ 9.84607258e-01 1.74767024e-01 2.24374619e-03 9.92134847e+01] [-2.27136932e-03 -4.19626368e-05 9.99997420e-01 -5.85641295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:99.24, Z:-0.59 [[ 1.74598755e-01 -9.84639602e-01 3.58061791e-04 1.72753629e+02] [ 9.84637048e-01 1.74599118e-01 2.24333494e-03 9.92411551e+01] [-2.27139369e-03 -3.91225834e-05 9.99997420e-01 -5.85507831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:99.27, Z:-0.59 [[ 1.74158627e-01 -9.84717545e-01 3.58424348e-04 1.72758084e+02] [ 9.84714991e-01 1.74158992e-01 2.24327332e-03 9.92688403e+01] [-2.27141342e-03 -3.77395738e-05 9.99997420e-01 -5.85485775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:172.76, Y:99.30, Z:-0.59 [[ 1.75313134e-01 -9.84512660e-01 3.55791679e-04 1.72763965e+02] [ 9.84510105e-01 1.75313490e-01 2.24371532e-03 9.92971958e+01] [-2.27134122e-03 -4.30722619e-05 9.99997420e-01 -5.88427587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:99.32, Z:-0.59 [[ 1.73206266e-01 -9.84885503e-01 3.68463834e-04 1.72767125e+02] [ 9.84882952e-01 1.73206656e-01 2.24158859e-03 9.93219079e+01] [-2.27152850e-03 -2.53634406e-05 9.99997420e-01 -5.85595894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:99.35, Z:-0.59 [[ 1.72655260e-01 -9.84982251e-01 3.56267120e-04 1.72771299e+02] [ 9.84979696e-01 1.72655624e-01 2.24365543e-03 9.93498708e+01] [-2.27147230e-03 -3.64630326e-05 9.99997420e-01 -5.86115473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:99.38, Z:-0.59 [[ 1.72571866e-01 -9.84996866e-01 3.53534113e-04 1.72776105e+02] [ 9.84994310e-01 1.72572224e-01 2.24411851e-03 9.93779861e+01] [-2.27145987e-03 -3.90426304e-05 9.99997419e-01 -5.86179023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:99.41, Z:-0.59 [[ 1.70844145e-01 -9.85298002e-01 3.53327242e-04 1.72779390e+02] [ 9.85295447e-01 1.70844506e-01 2.24415355e-03 9.94056072e+01] [-2.27152403e-03 -3.52687706e-05 9.99997419e-01 -5.88921157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:99.43, Z:-0.59 [[ 1.69367230e-01 -9.85552952e-01 3.47221539e-04 1.72783296e+02] [ 9.85550395e-01 1.69367582e-01 2.24518614e-03 9.94335896e+01] [-2.27155790e-03 -3.80566316e-05 9.99997419e-01 -5.89440444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:99.46, Z:-0.59 [[ 1.69024641e-01 -9.85611764e-01 3.47384241e-04 1.72787658e+02] [ 9.85609208e-01 1.69024994e-01 2.24515863e-03 9.94613721e+01] [-2.27157137e-03 -3.71020248e-05 9.99997419e-01 -5.90157245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:99.49, Z:-0.59 [[ 1.68670195e-01 -9.85672484e-01 3.45579381e-04 1.72792902e+02] [ 9.85669927e-01 1.68670544e-01 2.24546392e-03 9.94896730e+01] [-2.27158107e-03 -3.81156342e-05 9.99997419e-01 -5.90369603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:99.52, Z:-0.59 [[ 1.67741434e-01 -9.85830964e-01 3.48738449e-04 1.72796906e+02] [ 9.85828409e-01 1.67741793e-01 2.24492849e-03 9.95168305e+01] [-2.27161803e-03 -3.27712535e-05 9.99997419e-01 -5.90598971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:99.55, Z:-0.59 [[ 1.68548398e-01 -9.85693319e-01 3.44418884e-04 1.72803315e+02] [ 9.85690762e-01 1.68548745e-01 2.24566043e-03 9.95458224e+01] [-2.27158385e-03 -3.90119544e-05 9.99997419e-01 -5.89639773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:99.58, Z:-0.59 [[ 1.71514953e-01 -9.85181453e-01 3.54513562e-04 1.72812408e+02] [ 9.85178898e-01 1.71515316e-01 2.24394986e-03 9.95758363e+01] [-2.27150229e-03 -3.56116756e-05 9.99997420e-01 -5.87142596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:99.60, Z:-0.59 [[ 1.69959490e-01 -9.85450977e-01 3.79898773e-04 1.72816642e+02] [ 9.85448432e-01 1.69959915e-01 2.23964390e-03 9.96033170e+01] [-2.27162683e-03 -6.27808584e-06 9.99997420e-01 -5.87738410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:99.63, Z:-0.59 [[ 1.62958541e-01 -9.86632845e-01 3.79261560e-04 1.72813715e+02] [ 9.86630302e-01 1.62958982e-01 2.23975180e-03 9.96258763e+01] [-2.27161677e-03 9.20426261e-06 9.99997420e-01 -5.93601280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:99.66, Z:-0.59 [[ 1.64423023e-01 -9.86389860e-01 3.38175880e-04 1.72821574e+02] [ 9.86387302e-01 1.64423367e-01 2.24668668e-03 9.96564037e+01] [-2.27171297e-03 -3.58346210e-05 9.99997419e-01 -5.91836777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:99.68, Z:-0.59 [[ 1.61145477e-01 -9.86930600e-01 3.56409534e-04 1.72823853e+02] [ 9.86928049e-01 1.61145871e-01 2.24359885e-03 9.96820087e+01] [-2.27171029e-03 -9.79524113e-06 9.99997420e-01 -5.92472348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:99.71, Z:-0.59 [[ 1.66507719e-01 -9.86040092e-01 3.40790371e-04 1.72835030e+02] [ 9.86037534e-01 1.66508063e-01 2.24623641e-03 9.97138316e+01] [-2.27162350e-03 -3.79836030e-05 9.99997419e-01 -5.87108807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:99.74, Z:-0.59 [[ 1.60241083e-01 -9.87077835e-01 3.79120066e-04 1.72833245e+02] [ 9.87075294e-01 1.60241531e-01 2.23974838e-03 9.97376113e+01] [-2.27155676e-03 1.53203442e-05 9.99997420e-01 -5.92179927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:99.77, Z:-0.59 [[ 1.65454206e-01 -9.86217413e-01 3.45449879e-04 1.72843888e+02] [ 9.86214858e-01 1.65454564e-01 2.24542537e-03 9.97682048e+01] [-2.27163386e-03 -3.08272694e-05 9.99997419e-01 -5.87971684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:99.80, Z:-0.59 [[ 1.64814588e-01 -9.86324495e-01 3.78483329e-04 1.72848267e+02] [ 9.86321951e-01 1.64815022e-01 2.23984346e-03 9.97962605e+01] [-2.27159221e-03 4.14753901e-06 9.99997420e-01 -5.88401330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:99.82, Z:-0.59 [[ 1.64339695e-01 -9.86403732e-01 3.77856058e-04 1.72852692e+02] [ 9.86401188e-01 1.64340130e-01 2.23994928e-03 9.98237881e+01] [-2.27159124e-03 4.60508229e-06 9.99997420e-01 -5.88846316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:99.85, Z:-0.60 [[ 1.59871808e-01 -9.87137712e-01 3.77220485e-04 1.72852142e+02] [ 9.87135171e-01 1.59872253e-01 2.24005631e-03 9.98482474e+01] [-2.27155114e-03 1.42457558e-05 9.99997420e-01 -5.95939662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:99.88, Z:-0.60 [[ 1.60659913e-01 -9.87009760e-01 3.53638489e-04 1.72857275e+02] [ 9.87007210e-01 1.60660302e-01 2.24402237e-03 9.98761980e+01] [-2.27168765e-03 -1.14807006e-05 9.99997420e-01 -5.96331985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:99.90, Z:-0.60 [[ 1.60575020e-01 -9.87023574e-01 3.56979276e-04 1.72860832e+02] [ 9.87021024e-01 1.60575416e-01 2.24346017e-03 9.99027534e+01] [-2.27167017e-03 -7.89760912e-06 9.99997420e-01 -5.96822876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:99.93, Z:-0.60 [[ 1.62176732e-01 -9.86761666e-01 3.49064070e-04 1.72866474e+02] [ 9.86759113e-01 1.62177107e-01 2.24479000e-03 9.99322672e+01] [-2.27168293e-03 -1.96105557e-05 9.99997420e-01 -5.96038976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:99.96, Z:-0.60 [[ 1.61990144e-01 -9.86792311e-01 3.57514983e-04 1.72869189e+02] [ 9.86789761e-01 1.61990538e-01 2.24337005e-03 9.99580812e+01] [-2.27165436e-03 -1.06117122e-05 9.99997420e-01 -5.96865319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:99.99, Z:-0.60 [[ 1.62904689e-01 -9.86641748e-01 3.50487855e-04 1.72873249e+02] [ 9.86639195e-01 1.62905064e-01 2.24455035e-03 9.99857868e+01] [-2.27166332e-03 -1.98427204e-05 9.99997420e-01 -5.96499147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:100.01, Z:-0.60 [[ 1.65612045e-01 -9.86190920e-01 3.45582049e-04 1.72876115e+02] [ 9.86188365e-01 1.65612403e-01 2.24537324e-03 1.00013010e+02] [-2.27159937e-03 -3.10518579e-05 9.99997419e-01 -5.95322786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:100.05, Z:-0.59 [[ 1.69731649e-01 -9.85490260e-01 3.39091034e-04 1.72885773e+02] [ 9.85487701e-01 1.69731981e-01 2.24645630e-03 1.00045780e+02] [-2.27141540e-03 -4.71246903e-05 9.99997419e-01 -5.89940229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:100.07, Z:-0.60 [[ 1.64517255e-01 -9.86374134e-01 3.74545979e-04 1.72883126e+02] [ 9.86371590e-01 1.64517681e-01 2.24052935e-03 1.00069020e+02] [-2.27161964e-03 8.35774786e-07 9.99997420e-01 -5.95733981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:100.10, Z:-0.59 [[ 1.66184628e-01 -9.86094596e-01 3.41117418e-04 1.72888774e+02] [ 9.86092039e-01 1.66184974e-01 2.24610668e-03 1.00097894e+02] [-2.27156225e-03 -3.68952327e-05 9.99997419e-01 -5.94470916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:100.13, Z:-0.59 [[ 1.67844917e-01 -9.85813351e-01 3.47244202e-04 1.72893217e+02] [ 9.85810795e-01 1.67845272e-01 2.24508453e-03 1.00126132e+02] [-2.27151760e-03 -3.45089420e-05 9.99997420e-01 -5.93585963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:100.15, Z:-0.59 [[ 1.66911697e-01 -9.85971785e-01 3.51728460e-04 1.72895422e+02] [ 9.85969231e-01 1.66912065e-01 2.24433593e-03 1.00153135e+02] [-2.27155962e-03 -2.78124792e-05 9.99997420e-01 -5.94298623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:100.18, Z:-0.59 [[ 1.67902909e-01 -9.85803478e-01 3.39957640e-04 1.72900460e+02] [ 9.85800920e-01 1.67903248e-01 2.24629885e-03 1.00181439e+02] [-2.27148922e-03 -4.20295586e-05 9.99997419e-01 -5.94345414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:100.21, Z:-0.59 [[ 1.67486570e-01 -9.85874297e-01 3.45255582e-04 1.72904076e+02] [ 9.85871741e-01 1.67486922e-01 2.24541459e-03 1.00209533e+02] [-2.27152233e-03 -3.56990676e-05 9.99997419e-01 -5.94811113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:100.24, Z:-0.59 [[ 1.72732854e-01 -9.84968651e-01 3.42144586e-04 1.72914385e+02] [ 9.84966092e-01 1.72733185e-01 2.24593343e-03 1.00240397e+02] [-2.27127375e-03 -5.09456753e-05 9.99997419e-01 -5.89547285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:100.26, Z:-0.60 [[ 1.67308594e-01 -9.85904506e-01 3.74389551e-04 1.72913042e+02] [ 9.85901960e-01 1.67309013e-01 2.24054538e-03 1.00264391e+02] [-2.27160253e-03 -5.75110525e-06 9.99997420e-01 -5.95265396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:100.29, Z:-0.59 [[ 1.67508213e-01 -9.85870619e-01 3.47195694e-04 1.72918626e+02] [ 9.85868064e-01 1.67508569e-01 2.24508506e-03 1.00293260e+02] [-2.27152166e-03 -3.37810398e-05 9.99997420e-01 -5.94948736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:100.32, Z:-0.59 [[ 1.71237173e-01 -9.85229774e-01 3.50214327e-04 1.72927797e+02] [ 9.85227218e-01 1.71237526e-01 2.24458176e-03 1.00323504e+02] [-2.27139862e-03 -3.93151468e-05 9.99997420e-01 -5.90817603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:100.35, Z:-0.59 [[ 1.70451142e-01 -9.85366058e-01 3.74109750e-04 1.72932128e+02] [ 9.85363511e-01 1.70451552e-01 2.24059196e-03 1.00350097e+02] [-2.27157086e-03 -1.32773610e-05 9.99997420e-01 -5.91523840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:100.38, Z:-0.59 [[ 1.66445880e-01 -9.86050521e-01 3.73642943e-04 1.72933531e+02] [ 9.86047975e-01 1.66446299e-01 2.24066981e-03 1.00376011e+02] [-2.27160511e-03 -4.52039005e-06 9.99997420e-01 -5.93713607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:100.40, Z:-0.59 [[ 1.65376019e-01 -9.86230523e-01 3.58308812e-04 1.72938906e+02] [ 9.86227972e-01 1.65376406e-01 2.24322185e-03 1.00403136e+02] [-2.27158968e-03 -1.76009255e-05 9.99997420e-01 -5.90840581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:100.43, Z:-0.59 [[ 1.67971695e-01 -9.85791754e-01 3.57199223e-04 1.72946533e+02] [ 9.85789201e-01 1.67972073e-01 2.24340626e-03 1.00432383e+02] [-2.27153089e-03 -2.47056161e-05 9.99997420e-01 -5.91900412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:100.46, Z:-0.59 [[ 1.65299316e-01 -9.86243376e-01 3.72574006e-04 1.72949022e+02] [ 9.86240831e-01 1.65299736e-01 2.24084998e-03 1.00459518e+02] [-2.27160983e-03 -2.96327185e-06 9.99997420e-01 -5.90978785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:100.49, Z:-0.59 [[ 1.67522794e-01 -9.85868137e-01 3.59229667e-04 1.72955377e+02] [ 9.85865586e-01 1.67523178e-01 2.24306387e-03 1.00488147e+02] [-2.27154449e-03 -2.16121603e-05 9.99997420e-01 -5.91007937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:100.52, Z:-0.59 [[ 1.67383405e-01 -9.85891808e-01 3.71833717e-04 1.72959771e+02] [ 9.85889261e-01 1.67383817e-01 2.24097254e-03 1.00516261e+02] [-2.27159542e-03 -8.51474455e-06 9.99997420e-01 -5.90406979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:100.54, Z:-0.59 [[ 1.66438140e-01 -9.86051828e-01 3.71192804e-04 1.72963225e+02] [ 9.86049281e-01 1.66438553e-01 2.24107869e-03 1.00542870e+02] [-2.27160054e-03 -6.98657144e-06 9.99997420e-01 -5.90411820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:100.57, Z:-0.59 [[ 1.67927652e-01 -9.85799255e-01 3.63898619e-04 1.72967829e+02] [ 9.85796705e-01 1.67928045e-01 2.24228493e-03 1.00570672e+02] [-2.27155160e-03 -1.78115834e-05 9.99997420e-01 -5.88893617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:100.60, Z:-0.59 [[ 1.69598155e-01 -9.85513234e-01 3.63410027e-04 1.72972546e+02] [ 9.85510683e-01 1.69598543e-01 2.24236557e-03 1.00598172e+02] [-2.27151476e-03 -2.21566014e-05 9.99997420e-01 -5.88312192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:100.62, Z:-0.59 [[ 1.70856629e-01 -9.85295832e-01 3.69772322e-04 1.72975787e+02] [ 9.85293282e-01 1.70857028e-01 2.24131592e-03 1.00624673e+02] [-2.27153743e-03 -1.86094982e-05 9.99997420e-01 -5.88869050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:100.65, Z:-0.59 [[ 1.72939738e-01 -9.84932338e-01 3.69016890e-04 1.72979238e+02] [ 9.84929788e-01 1.72940130e-01 2.24144029e-03 1.00651690e+02] [-2.27148486e-03 -2.41783696e-05 9.99997420e-01 -5.89090679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:100.68, Z:-0.59 [[ 1.74162825e-01 -9.84716799e-01 3.68231773e-04 1.72982920e+02] [ 9.84714248e-01 1.74163212e-01 2.24156927e-03 1.00679454e+02] [-2.27144334e-03 -2.77949626e-05 9.99997420e-01 -5.89765653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:172.99, Y:100.71, Z:-0.59 [[ 1.74251517e-01 -9.84701109e-01 3.67587006e-04 1.72986081e+02] [ 9.84698558e-01 1.74251902e-01 2.24167499e-03 1.00705294e+02] [-2.27143259e-03 -2.86528739e-05 9.99997420e-01 -5.93510200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:100.73, Z:-0.59 [[ 1.75431985e-01 -9.84491483e-01 3.72305406e-04 1.72990360e+02] [ 9.84488933e-01 1.75432378e-01 2.24090313e-03 1.00731504e+02] [-2.27146446e-03 -2.65955315e-05 9.99997420e-01 -5.90955832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:100.76, Z:-0.59 [[ 1.75910293e-01 -9.84406133e-01 3.65797459e-04 1.72995269e+02] [ 9.84403581e-01 1.75910670e-01 2.24196496e-03 1.00759173e+02] [-2.27135173e-03 -3.42923854e-05 9.99997420e-01 -5.90431393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:100.79, Z:-0.59 [[ 1.74900010e-01 -9.84586133e-01 3.65142360e-04 1.73000934e+02] [ 9.84583581e-01 1.74900388e-01 2.24207165e-03 1.00785993e+02] [-2.27137619e-03 -3.26251807e-05 9.99997420e-01 -5.90480361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:100.81, Z:-0.59 [[ 1.74063716e-01 -9.84734326e-01 3.59803775e-04 1.73006174e+02] [ 9.84731773e-01 1.74064084e-01 2.24293948e-03 1.00813853e+02] [-2.27132842e-03 -3.61041720e-05 9.99997420e-01 -5.90780422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:100.84, Z:-0.59 [[ 1.72459638e-01 -9.85016518e-01 3.64282462e-04 1.73011513e+02] [ 9.85013966e-01 1.72460020e-01 2.24221185e-03 1.00841107e+02] [-2.27143987e-03 -2.78677306e-05 9.99997420e-01 -5.89316820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:100.87, Z:-0.59 [[ 1.70626191e-01 -9.85335766e-01 3.63637673e-04 1.73016721e+02] [ 9.85333214e-01 1.70626576e-01 2.24231642e-03 1.00868298e+02] [-2.27148081e-03 -2.42936312e-05 9.99997420e-01 -5.88855812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:100.89, Z:-0.59 [[ 1.67096627e-01 -9.85940457e-01 3.62994458e-04 1.73021875e+02] [ 9.85937907e-01 1.67097021e-01 2.24242054e-03 1.00894735e+02] [-2.27154842e-03 -1.68109122e-05 9.99997420e-01 -5.88161874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:100.92, Z:-0.59 [[ 1.66059160e-01 -9.86115729e-01 3.52293806e-04 1.73027541e+02] [ 9.86113176e-01 1.66059532e-01 2.24414946e-03 1.00922895e+02] [-2.27149283e-03 -2.52600124e-05 9.99997420e-01 -5.88747652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:100.95, Z:-0.59 [[ 1.60711577e-01 -9.87001346e-01 3.62147418e-04 1.73028137e+02] [ 9.86998799e-01 1.60711985e-01 2.24255822e-03 1.00945896e+02] [-2.27160941e-03 -2.96600214e-06 9.99997420e-01 -5.89984308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:100.98, Z:-0.59 [[ 1.61105405e-01 -9.86937152e-01 3.26082402e-04 1.73035658e+02] [ 9.86934592e-01 1.61105730e-01 2.24835677e-03 1.00975041e+02] [-2.27152057e-03 -4.04004268e-05 9.99997419e-01 -5.86931910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:101.00, Z:-0.59 [[ 1.61138130e-01 -9.86931803e-01 3.44218265e-04 1.73042897e+02] [ 9.86929249e-01 1.61138496e-01 2.24544033e-03 1.01004249e+02] [-2.27156329e-03 -2.21069825e-05 9.99997420e-01 -5.88525952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:101.03, Z:-0.59 [[ 1.58897057e-01 -9.87295090e-01 3.60805287e-04 1.73047627e+02] [ 9.87292543e-01 1.58897467e-01 2.24277190e-03 1.01031683e+02] [-2.27160873e-03 -1.49485516e-07 9.99997420e-01 -5.88625564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:101.06, Z:-0.59 [[ 1.54724997e-01 -9.87957512e-01 3.60169388e-04 1.73052722e+02] [ 9.87954966e-01 1.54725416e-01 2.24287402e-03 1.01059669e+02] [-2.27159159e-03 8.80246019e-06 9.99997420e-01 -5.90569968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:101.08, Z:-0.59 [[ 1.49978172e-01 -9.88689243e-01 3.59528655e-04 1.73053420e+02] [ 9.88686699e-01 1.49978602e-01 2.24297672e-03 1.01083404e+02] [-2.27152856e-03 1.90636511e-05 9.99997420e-01 -5.90873864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:101.11, Z:-0.59 [[ 1.49083426e-01 -9.88824564e-01 3.36916081e-04 1.73059192e+02] [ 9.88822012e-01 1.49083806e-01 2.24660339e-03 1.01112052e+02] [-2.27172535e-03 -1.78129230e-06 9.99997420e-01 -5.89324089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:101.14, Z:-0.59 [[ 1.48949142e-01 -9.88844799e-01 3.40824297e-04 1.73063727e+02] [ 9.88842249e-01 1.48949532e-01 2.24597640e-03 1.01140234e+02] [-2.27168770e-03 2.48520725e-06 9.99997420e-01 -5.89390690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:101.17, Z:-0.59 [[ 1.49409579e-01 -9.88775334e-01 3.40214371e-04 1.73071166e+02] [ 9.88772783e-01 1.49409966e-01 2.24607410e-03 1.01170335e+02] [-2.27169409e-03 8.09724017e-07 9.99997420e-01 -5.91982491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:101.20, Z:-0.59 [[ 1.48337952e-01 -9.88936663e-01 3.59689990e-04 1.73074567e+02] [ 9.88934119e-01 1.48338386e-01 2.24295090e-03 1.01197209e+02] [-2.27149221e-03 2.29949604e-05 9.99997420e-01 -5.91943048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:101.23, Z:-0.59 [[ 1.48220074e-01 -9.88954337e-01 3.58999333e-04 1.73078002e+02] [ 9.88951794e-01 1.48220507e-01 2.24306144e-03 1.01225587e+02] [-2.27149640e-03 2.25663009e-05 9.99997420e-01 -5.92048495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:101.25, Z:-0.59 [[ 1.48452162e-01 -9.88919525e-01 3.58355346e-04 1.73081605e+02] [ 9.88916981e-01 1.48452593e-01 2.24316432e-03 1.01252727e+02] [-2.27150778e-03 2.13810945e-05 9.99997420e-01 -5.92304812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:101.28, Z:-0.59 [[ 1.48464042e-01 -9.88917742e-01 3.57885512e-04 1.73085428e+02] [ 9.88915198e-01 1.48464472e-01 2.24323928e-03 1.01280328e+02] [-2.27151241e-03 2.08780513e-05 9.99997420e-01 -5.90994809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:101.31, Z:-0.59 [[ 1.48965285e-01 -9.88842363e-01 3.53001998e-04 1.73089262e+02] [ 9.88839817e-01 1.48965702e-01 2.24401684e-03 1.01307961e+02] [-2.27156410e-03 1.47818240e-05 9.99997420e-01 -5.92505166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:101.33, Z:-0.59 [[ 1.49868304e-01 -9.88705904e-01 3.56968975e-04 1.73093206e+02] [ 9.88703359e-01 1.49868728e-01 2.24338561e-03 1.01334926e+02] [-2.27154708e-03 1.67240288e-05 9.99997420e-01 -5.93085661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:101.36, Z:-0.59 [[ 1.50319937e-01 -9.88637340e-01 3.56502292e-04 1.73097495e+02] [ 9.88634794e-01 1.50320359e-01 2.24345977e-03 1.01363106e+02] [-2.27155765e-03 1.52138400e-05 9.99997420e-01 -5.92594321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:101.39, Z:-0.59 [[ 1.50743426e-01 -9.88572857e-01 3.55861704e-04 1.73101377e+02] [ 9.88570311e-01 1.50743845e-01 2.24356138e-03 1.01390681e+02] [-2.27156784e-03 1.35921873e-05 9.99997420e-01 -5.92559805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:101.42, Z:-0.59 [[ 1.51980510e-01 -9.88383427e-01 3.55217250e-04 1.73106068e+02] [ 9.88380880e-01 1.51980925e-01 2.24366341e-03 1.01417948e+02] [-2.27158597e-03 1.00968286e-05 9.99997420e-01 -5.92403833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:101.45, Z:-0.59 [[ 1.53192915e-01 -9.88196239e-01 3.52479648e-04 1.73108544e+02] [ 9.88193691e-01 1.53193321e-01 2.24409625e-03 1.01445175e+02] [-2.27160500e-03 4.53851831e-06 9.99997420e-01 -5.92731862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:101.47, Z:-0.59 [[ 1.54048718e-01 -9.88063190e-01 3.54278092e-04 1.73112533e+02] [ 9.88060642e-01 1.54049125e-01 2.24381229e-03 1.01472510e+02] [-2.27160456e-03 4.39183220e-06 9.99997420e-01 -5.91999184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:101.50, Z:-0.59 [[ 1.55030462e-01 -9.87909627e-01 3.53639304e-04 1.73116448e+02] [ 9.87907078e-01 1.55030866e-01 2.24391296e-03 1.01500218e+02] [-2.27160822e-03 1.48790822e-06 9.99997420e-01 -5.91748807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:101.53, Z:-0.59 [[ 1.57872193e-01 -9.87459491e-01 3.52996512e-04 1.73122868e+02] [ 9.87456941e-01 1.57872587e-01 2.24401407e-03 1.01529252e+02] [-2.27160147e-03 -5.69856609e-06 9.99997420e-01 -5.91493088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:101.56, Z:-0.59 [[ 1.57646573e-01 -9.87495533e-01 3.60214574e-04 1.73124238e+02] [ 9.87492986e-01 1.57646984e-01 2.24288008e-03 1.01555304e+02] [-2.27162080e-03 2.12700883e-06 9.99997420e-01 -5.91966386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:101.58, Z:-0.59 [[ 1.59084026e-01 -9.87264984e-01 3.51980216e-04 1.73127736e+02] [ 9.87262434e-01 1.59084415e-01 2.24417157e-03 1.01582164e+02] [-2.27158657e-03 -9.51500301e-06 9.99997420e-01 -5.93890125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:101.61, Z:-0.59 [[ 1.62326304e-01 -9.86737071e-01 3.51513283e-04 1.73131289e+02] [ 9.86734519e-01 1.62326684e-01 2.24424470e-03 1.01609552e+02] [-2.27153943e-03 -1.74496577e-05 9.99997420e-01 -5.91481378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:101.64, Z:-0.59 [[ 1.62408483e-01 -9.86723550e-01 3.48089295e-04 1.73134356e+02] [ 9.86720997e-01 1.62408854e-01 2.24478036e-03 1.01637727e+02] [-2.27151043e-03 -2.11043563e-05 9.99997420e-01 -5.93637416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:101.67, Z:-0.59 [[ 1.62770172e-01 -9.86663949e-01 3.50635708e-04 1.73138037e+02] [ 9.86661397e-01 1.62770548e-01 2.24438254e-03 1.01665520e+02] [-2.27152451e-03 -1.93598145e-05 9.99997420e-01 -5.93964167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:101.69, Z:-0.59 [[ 1.62760833e-01 -9.86665490e-01 3.50004862e-04 1.73142094e+02] [ 9.86662937e-01 1.62761208e-01 2.24448091e-03 1.01693460e+02] [-2.27151907e-03 -1.99767580e-05 9.99997420e-01 -5.93810538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:101.72, Z:-0.59 [[ 1.65498614e-01 -9.86209961e-01 3.49366593e-04 1.73150435e+02] [ 9.86207407e-01 1.65498981e-01 2.24458026e-03 1.01723753e+02] [-2.27144722e-03 -2.69269997e-05 9.99997420e-01 -5.94068194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:101.75, Z:-0.59 [[ 1.62268541e-01 -9.86746567e-01 3.66116470e-04 1.73151533e+02] [ 9.86744020e-01 1.62268954e-01 2.24197307e-03 1.01748545e+02] [-2.27166856e-03 -2.53846022e-06 9.99997420e-01 -5.92315668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:101.78, Z:-0.59 [[ 1.61635389e-01 -9.86850485e-01 3.48317675e-04 1.73156155e+02] [ 9.86847932e-01 1.61635763e-01 2.24473492e-03 1.01775114e+02] [-2.27151834e-03 -1.90920249e-05 9.99997420e-01 -5.93111662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:101.80, Z:-0.59 [[ 1.61070053e-01 -9.86942915e-01 3.47846885e-04 1.73160860e+02] [ 9.86940362e-01 1.61070428e-01 2.24480787e-03 1.01802645e+02] [-2.27152507e-03 -1.82671936e-05 9.99997420e-01 -5.92029735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:101.83, Z:-0.59 [[ 1.60465568e-01 -9.87041377e-01 3.47200300e-04 1.73165214e+02] [ 9.87038825e-01 1.60465943e-01 2.24490788e-03 1.01828984e+02] [-2.27153079e-03 -1.75302421e-05 9.99997420e-01 -5.93081729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:101.86, Z:-0.59 [[ 1.59600890e-01 -9.87181562e-01 3.46518876e-04 1.73170409e+02] [ 9.87179009e-01 1.59601265e-01 2.24501305e-03 1.01856787e+02] [-2.27154034e-03 -1.62299198e-05 9.99997420e-01 -5.93783523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:101.88, Z:-0.59 [[ 1.58503703e-01 -9.87358322e-01 3.45878567e-04 1.73175472e+02] [ 9.87355770e-01 1.58504080e-01 2.24511170e-03 1.01883696e+02] [-2.27155288e-03 -1.43533196e-05 9.99997420e-01 -5.94292497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:101.91, Z:-0.59 [[ 1.57001808e-01 -9.87598255e-01 3.45202943e-04 1.73180512e+02] [ 9.87595703e-01 1.57002187e-01 2.24521558e-03 1.01911317e+02] [-2.27156860e-03 -1.15819603e-05 9.99997420e-01 -5.93654662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:101.94, Z:-0.59 [[ 1.54798866e-01 -9.87945946e-01 3.44553726e-04 1.73186425e+02] [ 9.87943395e-01 1.54799249e-01 2.24531520e-03 1.01937507e+02] [-2.27158671e-03 -7.17266930e-06 9.99997420e-01 -5.93453551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:101.96, Z:-0.59 [[ 1.53327076e-01 -9.88175435e-01 3.43871215e-04 1.73191116e+02] [ 9.88172883e-01 1.53327462e-01 2.24541972e-03 1.01964458e+02] [-2.27159351e-03 -4.47943035e-06 9.99997420e-01 -5.94321033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:101.99, Z:-0.59 [[ 1.52117222e-01 -9.88362400e-01 3.43198809e-04 1.73196157e+02] [ 9.88359849e-01 1.52117609e-01 2.24552249e-03 1.01992516e+02] [-2.27159658e-03 -2.37872130e-06 9.99997420e-01 -5.93777198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:102.02, Z:-0.59 [[ 1.50538985e-01 -9.88604014e-01 3.42566568e-04 1.73200743e+02] [ 9.88601464e-01 1.50539375e-01 2.24561894e-03 1.02019508e+02] [-2.27159766e-03 6.08614782e-07 9.99997420e-01 -5.94376284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:102.05, Z:-0.59 [[ 1.49262939e-01 -9.88797481e-01 3.41899106e-04 1.73205394e+02] [ 9.88794931e-01 1.49263331e-01 2.24572056e-03 1.02047261e+02] [-2.27159583e-03 2.86525146e-06 9.99997420e-01 -5.93765738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:102.07, Z:-0.59 [[ 1.47748152e-01 -9.89024958e-01 3.41264092e-04 1.73209722e+02] [ 9.89022408e-01 1.47748546e-01 2.24581705e-03 1.02074590e+02] [-2.27159039e-03 5.70251509e-06 9.99997420e-01 -5.93963606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:102.10, Z:-0.59 [[ 1.44554839e-01 -9.89496732e-01 3.40631996e-04 1.73214022e+02] [ 9.89494183e-01 1.44555240e-01 2.24591292e-03 1.02102327e+02] [-2.27156363e-03 1.23957978e-05 9.99997420e-01 -5.93056737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:102.13, Z:-0.59 [[ 1.42674157e-01 -9.89769655e-01 3.40001722e-04 1.73218209e+02] [ 9.89767107e-01 1.42674561e-01 2.24600833e-03 1.02130183e+02] [-2.27154049e-03 1.60751764e-05 9.99997420e-01 -5.92041379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:102.16, Z:-0.59 [[ 1.39850518e-01 -9.90172570e-01 3.39369189e-04 1.73222321e+02] [ 9.90170022e-01 1.39850928e-01 2.24610390e-03 1.02157439e+02] [-2.27149157e-03 2.19144035e-05 9.99997420e-01 -5.91598789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:102.19, Z:-0.59 [[ 1.36559337e-01 -9.90631835e-01 3.38807638e-04 1.73226663e+02] [ 9.90629289e-01 1.36559754e-01 2.24618860e-03 1.02185031e+02] [-2.27141343e-03 2.88947432e-05 9.99997420e-01 -5.90269288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:102.21, Z:-0.59 [[ 1.32819305e-01 -9.91140211e-01 3.38179658e-04 1.73230860e+02] [ 9.91137666e-01 1.32819731e-01 2.24628315e-03 1.02213132e+02] [-2.27129848e-03 3.68328297e-05 9.99997420e-01 -5.89556890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:102.24, Z:-0.59 [[ 1.24956776e-01 -9.92162129e-01 3.37554764e-04 1.73233586e+02] [ 9.92159587e-01 1.24957220e-01 2.24637705e-03 1.02239739e+02] [-2.27095014e-03 5.42081621e-05 9.99997420e-01 -5.89592047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.27, Z:-0.59 [[ 1.21519525e-01 -9.92588984e-01 3.37099939e-04 1.73236447e+02] [ 9.92586444e-01 1.21519977e-01 2.24644530e-03 1.02268030e+02] [-2.27076123e-03 6.16138649e-05 9.99997420e-01 -5.89640300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.29, Z:-0.59 [[ 1.18270766e-01 -9.92981325e-01 3.36488364e-04 1.73238778e+02] [ 9.92978787e-01 1.18271225e-01 2.24653690e-03 1.02293763e+02] [-2.27056608e-03 6.84261674e-05 9.99997420e-01 -5.89668609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.32, Z:-0.59 [[ 1.12439789e-01 -9.93658483e-01 3.35855010e-04 1.73240133e+02] [ 9.93655947e-01 1.12440262e-01 2.24663158e-03 1.02321592e+02] [-2.27014816e-03 8.11135458e-05 9.99997420e-01 -5.89040039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.35, Z:-0.59 [[ 1.11670124e-01 -9.93745275e-01 3.35216448e-04 1.73246371e+02] [ 9.93742738e-01 1.11670597e-01 2.24672686e-03 1.02351743e+02] [-2.27010802e-03 8.22266433e-05 9.99997420e-01 -5.87736794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.38, Z:-0.59 [[ 1.06391135e-01 -9.94324295e-01 3.49754352e-04 1.73245861e+02] [ 9.94321768e-01 1.06391654e-01 2.24455890e-03 1.02377492e+02] [-2.26903039e-03 1.08967197e-04 9.99997420e-01 -5.89489179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.41, Z:-0.59 [[ 1.03400560e-01 -9.94639740e-01 3.33890871e-04 1.73248693e+02] [ 9.94637207e-01 1.03401051e-01 2.24691620e-03 1.02405855e+02] [-2.26939681e-03 9.97678902e-05 9.99997420e-01 -5.89802278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.43, Z:-0.59 [[ 1.00606695e-01 -9.94926219e-01 3.33251360e-04 1.73251081e+02] [ 9.94923688e-01 1.00607191e-01 2.24701105e-03 1.02432437e+02] [-2.26913769e-03 1.05495318e-04 9.99997420e-01 -5.89816274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.46, Z:-0.59 [[ 9.25982757e-02 -9.95703494e-01 3.32577744e-04 1.73248218e+02] [ 9.95700966e-01 9.25987911e-02 2.24711074e-03 1.02459114e+02] [-2.26825232e-03 1.23069401e-04 9.99997420e-01 -5.93012255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.49, Z:-0.59 [[ 8.93424687e-02 -9.96000915e-01 3.18572884e-04 1.73248308e+02] [ 9.95998382e-01 8.93429610e-02 2.24918051e-03 1.02486188e+02] [-2.26864809e-03 1.16350737e-04 9.99997420e-01 -5.94793654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.52, Z:-0.59 [[ 9.17800412e-02 -9.95779257e-01 3.09278437e-04 1.73254093e+02] [ 9.95776719e-01 9.17805062e-02 2.25055108e-03 1.02516338e+02] [-2.26943781e-03 1.01416597e-04 9.99997420e-01 -5.89406946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.54, Z:-0.59 [[ 9.06299330e-02 -9.95884584e-01 3.31588359e-04 1.73254976e+02] [ 9.95882057e-01 9.06304512e-02 2.24725920e-03 1.02543416e+02] [-2.26806279e-03 1.26553947e-04 9.99997420e-01 -5.89623493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.56, Z:-0.60 [[ 7.96698268e-02 -9.96821252e-01 3.30911194e-04 1.73239267e+02] [ 9.96818730e-01 7.96703713e-02 2.24735890e-03 1.02561429e+02] [-2.26657894e-03 1.50811781e-04 9.99997420e-01 -5.98606508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.59, Z:-0.60 [[ 8.52008003e-02 -9.96363769e-01 2.52995668e-04 1.73244516e+02] [ 9.96361210e-01 8.52011551e-02 2.25873934e-03 1.02593240e+02] [-2.27208157e-03 5.96286703e-05 9.99997417e-01 -5.96895035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.63, Z:-0.59 [[ 9.48171531e-02 -9.95494665e-01 2.83329460e-04 1.73253146e+02] [ 9.95492115e-01 9.48175518e-02 2.25430020e-03 1.02626099e+02] [-2.27100843e-03 6.83059156e-05 9.99997419e-01 -5.89815324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.65, Z:-0.59 [[ 9.78590736e-02 -9.95200227e-01 3.30091793e-04 1.73253077e+02] [ 9.95197696e-01 9.78595701e-02 2.24743198e-03 1.02654721e+02] [-2.26894746e-03 1.08574980e-04 9.99997420e-01 -5.89432922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.68, Z:-0.59 [[ 9.96626606e-02 -9.95021229e-01 3.29454101e-04 1.73251566e+02] [ 9.95018696e-01 9.96631511e-02 2.24752546e-03 1.02683345e+02] [-2.26916998e-03 1.03818623e-04 9.99997420e-01 -5.92222519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.71, Z:-0.59 [[ 1.04237250e-01 -9.94552406e-01 3.27198116e-04 1.73251008e+02] [ 9.94549870e-01 1.04237724e-01 2.24785565e-03 1.02713134e+02] [-2.26971663e-03 9.11045530e-05 9.99997420e-01 -5.92525899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.74, Z:-0.60 [[ 1.11763900e-01 -9.93734735e-01 3.28738041e-04 1.73240750e+02] [ 9.93732196e-01 1.11764358e-01 2.24763050e-03 1.02738863e+02] [-2.27028970e-03 7.54736244e-05 9.99997420e-01 -5.95361964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.77, Z:-0.60 [[ 1.17944696e-01 -9.93020121e-01 2.97025572e-04 1.73239966e+02] [ 9.93017567e-01 1.17945067e-01 2.25222203e-03 1.02768589e+02] [-2.27153450e-03 2.93139673e-05 9.99997420e-01 -5.95878961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.80, Z:-0.59 [[ 1.28365617e-01 -9.91726867e-01 3.00731714e-04 1.73243565e+02] [ 9.91724310e-01 1.28365969e-01 2.25168610e-03 1.02799607e+02] [-2.27166132e-03 9.20387545e-06 9.99997420e-01 -5.92578399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.83, Z:-0.60 [[ 1.36353681e-01 -9.90660168e-01 3.25465543e-04 1.73236838e+02] [ 9.90657617e-01 1.36354068e-01 2.24810530e-03 1.02827846e+02] [-2.27148692e-03 1.58874862e-05 9.99997420e-01 -5.98363995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.86, Z:-0.59 [[ 1.44188761e-01 -9.89550151e-01 3.17128164e-04 1.73239066e+02] [ 9.89547594e-01 1.44189109e-01 2.24930835e-03 1.02855551e+02] [-2.27152985e-03 -1.05115726e-05 9.99997420e-01 -5.94994209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.88, Z:-0.60 [[ 1.43913716e-01 -9.89590187e-01 3.23994975e-04 1.73243062e+02] [ 9.89587633e-01 1.43914081e-01 2.24831881e-03 1.02883854e+02] [-2.27154167e-03 -2.94249423e-06 9.99997420e-01 -5.95061658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:102.91, Z:-0.60 [[ 1.47694878e-01 -9.89032921e-01 3.23370042e-04 1.73243865e+02] [ 9.89030365e-01 1.47695231e-01 2.24840869e-03 1.02912478e+02] [-2.27151042e-03 -1.22556544e-05 9.99997420e-01 -5.95059054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.94, Z:-0.60 [[ 1.50591901e-01 -9.88595962e-01 3.22717938e-04 1.73245589e+02] [ 9.88593405e-01 1.50592246e-01 2.24850228e-03 1.02941042e+02] [-2.27145909e-03 -1.95694085e-05 9.99997420e-01 -5.95018144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:102.97, Z:-0.59 [[ 1.52635024e-01 -9.88282574e-01 3.22058679e-04 1.73247653e+02] [ 9.88280016e-01 1.52635362e-01 2.24859670e-03 1.02967979e+02] [-2.27140648e-03 -2.49304546e-05 9.99997420e-01 -5.94663481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:103.00, Z:-0.59 [[ 1.53609124e-01 -9.88131638e-01 3.21362250e-04 1.73250236e+02] [ 9.88129080e-01 1.53609458e-01 2.24869623e-03 1.02996198e+02] [-2.27137217e-03 -2.78728745e-05 9.99997420e-01 -5.94523269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:103.02, Z:-0.59 [[ 1.53502214e-01 -9.88148252e-01 3.20717532e-04 1.73252622e+02] [ 9.88145693e-01 1.53502547e-01 2.24878818e-03 1.03023614e+02] [-2.27136707e-03 -2.82783175e-05 9.99997420e-01 -5.94173853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:103.05, Z:-0.59 [[ 1.52407619e-01 -9.88317669e-01 3.20037714e-04 1.73256371e+02] [ 9.88315111e-01 1.52407953e-01 2.24888492e-03 1.03051887e+02] [-2.27138900e-03 -2.64490875e-05 9.99997420e-01 -5.93914264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:103.08, Z:-0.59 [[ 1.51005645e-01 -9.88532849e-01 3.19391172e-04 1.73260135e+02] [ 9.88530291e-01 1.51005981e-01 2.24897674e-03 1.03080156e+02] [-2.27141736e-03 -2.38803347e-05 9.99997420e-01 -5.93823531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:103.11, Z:-0.59 [[ 1.49270520e-01 -9.88796344e-01 3.18730093e-04 1.73263879e+02] [ 9.88793787e-01 1.49270858e-01 2.24907043e-03 1.03107020e+02] [-2.27144973e-03 -2.05615756e-05 9.99997420e-01 -5.93832613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:103.13, Z:-0.59 [[ 1.45603317e-01 -9.89343001e-01 3.18033148e-04 1.73267328e+02] [ 9.89340444e-01 1.45603664e-01 2.24916898e-03 1.03134905e+02] [-2.27150638e-03 -1.28434073e-05 9.99997420e-01 -5.93669684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:103.16, Z:-0.59 [[ 1.41284475e-01 -9.89968988e-01 3.17380581e-04 1.73268736e+02] [ 9.89966432e-01 1.41284831e-01 2.24926106e-03 1.03161078e+02] [-2.27153975e-03 -3.58954573e-06 9.99997420e-01 -5.94505854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:103.19, Z:-0.60 [[ 1.39158252e-01 -9.90270109e-01 3.03063268e-04 1.73272535e+02] [ 9.90267550e-01 1.39158581e-01 2.25127602e-03 1.03188568e+02] [-2.27154520e-03 -1.31699153e-05 9.99997420e-01 -5.95382701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:103.22, Z:-0.60 [[ 1.37143330e-01 -9.90551168e-01 3.01981537e-04 1.73276640e+02] [ 9.90548609e-01 1.37143662e-01 2.25142782e-03 1.03216378e+02] [-2.27156931e-03 -9.64091765e-06 9.99997420e-01 -5.95956475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:103.24, Z:-0.60 [[ 1.33791258e-01 -9.91009489e-01 3.02255743e-04 1.73281273e+02] [ 9.91006932e-01 1.33791599e-01 2.25138929e-03 1.03243693e+02] [-2.27158743e-03 -1.67866930e-06 9.99997420e-01 -5.96523245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:103.27, Z:-0.60 [[ 1.32406553e-01 -9.91195447e-01 3.01598783e-04 1.73285702e+02] [ 9.91192890e-01 1.32406897e-01 2.25148153e-03 1.03271815e+02] [-2.27159200e-03 8.31660254e-07 9.99997420e-01 -5.96530179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:103.30, Z:-0.60 [[ 1.29669127e-01 -9.91557273e-01 3.03315094e-04 1.73288541e+02] [ 9.91554717e-01 1.29669482e-01 2.25124076e-03 1.03298416e+02] [-2.27156486e-03 8.83708855e-06 9.99997420e-01 -5.97691349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:103.33, Z:-0.60 [[ 1.27844490e-01 -9.91794181e-01 2.96846880e-04 1.73292373e+02] [ 9.91791624e-01 1.27844835e-01 2.25214710e-03 1.03326145e+02] [-2.27161673e-03 6.48565181e-06 9.99997420e-01 -5.97520133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:103.35, Z:-0.60 [[ 1.26333415e-01 -9.91987793e-01 2.96074988e-04 1.73296330e+02] [ 9.91985236e-01 1.26333762e-01 2.25225514e-03 1.03353748e+02] [-2.27161387e-03 9.16693222e-06 9.99997420e-01 -5.98521844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:103.38, Z:-0.60 [[ 1.22688783e-01 -9.92445150e-01 2.93799164e-04 1.73299515e+02] [ 9.92442594e-01 1.22689134e-01 2.25257356e-03 1.03380924e+02] [-2.27160167e-03 1.52132957e-05 9.99997420e-01 -5.99532072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:103.41, Z:-0.60 [[ 1.21708167e-01 -9.92565888e-01 2.84370523e-04 1.73304227e+02] [ 9.92563329e-01 1.21708499e-01 2.25389121e-03 1.03409590e+02] [-2.27174584e-03 7.93878554e-06 9.99997420e-01 -5.99165724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:103.44, Z:-0.60 [[ 1.20555174e-01 -9.92706587e-01 2.86819308e-04 1.73308092e+02] [ 9.92704029e-01 1.20555514e-01 2.25354877e-03 1.03437312e+02] [-2.27169036e-03 1.30497185e-05 9.99997420e-01 -5.98791120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:103.46, Z:-0.60 [[ 1.20213450e-01 -9.92748027e-01 2.83716662e-04 1.73313272e+02] [ 9.92745469e-01 1.20213784e-01 2.25398231e-03 1.03464921e+02] [-2.27174315e-03 1.06994406e-05 9.99997420e-01 -5.97136586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:103.49, Z:-0.60 [[ 1.19416914e-01 -9.92844155e-01 2.89442465e-04 1.73317412e+02] [ 9.92841599e-01 1.19417264e-01 2.25318094e-03 1.03492908e+02] [-2.27162196e-03 1.83026035e-05 9.99997420e-01 -5.96421586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:103.52, Z:-0.59 [[ 1.22805574e-01 -9.92430707e-01 2.88029979e-04 1.73326029e+02] [ 9.92428149e-01 1.22805912e-01 2.25337835e-03 1.03524125e+02] [-2.27169365e-03 9.12163707e-06 9.99997420e-01 -5.93596418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:103.55, Z:-0.60 [[ 1.18814227e-01 -9.92916452e-01 3.15126666e-04 1.73324184e+02] [ 9.92913904e-01 1.18814636e-01 2.24958259e-03 1.03548612e+02] [-2.27108922e-03 4.56112319e-05 9.99997420e-01 -5.97031069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:103.58, Z:-0.60 [[ 1.19068287e-01 -9.92886026e-01 2.86516720e-04 1.73327386e+02] [ 9.92883469e-01 1.19068631e-01 2.25358977e-03 1.03576548e+02] [-2.27167295e-03 1.61466402e-05 9.99997420e-01 -5.97024935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:103.61, Z:-0.59 [[ 1.24508107e-01 -9.92218551e-01 2.79538737e-04 1.73337345e+02] [ 9.92215990e-01 1.24508421e-01 2.25456615e-03 1.03608383e+02] [-2.27182729e-03 -3.34895958e-06 9.99997419e-01 -5.92636536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:103.63, Z:-0.60 [[ 1.21558646e-01 -9.92584201e-01 3.15635185e-04 1.73334126e+02] [ 9.92581653e-01 1.21559049e-01 2.24950134e-03 1.03632088e+02] [-2.27118780e-03 3.98473569e-05 9.99997420e-01 -5.95553389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:103.66, Z:-0.59 [[ 1.27353838e-01 -9.91857309e-01 2.80034769e-04 1.73344219e+02] [ 9.91854747e-01 1.27354146e-01 2.25447146e-03 1.03663845e+02] [-2.27177758e-03 -9.36177845e-06 9.99997419e-01 -5.92090013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:103.69, Z:-0.59 [[ 1.28013560e-01 -9.91772368e-01 3.14974606e-04 1.73347493e+02] [ 9.91769817e-01 1.28013946e-01 2.24957936e-03 1.03691863e+02] [-2.27139179e-03 2.44056442e-05 9.99997420e-01 -5.92280984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:103.72, Z:-0.59 [[ 1.28844200e-01 -9.91664799e-01 3.14345833e-04 1.73350682e+02] [ 9.91662247e-01 1.28844581e-01 2.24966722e-03 1.03719706e+02] [-2.27141755e-03 2.18683229e-05 9.99997420e-01 -5.92432783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:103.75, Z:-0.59 [[ 1.30166745e-01 -9.91492068e-01 3.13692051e-04 1.73353179e+02] [ 9.91489515e-01 1.30167122e-01 2.24975838e-03 1.03746318e+02] [-2.27144998e-03 1.81786549e-05 9.99997420e-01 -5.93295357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:103.77, Z:-0.59 [[ 1.30472620e-01 -9.91451863e-01 3.13002935e-04 1.73356569e+02] [ 9.91449311e-01 1.30472995e-01 2.24985425e-03 1.03773520e+02] [-2.27146062e-03 1.67821659e-05 9.99997420e-01 -5.93580870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:103.80, Z:-0.59 [[ 1.30860233e-01 -9.91400778e-01 3.12325164e-04 1.73360111e+02] [ 9.91398225e-01 1.30860605e-01 2.24994833e-03 1.03801262e+02] [-2.27147159e-03 1.52098507e-05 9.99997420e-01 -5.93015691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:103.83, Z:-0.59 [[ 1.31012694e-01 -9.91380642e-01 3.11671709e-04 1.73363610e+02] [ 9.91378089e-01 1.31013064e-01 2.25003885e-03 1.03828753e+02] [-2.27147802e-03 1.42008530e-05 9.99997420e-01 -5.92948531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:103.86, Z:-0.59 [[ 1.31123062e-01 -9.91366050e-01 3.11021833e-04 1.73366785e+02] [ 9.91363497e-01 1.31123430e-01 2.25012868e-03 1.03855198e+02] [-2.27148343e-03 1.32919308e-05 9.99997420e-01 -5.93398131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:103.88, Z:-0.59 [[ 1.31010053e-01 -9.91380991e-01 3.10337138e-04 1.73370331e+02] [ 9.91378438e-01 1.31010420e-01 2.25022311e-03 1.03882718e+02] [-2.27148581e-03 1.28596984e-05 9.99997420e-01 -5.93270998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:103.91, Z:-0.59 [[ 1.30260942e-01 -9.91479698e-01 3.09695177e-04 1.73373283e+02] [ 9.91477144e-01 1.30261309e-01 2.25031145e-03 1.03910482e+02] [-2.27147942e-03 1.39280002e-05 9.99997420e-01 -5.93184128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:103.94, Z:-0.59 [[ 1.29783764e-01 -9.91542273e-01 3.09048388e-04 1.73376607e+02] [ 9.91539719e-01 1.29784131e-01 2.25040028e-03 1.03938296e+02] [-2.27147658e-03 1.43683338e-05 9.99997420e-01 -5.92847311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:103.97, Z:-0.59 [[ 1.29268868e-01 -9.91609532e-01 3.08398735e-04 1.73379905e+02] [ 9.91606979e-01 1.29269235e-01 2.25048930e-03 1.03965108e+02] [-2.27147311e-03 1.48921326e-05 9.99997420e-01 -5.92561187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:103.99, Z:-0.59 [[ 1.27834182e-01 -9.91795507e-01 3.07713350e-04 1.73381277e+02] [ 9.91792953e-01 1.27834551e-01 2.25058301e-03 1.03992452e+02] [-2.27145452e-03 1.74864946e-05 9.99997420e-01 -5.93567310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:104.02, Z:-0.59 [[ 1.30303036e-01 -9.91474171e-01 2.95049259e-04 1.73386492e+02] [ 9.91471613e-01 1.30303370e-01 2.25230952e-03 1.04021624e+02] [-2.27155263e-03 -9.49804122e-07 9.99997420e-01 -5.92163107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:104.05, Z:-0.59 [[ 1.31042645e-01 -9.91376685e-01 3.06936444e-04 1.73389694e+02] [ 9.91374130e-01 1.31043004e-01 2.25068841e-03 1.04049779e+02] [-2.27150189e-03 9.35268927e-06 9.99997420e-01 -5.92343015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:104.08, Z:-0.59 [[ 1.32066196e-01 -9.91240852e-01 3.06276715e-04 1.73392809e+02] [ 9.91238296e-01 1.32066551e-01 2.25077818e-03 1.04078191e+02] [-2.27151219e-03 6.34149676e-06 9.99997420e-01 -5.93089758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:104.11, Z:-0.59 [[ 1.33405264e-01 -9.91061523e-01 3.05612310e-04 1.73395741e+02] [ 9.91058967e-01 1.33405614e-01 2.25086839e-03 1.04105472e+02] [-2.27151945e-03 2.60212746e-06 9.99997420e-01 -5.93719541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:104.13, Z:-0.59 [[ 1.35636508e-01 -9.90758621e-01 3.05018873e-04 1.73398253e+02] [ 9.90756064e-01 1.35636851e-01 2.25094881e-03 1.04131810e+02] [-2.27151874e-03 -3.11153743e-06 9.99997420e-01 -5.94604820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:104.16, Z:-0.59 [[ 1.37595441e-01 -9.90488469e-01 2.95773180e-04 1.73401318e+02] [ 9.90485909e-01 1.37595758e-01 2.25219821e-03 1.04161213e+02] [-2.27147349e-03 -1.69330398e-05 9.99997420e-01 -5.94554313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:104.19, Z:-0.59 [[ 1.38503819e-01 -9.90361853e-01 3.04162365e-04 1.73405040e+02] [ 9.90359295e-01 1.38504152e-01 2.25106467e-03 1.04189361e+02] [-2.27149632e-03 -1.05510263e-05 9.99997420e-01 -5.94279034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:104.21, Z:-0.60 [[ 1.34845468e-01 -9.90866594e-01 3.03521198e-04 1.73402958e+02] [ 9.90864037e-01 1.34845810e-01 2.25115111e-03 1.04212040e+02] [-2.27151900e-03 -2.80928704e-06 9.99997420e-01 -5.95968280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:104.25, Z:-0.59 [[ 1.40113203e-01 -9.90135457e-01 2.58789740e-04 1.73412927e+02] [ 9.90132886e-01 1.40113429e-01 2.25715652e-03 1.04245716e+02] [-2.27115062e-03 -6.00211972e-05 9.99997419e-01 -5.94108714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:104.27, Z:-0.59 [[ 1.40800782e-01 -9.90037902e-01 3.03318386e-04 1.73417047e+02] [ 9.90035343e-01 1.40801108e-01 2.25115678e-03 1.04273619e+02] [-2.27143810e-03 -1.66687129e-05 9.99997420e-01 -5.93795190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:104.30, Z:-0.59 [[ 1.40841288e-01 -9.90032141e-01 3.02683709e-04 1.73420724e+02] [ 9.90029581e-01 1.40841612e-01 2.25124211e-03 1.04300358e+02] [-2.27143251e-03 -1.74020139e-05 9.99997420e-01 -5.94290524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:104.33, Z:-0.59 [[ 1.41105641e-01 -9.89994498e-01 3.02013514e-04 1.73424518e+02] [ 9.89991939e-01 1.41105963e-01 2.25133202e-03 1.04328451e+02] [-2.27142222e-03 -1.86847031e-05 9.99997420e-01 -5.94532875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:104.36, Z:-0.59 [[ 1.41999255e-01 -9.89866719e-01 3.01378317e-04 1.73428185e+02] [ 9.89864159e-01 1.41999573e-01 2.25141705e-03 1.04355692e+02] [-2.27139840e-03 -2.13759493e-05 9.99997420e-01 -5.94855088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:104.38, Z:-0.59 [[ 1.43232221e-01 -9.89689063e-01 3.00708796e-04 1.73432303e+02] [ 9.89686502e-01 1.43232534e-01 2.25150647e-03 1.04383607e+02] [-2.27136261e-03 -2.48808358e-05 9.99997420e-01 -5.94839359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:104.41, Z:-0.59 [[ 1.46914913e-01 -9.89149088e-01 3.00072536e-04 1.73437089e+02] [ 9.89146526e-01 1.46915216e-01 2.25159126e-03 1.04410976e+02] [-2.27124467e-03 -3.39766282e-05 9.99997420e-01 -5.94635173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:104.44, Z:-0.59 [[ 1.48477412e-01 -9.88915754e-01 2.99422212e-04 1.73441138e+02] [ 9.88913191e-01 1.48477709e-01 2.25167774e-03 1.04439154e+02] [-2.27117712e-03 -3.82207081e-05 9.99997420e-01 -5.94686230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:104.47, Z:-0.60 [[ 1.50274352e-01 -9.88644289e-01 2.98770966e-04 1.73445206e+02] [ 9.88641725e-01 1.50274643e-01 2.25176415e-03 1.04466956e+02] [-2.27109147e-03 -4.30049555e-05 9.99997420e-01 -5.95106130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:104.50, Z:-0.60 [[ 1.54085508e-01 -9.88057472e-01 2.98113091e-04 1.73450327e+02] [ 9.88054907e-01 1.54085787e-01 2.25185124e-03 1.04495045e+02] [-2.27089344e-03 -5.24255405e-05 9.99997420e-01 -5.95963741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:104.52, Z:-0.60 [[ 1.55786944e-01 -9.87790636e-01 2.97459668e-04 1.73455004e+02] [ 9.87788070e-01 1.55787217e-01 2.25193756e-03 1.04521730e+02] [-2.27078324e-03 -5.69953581e-05 9.99997420e-01 -5.97908848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:104.55, Z:-0.60 [[ 1.57053037e-01 -9.87590125e-01 2.96777652e-04 1.73459818e+02] [ 9.87587559e-01 1.57053306e-01 2.25202743e-03 1.04549264e+02] [-2.27068997e-03 -6.05938311e-05 9.99997420e-01 -5.97347332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:104.58, Z:-0.60 [[ 1.57787767e-01 -9.87473004e-01 2.96127540e-04 1.73464728e+02] [ 9.87470437e-01 1.57788032e-01 2.25211292e-03 1.04576299e+02] [-2.27062609e-03 -6.29386765e-05 9.99997420e-01 -5.98399914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:104.60, Z:-0.60 [[ 1.58290621e-01 -9.87392522e-01 2.95444967e-04 1.73471287e+02] [ 9.87389955e-01 1.58290883e-01 2.25220246e-03 1.04603423e+02] [-2.27057411e-03 -6.47831319e-05 9.99997420e-01 -5.98167302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:104.63, Z:-0.60 [[ 1.57718697e-01 -9.87484038e-01 2.94795700e-04 1.73476605e+02] [ 9.87481472e-01 1.57718959e-01 2.25228744e-03 1.04630091e+02] [-2.27059276e-03 -6.41225483e-05 9.99997420e-01 -5.98269536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:104.66, Z:-0.60 [[ 1.57438201e-01 -9.87528798e-01 2.94110170e-04 1.73480231e+02] [ 9.87526231e-01 1.57438463e-01 2.25237695e-03 1.04658443e+02] [-2.27059136e-03 -6.41686678e-05 9.99997420e-01 -5.98334213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:104.68, Z:-0.60 [[ 1.56501800e-01 -9.87677630e-01 2.93470370e-04 1.73485689e+02] [ 9.87675063e-01 1.56502063e-01 2.25246031e-03 1.04684521e+02] [-2.27063338e-03 -6.26607271e-05 9.99997420e-01 -5.97981209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:104.71, Z:-0.60 [[ 1.54951054e-01 -9.87922105e-01 2.93049868e-04 1.73491612e+02] [ 9.87919539e-01 1.54951320e-01 2.25251502e-03 1.04712173e+02] [-2.27071784e-03 -5.95198856e-05 9.99997420e-01 -5.96561475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:104.74, Z:-0.60 [[ 1.53643617e-01 -9.88126284e-01 2.92395260e-04 1.73497687e+02] [ 9.88123718e-01 1.53643884e-01 2.25259999e-03 1.04739157e+02] [-2.27077800e-03 -5.71749175e-05 9.99997420e-01 -5.96148826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.50, Y:104.77, Z:-0.60 [[ 1.51703713e-01 -9.88425970e-01 2.91918367e-04 1.73503645e+02] [ 9.88423405e-01 1.51703984e-01 2.25266179e-03 1.04765328e+02] [-2.27087459e-03 -5.31982106e-05 9.99997420e-01 -5.96103485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:104.79, Z:-0.59 [[ 1.48112696e-01 -9.88970447e-01 2.91240145e-04 1.73512804e+02] [ 9.88967882e-01 1.48112975e-01 2.25274947e-03 1.04792912e+02] [-2.27103909e-03 -4.56336474e-05 9.99997420e-01 -5.94996994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:104.82, Z:-0.59 [[ 1.46006867e-01 -9.89283534e-01 2.90595474e-04 1.73519085e+02] [ 9.89280970e-01 1.46007150e-01 2.25283263e-03 1.04820844e+02] [-2.27111924e-03 -4.14484609e-05 9.99997420e-01 -5.94833318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:104.85, Z:-0.59 [[ 1.44197014e-01 -9.89548956e-01 2.89955544e-04 1.73525352e+02] [ 9.89546393e-01 1.44197300e-01 2.25291499e-03 1.04848834e+02] [-2.27118048e-03 -3.79391500e-05 9.99997420e-01 -5.94947177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:104.88, Z:-0.59 [[ 1.42484923e-01 -9.89796930e-01 2.89315592e-04 1.73531362e+02] [ 9.89794367e-01 1.42485213e-01 2.25299716e-03 1.04876032e+02] [-2.27123287e-03 -3.46551852e-05 9.99997420e-01 -5.94500009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:104.90, Z:-0.60 [[ 1.39430688e-01 -9.90231791e-01 2.88669967e-04 1.73539870e+02] [ 9.90229228e-01 1.39430984e-01 2.25307988e-03 1.04903167e+02] [-2.27132087e-03 -2.82990407e-05 9.99997420e-01 -5.95219967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:104.93, Z:-0.60 [[ 1.37889930e-01 -9.90447517e-01 2.88027833e-04 1.73546093e+02] [ 9.90444955e-01 1.37890229e-01 2.25316197e-03 1.04929596e+02] [-2.27135490e-03 -2.54126332e-05 9.99997420e-01 -5.95546121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:104.96, Z:-0.60 [[ 1.36656569e-01 -9.90618443e-01 2.87351466e-04 1.73552247e+02] [ 9.90615881e-01 1.36656869e-01 2.25324823e-03 1.04956412e+02] [-2.27137780e-03 -2.32662467e-05 9.99997420e-01 -5.96170000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:104.98, Z:-0.60 [[ 1.30705582e-01 -9.91421186e-01 2.86685748e-04 1.73557142e+02] [ 9.91418626e-01 1.30705896e-01 2.25333292e-03 1.04980710e+02] [-2.27147352e-03 -1.02976018e-05 9.99997420e-01 -5.95511177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:105.01, Z:-0.60 [[ 1.29229925e-01 -9.91614621e-01 2.64385191e-04 1.73563662e+02] [ 9.91612055e-01 1.29230192e-01 2.25616111e-03 1.05008334e+02] [-2.27140889e-03 -2.93959868e-05 9.99997420e-01 -5.97032979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:105.04, Z:-0.60 [[ 1.27581451e-01 -9.91828061e-01 2.67884456e-04 1.73570288e+02] [ 9.91825496e-01 1.27581730e-01 2.25571800e-03 1.05036495e+02] [-2.27146157e-03 -2.20931414e-05 9.99997420e-01 -5.97396256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:105.06, Z:-0.60 [[ 1.26009802e-01 -9.92028960e-01 2.70826286e-04 1.73577291e+02] [ 9.92026396e-01 1.26010092e-01 2.25534492e-03 1.05064333e+02] [-2.27149432e-03 -1.55287413e-05 9.99997420e-01 -5.97388603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:105.09, Z:-0.60 [[ 1.22901458e-01 -9.92418841e-01 2.75313721e-04 1.73582796e+02] [ 9.92416279e-01 1.22901766e-01 2.25477587e-03 1.05091320e+02] [-2.27151860e-03 -3.88942333e-06 9.99997420e-01 -5.96656209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:105.12, Z:-0.60 [[ 1.22880974e-01 -9.92421379e-01 2.68981411e-04 1.73592037e+02] [ 9.92418816e-01 1.22881268e-01 2.25557759e-03 1.05119962e+02] [-2.27153620e-03 -1.02253582e-05 9.99997420e-01 -5.98378592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:105.15, Z:-0.59 [[ 1.15488747e-01 -9.93308747e-01 2.85483448e-04 1.73598514e+02] [ 9.93306192e-01 1.15489098e-01 2.25348703e-03 1.05145875e+02] [-2.27137861e-03 2.33200827e-05 9.99997420e-01 -5.94390867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:105.17, Z:-0.60 [[ 1.16025657e-01 -9.93246180e-01 2.69710429e-04 1.73607089e+02] [ 9.93243619e-01 1.16025971e-01 2.25547752e-03 1.05174773e+02] [-2.27153785e-03 6.19490108e-06 9.99997420e-01 -5.96244694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:105.20, Z:-0.60 [[ 1.08171502e-01 -9.94132207e-01 2.84307065e-04 1.73605025e+02] [ 9.94129654e-01 1.08171869e-01 2.25363609e-03 1.05196313e+02] [-2.27116624e-03 3.88588834e-05 9.99997420e-01 -6.01871775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:105.23, Z:-0.60 [[ 1.13352590e-01 -9.93554797e-01 2.37523306e-04 1.73617999e+02] [ 9.93552228e-01 1.13352837e-01 2.25949124e-03 1.05229348e+02] [-2.27185230e-03 -2.01273745e-05 9.99997419e-01 -5.96940699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.63, Y:105.26, Z:-0.60 [[ 1.12466069e-01 -9.93655525e-01 2.83244285e-04 1.73625317e+02] [ 9.93652970e-01 1.12466422e-01 2.25374516e-03 1.05256116e+02] [-2.27130181e-03 2.79766664e-05 9.99997420e-01 -5.97118070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28999999999996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:173.63, Y:105.28, Z:-0.60 [[ 1.12400235e-01 -9.93662975e-01 2.82558465e-04 1.73631017e+02] [ 9.93660419e-01 1.12400587e-01 2.25383114e-03 1.05283549e+02] [-2.27130830e-03 2.74360120e-05 9.99997420e-01 -5.96539305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:173.64, Y:105.31, Z:-0.60 [[ 1.12874515e-01 -9.93609211e-01 2.81919278e-04 1.73636875e+02] [ 9.93606655e-01 1.12874864e-01 2.25391109e-03 1.05311351e+02] [-2.27132842e-03 2.57077497e-05 9.99997420e-01 -5.96604410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34999999999997 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:173.64, Y:105.34, Z:-0.60 [[ 1.13778830e-01 -9.93506064e-01 2.81279911e-04 1.73642411e+02] [ 9.93503507e-01 1.13779176e-01 2.25399088e-03 1.05337536e+02] [-2.27135740e-03 2.29961313e-05 9.99997420e-01 -5.97722923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:173.65, Y:105.36, Z:-0.60 [[ 1.16278000e-01 -9.93216667e-01 2.80813409e-04 1.73650138e+02] [ 9.93214110e-01 1.16278338e-01 2.25404900e-03 1.05364433e+02] [-2.27141155e-03 1.68115301e-05 9.99997420e-01 -5.98524635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40999999999997 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:173.66, Y:105.39, Z:-0.60 [[ 1.17610306e-01 -9.93059785e-01 2.80178156e-04 1.73655463e+02] [ 9.93057227e-01 1.17610639e-01 2.25412796e-03 1.05391190e+02] [-2.27143576e-03 1.31242636e-05 9.99997420e-01 -5.99616649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:173.66, Y:105.42, Z:-0.60 [[ 1.19262724e-01 -9.92862692e-01 2.79509076e-04 1.73660551e+02] [ 9.92860133e-01 1.19263051e-01 2.25421092e-03 1.05418649e+02] [-2.27145703e-03 8.67008403e-06 9.99997420e-01 -5.98659982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46999999999997 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:173.67, Y:105.45, Z:-0.60 [[ 1.21273542e-01 -9.92619086e-01 2.78871824e-04 1.73665372e+02] [ 9.92616526e-01 1.21273863e-01 2.25428975e-03 1.05446321e+02] [-2.27147090e-03 3.42707805e-06 9.99997420e-01 -5.98677302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:173.67, Y:105.47, Z:-0.60 [[ 1.23169191e-01 -9.92385647e-01 2.78230772e-04 1.73670060e+02] [ 9.92383087e-01 1.23169505e-01 2.25436887e-03 1.05473975e+02] [-2.27147286e-03 -1.55727785e-06 9.99997420e-01 -5.98847950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:173.68, Y:105.50, Z:-0.60 [[ 1.26619893e-01 -9.91951272e-01 2.77592844e-04 1.73676191e+02] [ 9.91948710e-01 1.26620197e-01 2.25444742e-03 1.05500554e+02] [-2.27145085e-03 -1.01000267e-05 9.99997420e-01 -5.98365370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:173.68, Y:105.53, Z:-0.60 [[ 1.27347555e-01 -9.91858117e-01 2.77126862e-04 1.73681059e+02] [ 9.91855554e-01 1.27347856e-01 2.25450470e-03 1.05528172e+02] [-2.27144030e-03 -1.22358423e-05 9.99997420e-01 -5.97586764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:173.69, Y:105.56, Z:-0.60 [[ 1.27808915e-01 -9.91798772e-01 2.76486068e-04 1.73686049e+02] [ 9.91796210e-01 1.27809213e-01 2.25458328e-03 1.05556216e+02] [-2.27143040e-03 -1.39380083e-05 9.99997420e-01 -5.96883527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:173.69, Y:105.58, Z:-0.60 [[ 1.27316379e-01 -9.91862119e-01 2.75844060e-04 1.73690932e+02] [ 9.91859557e-01 1.27316677e-01 2.25466183e-03 1.05583726e+02] [-2.27143321e-03 -1.34568116e-05 9.99997420e-01 -5.96503956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:173.70, Y:105.61, Z:-0.60 [[ 1.25708153e-01 -9.92067228e-01 2.75202190e-04 1.73697588e+02] [ 9.92064666e-01 1.25708454e-01 2.25474017e-03 1.05611285e+02] [-2.27144907e-03 -1.04208543e-05 9.99997420e-01 -5.95980633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:173.70, Y:105.64, Z:-0.60 [[ 1.24465122e-01 -9.92223946e-01 2.74561879e-04 1.73702283e+02] [ 9.92221384e-01 1.24465424e-01 2.25481814e-03 1.05639034e+02] [-2.27145801e-03 -8.22004701e-06 9.99997420e-01 -5.95850920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:173.71, Y:105.67, Z:-0.60 [[ 1.23195478e-01 -9.92382386e-01 2.73915970e-04 1.73706826e+02] [ 9.92379824e-01 1.23195783e-01 2.25489660e-03 1.05666419e+02] [-2.27146496e-03 -5.96438338e-06 9.99997420e-01 -5.96128196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:173.71, Y:105.69, Z:-0.60 [[ 1.20424725e-01 -9.92722424e-01 2.73274905e-04 1.73712274e+02] [ 9.92719863e-01 1.20425035e-01 2.25497429e-03 1.05693419e+02] [-2.27147268e-03 -2.69231962e-07 9.99997420e-01 -5.97165697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:173.72, Y:105.72, Z:-0.60 [[ 1.19103800e-01 -9.92881771e-01 2.72598734e-04 1.73716712e+02] [ 9.92879210e-01 1.19104112e-01 2.25505603e-03 1.05721292e+02] [-2.27147165e-03 2.07187288e-06 9.99997420e-01 -5.97090859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.8 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:173.72, Y:105.75, Z:-0.60 [[ 1.18483149e-01 -9.92956026e-01 2.71968053e-04 1.73720233e+02] [ 9.92953465e-01 1.18483461e-01 2.25513209e-03 1.05748741e+02] [-2.27147071e-03 2.85646893e-06 9.99997420e-01 -5.96864582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.72, Y:105.78, Z:-0.60 [[ 1.18905867e-01 -9.92905495e-01 2.71325579e-04 1.73722472e+02] [ 9.92902933e-01 1.18906177e-01 2.25520938e-03 1.05776477e+02] [-2.27147208e-03 1.24233566e-06 9.99997420e-01 -5.96882880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:173.73, Y:105.80, Z:-0.60 [[ 1.19380648e-01 -9.92848522e-01 2.70681964e-04 1.73725259e+02] [ 9.92845960e-01 1.19380955e-01 2.25528663e-03 1.05804114e+02] [-2.27147227e-03 -4.92085748e-07 9.99997420e-01 -5.97305304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:173.73, Y:105.83, Z:-0.60 [[ 1.20393075e-01 -9.92726264e-01 2.70038166e-04 1.73728213e+02] [ 9.92723702e-01 1.20393378e-01 2.25536371e-03 1.05831896e+02] [-2.27146960e-03 -3.45688461e-06 9.99997420e-01 -5.97197800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:173.73, Y:105.86, Z:-0.60 [[ 1.20215316e-01 -9.92747805e-01 2.69390175e-04 1.73731023e+02] [ 9.92745243e-01 1.20215618e-01 2.25544111e-03 1.05859330e+02] [-2.27146912e-03 -3.70275184e-06 9.99997420e-01 -5.97888306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:173.73, Y:105.89, Z:-0.60 [[ 1.20321256e-01 -9.92734971e-01 2.68706494e-04 1.73734098e+02] [ 9.92732409e-01 1.20321556e-01 2.25552256e-03 1.05887711e+02] [-2.27146731e-03 -4.63366282e-06 9.99997420e-01 -5.97217622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:173.73, Y:105.91, Z:-0.60 [[ 1.14675235e-01 -9.93402999e-01 2.68046435e-04 1.73730137e+02] [ 9.93400438e-01 1.14675548e-01 2.25560100e-03 1.05910639e+02] [-2.27145917e-03 7.61587038e-06 9.99997420e-01 -6.01237580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:173.74, Y:105.94, Z:-0.60 [[ 1.18555363e-01 -9.92947417e-01 2.28526511e-04 1.73739647e+02] [ 9.92944846e-01 1.18555577e-01 2.26027173e-03 1.05942584e+02] [-2.27142407e-03 -4.10531152e-05 9.99997419e-01 -5.98163278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03999999999996 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:173.74, Y:105.97, Z:-0.60 [[ 1.17510498e-01 -9.93071604e-01 2.67573612e-04 1.73742764e+02] [ 9.93069043e-01 1.17510803e-01 2.25563980e-03 1.05970138e+02] [-2.27145463e-03 6.57713591e-07 9.99997420e-01 -5.97857509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:173.75, Y:106.00, Z:-0.60 [[ 1.16018449e-01 -9.93247023e-01 2.66931624e-04 1.73745900e+02] [ 9.93244461e-01 1.16018756e-01 2.25571577e-03 1.05997605e+02] [-2.27145205e-03 3.42371191e-06 9.99997420e-01 -5.97455771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09999999999997 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:173.75, Y:106.03, Z:-0.60 [[ 1.14673664e-01 -9.93403181e-01 2.66290007e-04 1.73749488e+02] [ 9.93400620e-01 1.14673973e-01 2.25579151e-03 1.06025806e+02] [-2.27144700e-03 5.85277908e-06 9.99997420e-01 -5.96845975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:173.75, Y:106.05, Z:-0.60 [[ 1.13592699e-01 -9.93527367e-01 2.65649398e-04 1.73752728e+02] [ 9.93524806e-01 1.13593009e-01 2.25586695e-03 1.06052487e+02] [-2.27144146e-03 7.67925199e-06 9.99997420e-01 -5.96454917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15999999999997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:173.76, Y:106.08, Z:-0.60 [[ 1.12953374e-01 -9.93600254e-01 2.64973134e-04 1.73755911e+02] [ 9.93597693e-01 1.12953685e-01 2.25594638e-03 1.06080229e+02] [-2.27143859e-03 8.45993801e-06 9.99997420e-01 -5.95530072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:173.76, Y:106.11, Z:-0.60 [[ 1.13009736e-01 -9.93593845e-01 2.64324892e-04 1.73757309e+02] [ 9.93591284e-01 1.13010045e-01 2.25602233e-03 1.06107662e+02] [-2.27144127e-03 7.67841977e-06 9.99997420e-01 -5.95987040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21999999999997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:173.76, Y:106.13, Z:-0.59 [[ 1.10435701e-01 -9.93883236e-01 2.63851738e-04 1.73755862e+02] [ 9.93880675e-01 1.10436016e-01 2.25607767e-03 1.06132134e+02] [-2.27141651e-03 1.30856236e-05 9.99997420e-01 -5.94858842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:173.76, Y:106.16, Z:-0.60 [[ 1.09019777e-01 -9.94039553e-01 2.35668361e-04 1.73755548e+02] [ 9.94036985e-01 1.09020031e-01 2.25936542e-03 1.06160598e+02] [-2.27159116e-03 -1.20524451e-05 9.99997420e-01 -5.96039216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:173.76, Y:106.19, Z:-0.60 [[ 1.09769630e-01 -9.93957029e-01 2.30510993e-04 1.73758275e+02] [ 9.93954460e-01 1.09769870e-01 2.25996616e-03 1.06189424e+02] [-2.27161241e-03 -1.89582188e-05 9.99997420e-01 -5.95426482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:173.76, Y:106.22, Z:-0.60 [[ 1.09359947e-01 -9.94002187e-01 2.33473915e-04 1.73759295e+02] [ 9.93999619e-01 1.09360195e-01 2.25962126e-03 1.06215713e+02] [-2.27160122e-03 -1.50390784e-05 9.99997420e-01 -5.98758265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:173.76, Y:106.24, Z:-0.60 [[ 1.10641718e-01 -9.93860332e-01 2.26645475e-04 1.73762718e+02] [ 9.93857761e-01 1.10641947e-01 2.26041559e-03 1.06244400e+02] [-2.27161389e-03 -2.48428998e-05 9.99997420e-01 -5.95453039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.77, Y:106.28, Z:-0.59 [[ 1.15869834e-01 -9.93264380e-01 2.28657678e-04 1.73770494e+02] [ 9.93261809e-01 1.15870055e-01 2.26018165e-03 1.06276725e+02] [-2.27145251e-03 -3.47699350e-05 9.99997420e-01 -5.94011012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:173.77, Y:106.30, Z:-0.59 [[ 1.12680709e-01 -9.93631214e-01 2.63103537e-04 1.73767160e+02] [ 9.93628652e-01 1.12681016e-01 2.25616474e-03 1.06301297e+02] [-2.27144248e-03 7.20097157e-06 9.99997420e-01 -5.93744232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:173.77, Y:106.33, Z:-0.59 [[ 1.17514739e-01 -9.93071111e-01 2.33337801e-04 1.73773987e+02] [ 9.93068541e-01 1.17514965e-01 2.25962071e-03 1.06332634e+02] [-2.27138474e-03 -3.38183084e-05 9.99997420e-01 -5.94902874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.78, Y:106.36, Z:-0.60 [[ 1.19550776e-01 -9.92828053e-01 2.62462750e-04 1.73775499e+02] [ 9.92825489e-01 1.19551064e-01 2.25623267e-03 1.06359565e+02] [-2.27142879e-03 -9.15465924e-06 9.99997420e-01 -5.95060347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.78, Y:106.39, Z:-0.60 [[ 1.19311792e-01 -9.92856803e-01 2.56268620e-04 1.73778746e+02] [ 9.92854238e-01 1.19312066e-01 2.25695180e-03 1.06387968e+02] [-2.27140589e-03 -1.48435778e-05 9.99997420e-01 -5.95122503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:173.78, Y:106.42, Z:-0.60 [[ 1.19968806e-01 -9.92777629e-01 2.55713131e-04 1.73779128e+02] [ 9.92775063e-01 1.19969077e-01 2.25701615e-03 1.06416754e+02] [-2.27139281e-03 -1.69059130e-05 9.99997420e-01 -5.96726120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:173.78, Y:106.44, Z:-0.60 [[ 1.19986838e-01 -9.92775448e-01 2.61134580e-04 1.73780837e+02] [ 9.92772884e-01 1.19987122e-01 2.25638872e-03 1.06444583e+02] [-2.27142011e-03 -1.14896184e-05 9.99997420e-01 -5.97554842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.78, Y:106.47, Z:-0.60 [[ 1.19843519e-01 -9.92792759e-01 2.60497416e-04 1.73782653e+02] [ 9.92790195e-01 1.19843801e-01 2.25646228e-03 1.06471617e+02] [-2.27141842e-03 -1.18030985e-05 9.99997420e-01 -5.98364829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.79, Y:106.50, Z:-0.60 [[ 1.19732688e-01 -9.92806132e-01 2.59824943e-04 1.73785343e+02] [ 9.92803568e-01 1.19732970e-01 2.25653971e-03 1.06500095e+02] [-2.27141607e-03 -1.22264357e-05 9.99997420e-01 -5.97660476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.79, Y:106.53, Z:-0.60 [[ 1.19204056e-01 -9.92869743e-01 2.59225834e-04 1.73787629e+02] [ 9.92867178e-01 1.19204337e-01 2.25660853e-03 1.06527139e+02] [-2.27141918e-03 -1.16200671e-05 9.99997420e-01 -5.97386570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:173.79, Y:106.56, Z:-0.60 [[ 1.18969848e-01 -9.92897834e-01 2.58551166e-04 1.73790019e+02] [ 9.92895269e-01 1.18970128e-01 2.25668583e-03 1.06555146e+02] [-2.27141834e-03 -1.17633400e-05 9.99997420e-01 -5.98530114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.79, Y:106.58, Z:-0.60 [[ 1.19044617e-01 -9.92888872e-01 2.59467041e-04 1.73791564e+02] [ 9.92886308e-01 1.19044899e-01 2.25658104e-03 1.06582009e+02] [-2.27142243e-03 -1.10125529e-05 9.99997420e-01 -5.95577299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.79, Y:106.61, Z:-0.60 [[ 1.18987171e-01 -9.92895758e-01 2.57596683e-04 1.73793915e+02] [ 9.92893194e-01 1.18987449e-01 2.25679453e-03 1.06609321e+02] [-2.27141249e-03 -1.27636028e-05 9.99997420e-01 -5.95861262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:106.64, Z:-0.60 [[ 1.18980737e-01 -9.92896529e-01 2.57126506e-04 1.73796250e+02] [ 9.92893965e-01 1.18981015e-01 2.25684810e-03 1.06636106e+02] [-2.27140981e-03 -1.32220951e-05 9.99997420e-01 -5.96287127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78999999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.80, Y:106.66, Z:-0.60 [[ 1.19052059e-01 -9.92887980e-01 2.56660029e-04 1.73799368e+02] [ 9.92885415e-01 1.19052334e-01 2.25690115e-03 1.06664501e+02] [-2.27140600e-03 -1.38547280e-05 9.99997420e-01 -5.95819664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.80, Y:106.69, Z:-0.60 [[ 1.19157373e-01 -9.92875347e-01 2.56019265e-04 1.73802410e+02] [ 9.92872782e-01 1.19157647e-01 2.25697383e-03 1.06692143e+02] [-2.27140033e-03 -1.47405130e-05 9.99997420e-01 -5.95332022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84999999999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.81, Y:106.72, Z:-0.60 [[ 1.19760275e-01 -9.92802806e-01 2.55371454e-04 1.73806023e+02] [ 9.92800240e-01 1.19760546e-01 2.25704713e-03 1.06720677e+02] [-2.27138614e-03 -1.67717434e-05 9.99997420e-01 -5.95747171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:173.81, Y:106.75, Z:-0.60 [[ 1.20083654e-01 -9.92763744e-01 2.56190242e-04 1.73808421e+02] [ 9.92761178e-01 1.20083926e-01 2.25695460e-03 1.06747746e+02] [-2.27138702e-03 -1.66876283e-05 9.99997420e-01 -5.95007522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:106.78, Z:-0.60 [[ 1.21035044e-01 -9.92648202e-01 2.54682142e-04 1.73813117e+02] [ 9.92645636e-01 1.21035310e-01 2.25712476e-03 1.06777433e+02] [-2.27135637e-03 -2.03820776e-05 9.99997420e-01 -5.97202985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.82, Y:106.80, Z:-0.60 [[ 1.22192815e-01 -9.92506345e-01 2.65495273e-04 1.73815084e+02] [ 9.92503782e-01 1.22193103e-01 2.25590112e-03 1.06801709e+02] [-2.27143787e-03 -1.21498453e-05 9.99997420e-01 -5.95537623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:106.83, Z:-0.59 [[ 1.22149969e-01 -9.92511623e-01 2.51521451e-04 1.73817943e+02] [ 9.92509056e-01 1.22150225e-01 2.25747599e-03 1.06829498e+02] [-2.27129456e-03 -2.61133039e-05 9.99997420e-01 -5.93789664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:106.86, Z:-0.59 [[ 1.22570454e-01 -9.92459782e-01 2.53856140e-04 1.73821141e+02] [ 9.92457216e-01 1.22570715e-01 2.25721342e-03 1.06857596e+02] [-2.27130887e-03 -2.47263169e-05 9.99997420e-01 -5.92997665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:106.88, Z:-0.59 [[ 1.22912170e-01 -9.92417520e-01 2.53206480e-04 1.73824415e+02] [ 9.92414953e-01 1.22912428e-01 2.25728629e-03 1.06884954e+02] [-2.27129269e-03 -2.61620585e-05 9.99997420e-01 -5.92723465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:106.91, Z:-0.59 [[ 1.23109469e-01 -9.92393065e-01 2.52521663e-04 1.73827608e+02] [ 9.92390498e-01 1.23109725e-01 2.25736290e-03 1.06913361e+02] [-2.27127916e-03 -2.73026492e-05 9.99997420e-01 -5.91846913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.83, Y:106.94, Z:-0.59 [[ 1.22895270e-01 -9.92419613e-01 2.51877991e-04 1.73830951e+02] [ 9.92417046e-01 1.22895525e-01 2.25743472e-03 1.06940808e+02] [-2.27127717e-03 -2.74600382e-05 9.99997420e-01 -5.91142545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.83, Y:106.97, Z:-0.59 [[ 1.22256149e-01 -9.92498550e-01 2.51233581e-04 1.73834739e+02] [ 9.92495982e-01 1.22256404e-01 2.25750643e-03 1.06969126e+02] [-2.27128678e-03 -2.66457232e-05 9.99997420e-01 -5.90255406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.84, Y:107.00, Z:-0.59 [[ 1.21405056e-01 -9.92603017e-01 2.50585293e-04 1.73839045e+02] [ 9.92600450e-01 1.21405312e-01 2.25757839e-03 1.06997290e+02] [-2.27130151e-03 -2.53503552e-05 9.99997420e-01 -5.90736960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:107.03, Z:-0.59 [[ 1.20671670e-01 -9.92692442e-01 2.51343998e-04 1.73843084e+02] [ 9.92689876e-01 1.20671929e-01 2.25749429e-03 1.07025500e+02] [-2.27132769e-03 -2.29089641e-05 9.99997420e-01 -5.90877186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:107.05, Z:-0.59 [[ 1.17252823e-01 -9.93102065e-01 2.53173826e-04 1.73845815e+02] [ 9.93099500e-01 1.17253095e-01 2.25729178e-03 1.07051748e+02] [-2.27140654e-03 -1.32470323e-05 9.99997420e-01 -5.90282997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.85, Y:107.08, Z:-0.59 [[ 1.15423800e-01 -9.93316306e-01 2.49235288e-04 1.73849344e+02] [ 9.93313741e-01 1.15424068e-01 2.25772656e-03 1.07079381e+02] [-2.27140436e-03 -1.30265418e-05 9.99997420e-01 -5.90559153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:107.11, Z:-0.59 [[ 1.13492127e-01 -9.93538864e-01 2.48599847e-04 1.73853024e+02] [ 9.93536299e-01 1.13492399e-01 2.25779653e-03 1.07107685e+02] [-2.27142279e-03 -9.24915887e-06 9.99997420e-01 -5.90921793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:107.14, Z:-0.59 [[ 1.11323875e-01 -9.93784148e-01 2.47962674e-04 1.73856284e+02] [ 9.93781583e-01 1.11324151e-01 2.25786650e-03 1.07135724e+02] [-2.27143617e-03 -4.93371023e-06 9.99997420e-01 -5.91202787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:173.86, Y:107.17, Z:-0.60 [[ 1.11734881e-01 -9.93738021e-01 2.47324621e-04 1.73863630e+02] [ 9.93735456e-01 1.11735154e-01 2.25793639e-03 1.07166966e+02] [-2.27143210e-03 -6.51500767e-06 9.99997420e-01 -5.96305069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:173.87, Y:107.20, Z:-0.60 [[ 1.09056558e-01 -9.94035508e-01 2.74277008e-04 1.73868219e+02] [ 9.94032951e-01 1.09056900e-01 2.25498759e-03 1.07195964e+02] [-2.27144954e-03 2.67191985e-05 9.99997420e-01 -5.96806396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:107.22, Z:-0.59 [[ 1.03384044e-01 -9.94641473e-01 2.81203871e-04 1.73865587e+02] [ 9.94638920e-01 1.03384416e-01 2.25423069e-03 1.07218702e+02] [-2.27122343e-03 4.66448307e-05 9.99997420e-01 -5.91373705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:107.25, Z:-0.59 [[ 1.01674571e-01 -9.94817683e-01 2.44754119e-04 1.73868501e+02] [ 9.94815120e-01 1.01674865e-01 2.25818131e-03 1.07246450e+02] [-2.27136404e-03 1.38854810e-05 9.99997420e-01 -5.91436832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:107.27, Z:-0.59 [[ 9.98184010e-02 -9.95005642e-01 2.44118863e-04 1.73870924e+02] [ 9.95003079e-01 9.98186980e-02 2.25824999e-03 1.07273678e+02] [-2.27133910e-03 1.74841176e-05 9.99997420e-01 -5.91787000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:107.30, Z:-0.59 [[ 9.72763377e-02 -9.95257381e-01 2.43655147e-04 1.73873891e+02] [ 9.95254819e-01 9.72766402e-02 2.25830002e-03 1.07301030e+02] [-2.27129172e-03 2.28198041e-05 9.99997420e-01 -5.91408232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:173.88, Y:107.33, Z:-0.59 [[ 9.66157959e-02 -9.95321721e-01 2.42991898e-04 1.73876818e+02] [ 9.95319160e-01 9.66160986e-02 2.25837138e-03 1.07327605e+02] [-2.27128302e-03 2.36601437e-05 9.99997420e-01 -5.94136982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:107.35, Z:-0.59 [[ 9.43615099e-02 -9.95537969e-01 2.42068566e-04 1.73878379e+02] [ 9.95535407e-01 9.43618163e-02 2.25847035e-03 1.07352838e+02] [-2.27123501e-03 2.78751569e-05 9.99997420e-01 -5.90169881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:107.38, Z:-0.59 [[ 9.34380301e-02 -9.95625068e-01 2.41047611e-04 1.73881011e+02] [ 9.95622507e-01 9.34383366e-02 2.25857931e-03 1.07381213e+02] [-2.27122126e-03 2.89552254e-05 9.99997420e-01 -5.89513327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:107.41, Z:-0.59 [[ 9.27071605e-02 -9.95693389e-01 2.40409673e-04 1.73883576e+02] [ 9.95690828e-01 9.27074674e-02 2.25864721e-03 1.07409108e+02] [-2.27120787e-03 2.99809367e-05 9.99997420e-01 -5.89081806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:107.44, Z:-0.59 [[ 9.23055978e-02 -9.95730696e-01 2.39767703e-04 1.73885974e+02] [ 9.95728135e-01 9.23059043e-02 2.25871536e-03 1.07435891e+02] [-2.27120419e-03 3.02513769e-05 9.99997420e-01 -5.89318549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:107.46, Z:-0.59 [[ 9.24880394e-02 -9.95713767e-01 2.39298991e-04 1.73887884e+02] [ 9.95711205e-01 9.24883443e-02 2.25876501e-03 1.07464116e+02] [-2.27121579e-03 2.93639395e-05 9.99997420e-01 -5.89326183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:107.49, Z:-0.59 [[ 9.29038606e-02 -9.95675055e-01 2.38667811e-04 1.73890069e+02] [ 9.95672493e-01 9.29041630e-02 2.25883170e-03 1.07492091e+02] [-2.27123561e-03 2.77807887e-05 9.99997420e-01 -5.88931333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:107.52, Z:-0.59 [[ 9.43331874e-02 -9.95540654e-01 2.38025159e-04 1.73890908e+02] [ 9.95538091e-01 9.43334846e-02 2.25889942e-03 1.07519178e+02] [-2.27127995e-03 2.38739307e-05 9.99997420e-01 -5.89395229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:107.55, Z:-0.59 [[ 9.51143021e-02 -9.95466330e-01 2.37348503e-04 1.73892553e+02] [ 9.95463767e-01 9.51145958e-02 2.25897052e-03 1.07546782e+02] [-2.27130439e-03 2.14114312e-05 9.99997420e-01 -5.89963557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:107.58, Z:-0.59 [[ 9.53614800e-02 -9.95442681e-01 2.36719099e-04 1.73893605e+02] [ 9.95440118e-01 9.53617717e-02 2.25903647e-03 1.07575380e+02] [-2.27131527e-03 2.02146269e-05 9.99997420e-01 -5.89652668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:107.60, Z:-0.59 [[ 9.57846579e-02 -9.95402051e-01 2.36074073e-04 1.73895280e+02] [ 9.95399488e-01 9.57849470e-02 2.25910387e-03 1.07603097e+02] [-2.27132897e-03 1.86005194e-05 9.99997420e-01 -5.89798272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.90, Y:107.63, Z:-0.59 [[ 9.91370271e-02 -9.95073763e-01 2.35432685e-04 1.73901322e+02] [ 9.95071199e-01 9.91373061e-02 2.25917071e-03 1.07633713e+02] [-2.27138167e-03 1.03048157e-05 9.99997420e-01 -5.91862150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:107.66, Z:-0.59 [[ 9.87590823e-02 -9.95111340e-01 2.55005398e-04 1.73903111e+02] [ 9.95108780e-01 9.87594068e-02 2.25713290e-03 1.07661791e+02] [-2.27128272e-03 3.08457376e-05 9.99997420e-01 -5.92027905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:107.69, Z:-0.59 [[ 9.46877843e-02 -9.95506986e-01 2.53473634e-04 1.73899505e+02] [ 9.95504428e-01 9.46881157e-02 2.25729190e-03 1.07685961e+02] [-2.27115079e-03 3.85961561e-05 9.99997420e-01 -5.89980962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:107.71, Z:-0.59 [[ 9.40008713e-02 -9.95572088e-01 2.33181350e-04 1.73901486e+02] [ 9.95569524e-01 9.40011584e-02 2.25938618e-03 1.07714053e+02] [-2.27130113e-03 1.97639762e-05 9.99997420e-01 -5.89561318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.75, Z:-0.59 [[ 9.82430321e-02 -9.95162425e-01 2.32542638e-04 1.73909266e+02] [ 9.95159860e-01 9.82433068e-02 2.25945191e-03 1.07746521e+02] [-2.27136740e-03 9.44169270e-06 9.99997420e-01 -5.92856991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:107.77, Z:-0.59 [[ 9.44562757e-02 -9.95528977e-01 2.61041596e-04 1.73904329e+02] [ 9.95526421e-01 9.44566249e-02 2.25651366e-03 1.07769698e+02] [-2.27108184e-03 4.67319291e-05 9.99997420e-01 -5.89701023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.80, Z:-0.59 [[ 1.01198513e-01 -9.94866226e-01 2.31421037e-04 1.73910815e+02] [ 9.94863660e-01 1.01198777e-01 2.25954737e-03 1.07802256e+02] [-2.27136689e-03 1.56954628e-06 9.99997420e-01 -5.93725637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.82, Z:-0.59 [[ 9.87629203e-02 -9.95110957e-01 2.62474769e-04 1.73905642e+02] [ 9.95108400e-01 9.87632617e-02 2.25635955e-03 1.07824848e+02] [-2.27125097e-03 3.83461891e-05 9.99997420e-01 -5.90966723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.85, Z:-0.59 [[ 1.00485798e-01 -9.94938466e-01 2.30348703e-04 1.73906811e+02] [ 9.94935900e-01 1.00486062e-01 2.25963450e-03 1.07851572e+02] [-2.27134412e-03 2.12101911e-06 9.99997420e-01 -5.91336535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.88, Z:-0.59 [[ 1.02400853e-01 -9.94743189e-01 2.29691642e-04 1.73908321e+02] [ 9.94740623e-01 1.02401111e-01 2.25970129e-03 1.07880136e+02] [-2.27134315e-03 -2.91173305e-06 9.99997420e-01 -5.91437971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.91, Z:-0.59 [[ 1.04019134e-01 -9.94575270e-01 2.29067021e-04 1.73909653e+02] [ 9.94572703e-01 1.04019386e-01 2.25976461e-03 1.07907130e+02] [-2.27133341e-03 -7.23495096e-06 9.99997420e-01 -5.92090747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.93, Z:-0.59 [[ 1.05448396e-01 -9.94424750e-01 2.28610747e-04 1.73911451e+02] [ 9.94422182e-01 1.05448643e-01 2.25981077e-03 1.07934146e+02] [-2.27131845e-03 -1.09578227e-05 9.99997420e-01 -5.92511985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.96, Z:-0.59 [[ 1.06903632e-01 -9.94269361e-01 2.27918248e-04 1.73911950e+02] [ 9.94266793e-01 1.06903874e-01 2.25988061e-03 1.07960993e+02] [-2.27129539e-03 -1.49778992e-05 9.99997420e-01 -5.92759952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:107.99, Z:-0.59 [[ 1.07016937e-01 -9.94257172e-01 2.27192900e-04 1.73913547e+02] [ 9.94254603e-01 1.07017177e-01 2.25995353e-03 1.07987568e+02] [-2.27128855e-03 -1.59657172e-05 9.99997420e-01 -5.93410221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:108.02, Z:-0.59 [[ 1.06764261e-01 -9.94284336e-01 2.26474942e-04 1.73915386e+02] [ 9.94281768e-01 1.06764500e-01 2.26002547e-03 1.08015194e+02] [-2.27128741e-03 -1.61100440e-05 9.99997420e-01 -5.92985985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:108.04, Z:-0.59 [[ 1.06551616e-01 -9.94307147e-01 2.25793021e-04 1.73918594e+02] [ 9.94304578e-01 1.06551854e-01 2.26009360e-03 1.08043211e+02] [-2.27128588e-03 -1.63095919e-05 9.99997420e-01 -5.92318709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:108.07, Z:-0.59 [[ 1.06016080e-01 -9.94364389e-01 2.30714589e-04 1.73919277e+02] [ 9.94361821e-01 1.06016331e-01 2.25960269e-03 1.08068561e+02] [-2.27132796e-03 -1.01404411e-05 9.99997420e-01 -5.93054504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:108.10, Z:-0.59 [[ 1.05558240e-01 -9.94413097e-01 2.24700446e-04 1.73921758e+02] [ 9.94410528e-01 1.05558479e-01 2.26020059e-03 1.08096108e+02] [-2.27129211e-03 -1.51383087e-05 9.99997420e-01 -5.93117570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:108.12, Z:-0.60 [[ 1.02021401e-01 -9.94782179e-01 2.24034180e-04 1.73920410e+02] [ 9.94779611e-01 1.02021647e-01 2.26026663e-03 1.08121008e+02] [-2.27132930e-03 -7.73093479e-06 9.99997421e-01 -5.96418715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:108.15, Z:-0.60 [[ 1.01840976e-01 -9.94800670e-01 2.08439815e-04 1.73923077e+02] [ 9.94798099e-01 1.01841186e-01 2.26180718e-03 1.08148602e+02] [-2.27127505e-03 -2.29891183e-05 9.99997420e-01 -5.96475319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:108.18, Z:-0.59 [[ 1.04653054e-01 -9.94508771e-01 2.07680631e-04 1.73929039e+02] [ 9.94506199e-01 1.04653256e-01 2.26188199e-03 1.08177044e+02] [-2.27119593e-03 -3.01731821e-05 9.99997420e-01 -5.93563447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:108.20, Z:-0.59 [[ 1.04059875e-01 -9.94571009e-01 2.22737489e-04 1.73931360e+02] [ 9.94568441e-01 1.04060112e-01 2.26039830e-03 1.08204660e+02] [-2.27130471e-03 -1.36890865e-05 9.99997420e-01 -5.93257846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:108.23, Z:-0.59 [[ 1.03511747e-01 -9.94628206e-01 2.22080370e-04 1.73933716e+02] [ 9.94625638e-01 1.03511984e-01 2.26046286e-03 1.08231568e+02] [-2.27130810e-03 -1.30976285e-05 9.99997420e-01 -5.92356873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:108.26, Z:-0.59 [[ 1.01646188e-01 -9.94820589e-01 2.21411173e-04 1.73936040e+02] [ 9.94818020e-01 1.01646429e-01 2.26052840e-03 1.08257980e+02] [-2.27132585e-03 -9.51027064e-06 9.99997420e-01 -5.92368219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:108.28, Z:-0.60 [[ 9.53202215e-02 -9.95446637e-01 2.20894227e-04 1.73930898e+02] [ 9.95444070e-01 9.53204773e-02 2.26057892e-03 1.08279128e+02] [-2.27134142e-03 4.40896470e-06 9.99997420e-01 -6.01311403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:108.31, Z:-0.59 [[ 9.77266685e-02 -9.95213275e-01 1.89432792e-04 1.73940759e+02] [ 9.95210701e-01 9.77268466e-02 2.26362791e-03 1.08310422e+02] [-2.27130521e-03 -3.26912726e-05 9.99997420e-01 -5.93827987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:108.34, Z:-0.59 [[ 9.62350539e-02 -9.95358612e-01 2.19646501e-04 1.73943807e+02] [ 9.95356045e-01 9.62353045e-02 2.26069237e-03 1.08337910e+02] [-2.27133737e-03 1.06861983e-06 9.99997421e-01 -5.94181621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:108.36, Z:-0.59 [[ 9.47103334e-02 -9.95504849e-01 2.18999827e-04 1.73946821e+02] [ 9.95502282e-01 9.47105865e-02 2.26075502e-03 1.08364648e+02] [-2.27133419e-03 3.89796643e-06 9.99997421e-01 -5.94342162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:108.39, Z:-0.59 [[ 9.29961551e-02 -9.95666444e-01 2.18357965e-04 1.73950091e+02] [ 9.95663877e-01 9.29964111e-02 2.26081701e-03 1.08392699e+02] [-2.27132614e-03 7.16384909e-06 9.99997421e-01 -5.92350185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:108.42, Z:-0.60 [[ 9.18365997e-02 -9.95774067e-01 2.17727904e-04 1.73953360e+02] [ 9.95771500e-01 9.18368573e-02 2.26087769e-03 1.08419608e+02] [-2.27131882e-03 9.17592210e-06 9.99997421e-01 -5.96040843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:108.45, Z:-0.59 [[ 9.03594168e-02 -9.95909197e-01 2.17064925e-04 1.73956625e+02] [ 9.95906631e-01 9.03596767e-02 2.26094134e-03 1.08447307e+02] [-2.27130619e-03 1.18790574e-05 9.99997421e-01 -5.93857269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:108.47, Z:-0.60 [[ 8.83349767e-02 -9.96090802e-01 2.16445908e-04 1.73960119e+02] [ 9.96088236e-01 8.83352405e-02 2.26100060e-03 1.08472894e+02] [-2.27128170e-03 1.58737876e-05 9.99997421e-01 -5.97045835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:108.50, Z:-0.60 [[ 8.22685470e-02 -9.96610174e-01 2.15907347e-04 1.73956946e+02] [ 9.96607610e-01 8.22688251e-02 2.26105202e-03 1.08495896e+02] [-2.27114990e-03 2.91614405e-05 9.99997421e-01 -6.03816980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:108.53, Z:-0.60 [[ 8.65860053e-02 -9.96244360e-01 1.94935285e-04 1.73966227e+02] [ 9.96241790e-01 8.65862248e-02 2.26304575e-03 1.08526200e+02] [-2.27142528e-03 -1.74541421e-06 9.99997420e-01 -5.96009187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:108.55, Z:-0.59 [[ 8.58138361e-02 -9.96311166e-01 2.15180296e-04 1.73969333e+02] [ 9.96308600e-01 8.58141034e-02 2.26111913e-03 1.08552951e+02] [-2.27124374e-03 2.03506733e-05 9.99997421e-01 -5.92958329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:108.58, Z:-0.59 [[ 8.51542644e-02 -9.96367756e-01 2.14503600e-04 1.73973214e+02] [ 9.96365190e-01 8.51545319e-02 2.26118332e-03 1.08578920e+02] [-2.27123611e-03 2.11745179e-05 9.99997421e-01 -5.92555955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:108.61, Z:-0.59 [[ 8.52385583e-02 -9.96360548e-01 2.13794844e-04 1.73976526e+02] [ 9.96357983e-01 8.52388240e-02 2.26125034e-03 1.08606381e+02] [-2.27124425e-03 2.02704812e-05 9.99997421e-01 -5.92595001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:108.63, Z:-0.60 [[ 8.04176370e-02 -9.96761234e-01 2.13128598e-04 1.73972774e+02] [ 9.96758670e-01 8.04179136e-02 2.26131313e-03 1.08628540e+02] [-2.27112862e-03 3.05883196e-05 9.99997421e-01 -5.99551234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:108.66, Z:-0.59 [[ 8.57892247e-02 -9.96313292e-01 1.83801501e-04 1.73982879e+02] [ 9.96310719e-01 8.57894209e-02 2.26406179e-03 1.08660566e+02] [-2.27148308e-03 -1.11087000e-05 9.99997420e-01 -5.92217509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:108.69, Z:-0.59 [[ 8.69863919e-02 -9.96209477e-01 2.12444383e-04 1.73986390e+02] [ 9.96206911e-01 8.69866500e-02 2.26137093e-03 1.08687519e+02] [-2.27127898e-03 1.49300637e-05 9.99997421e-01 -5.91473620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:108.71, Z:-0.59 [[ 8.76931990e-02 -9.96147508e-01 2.11781417e-04 1.73989223e+02] [ 9.96144941e-01 8.76934538e-02 2.26143302e-03 1.08714931e+02] [-2.27129271e-03 1.26526916e-05 9.99997421e-01 -5.91171459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:108.74, Z:-0.60 [[ 8.47716348e-02 -9.96400384e-01 2.11109400e-04 1.73986113e+02] [ 9.96397818e-01 8.47718957e-02 2.26149575e-03 1.08737627e+02] [-2.27125138e-03 1.86382537e-05 9.99997421e-01 -5.95666447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:108.77, Z:-0.59 [[ 9.02833141e-02 -9.95916105e-01 1.84978228e-04 1.73994859e+02] [ 9.95913532e-01 9.02835013e-02 2.26392266e-03 1.08769309e+02] [-2.27137752e-03 -2.01721202e-05 9.99997420e-01 -5.91318065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:108.79, Z:-0.59 [[ 8.87399592e-02 -9.96054805e-01 2.10402691e-04 1.73992583e+02] [ 9.96052238e-01 8.87402082e-02 2.26155731e-03 1.08793077e+02] [-2.27130621e-03 8.88156780e-06 9.99997421e-01 -5.93022981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:108.82, Z:-0.59 [[ 9.71028240e-02 -9.95274337e-01 1.86448127e-04 1.74000664e+02] [ 9.95271764e-01 9.71029970e-02 2.26377200e-03 1.08823583e+02] [-2.27117885e-03 -3.42520984e-05 9.99997420e-01 -5.92026333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:108.85, Z:-0.59 [[ 9.92182088e-02 -9.95065678e-01 2.09417258e-04 1.74002917e+02] [ 9.95063108e-01 9.92184285e-02 2.26164518e-03 1.08850511e+02] [-2.27126354e-03 -1.60129960e-05 9.99997421e-01 -5.92214529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:108.88, Z:-0.59 [[ 1.01133809e-01 -9.94872811e-01 2.08768103e-04 1.74005163e+02] [ 9.94870240e-01 1.01134022e-01 2.26170510e-03 1.08876385e+02] [-2.27122246e-03 -2.10376770e-05 9.99997421e-01 -5.92574201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:108.90, Z:-0.59 [[ 1.02730482e-01 -9.94709206e-01 2.08086177e-04 1.74007390e+02] [ 9.94706635e-01 1.02730690e-01 2.26176783e-03 1.08902013e+02] [-2.27117812e-03 -2.53677997e-05 9.99997421e-01 -5.92939841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:108.93, Z:-0.59 [[ 1.05376595e-01 -9.94432366e-01 2.07341162e-04 1.74010076e+02] [ 9.94429794e-01 1.05376794e-01 2.26183613e-03 1.08926938e+02] [-2.27109200e-03 -3.21583611e-05 9.99997421e-01 -5.92724091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:108.95, Z:-0.59 [[ 1.05960678e-01 -9.94370299e-01 2.06601949e-04 1.74012781e+02] [ 9.94367727e-01 1.05960874e-01 2.26190365e-03 1.08952519e+02] [-2.27106153e-03 -3.42345331e-05 9.99997421e-01 -5.92834530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:108.98, Z:-0.59 [[ 1.06578383e-01 -9.94304282e-01 2.05869680e-04 1.74015905e+02] [ 9.94301710e-01 1.06578575e-01 2.26197030e-03 1.08978571e+02] [-2.27102805e-03 -3.63805609e-05 9.99997421e-01 -5.92711543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.02, Y:109.00, Z:-0.59 [[ 1.07555901e-01 -9.94199017e-01 2.05175540e-04 1.74018479e+02] [ 9.94196445e-01 1.07556089e-01 2.26203326e-03 1.09004592e+02] [-2.27097912e-03 -3.93102326e-05 9.99997421e-01 -5.92224351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:109.03, Z:-0.59 [[ 1.08669508e-01 -9.94077915e-01 1.91534419e-04 1.74022804e+02] [ 9.94075340e-01 1.08669663e-01 2.26326576e-03 1.09033654e+02] [-2.27067649e-03 -5.55483344e-05 9.99997420e-01 -5.88132420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:109.06, Z:-0.59 [[ 1.10233326e-01 -9.93905716e-01 2.04365313e-04 1.74025939e+02] [ 9.93903143e-01 1.10233505e-01 2.26210658e-03 1.09059753e+02] [-2.27084857e-03 -4.62402050e-05 9.99997421e-01 -5.92141882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:109.09, Z:-0.59 [[ 1.09874043e-01 -9.93945499e-01 1.99154988e-04 1.74028422e+02] [ 9.93942925e-01 1.09874212e-01 2.26257558e-03 1.09088227e+02] [-2.27075881e-03 -5.06496356e-05 9.99997421e-01 -5.88378489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:109.12, Z:-0.59 [[ 1.10571462e-01 -9.93868156e-01 2.02958405e-04 1.74031293e+02] [ 9.93865582e-01 1.10571638e-01 2.26223435e-03 1.09115058e+02] [-2.27080413e-03 -4.84251868e-05 9.99997421e-01 -5.89009027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:109.14, Z:-0.59 [[ 1.11205178e-01 -9.93797448e-01 2.02266613e-04 1.74034244e+02] [ 9.93794874e-01 1.11205351e-01 2.26229620e-03 1.09142593e+02] [-2.27075732e-03 -5.05675299e-05 9.99997421e-01 -5.89459746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:109.17, Z:-0.59 [[ 1.12205936e-01 -9.93684954e-01 2.01622735e-04 1.74038644e+02] [ 9.93682380e-01 1.12206104e-01 2.26235359e-03 1.09170858e+02] [-2.27069002e-03 -5.35005417e-05 9.99997421e-01 -5.90600221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:109.20, Z:-0.59 [[ 1.12413946e-01 -9.93661444e-01 2.00980278e-04 1.74042162e+02] [ 9.93658869e-01 1.12414113e-01 2.26241066e-03 1.09199240e+02] [-2.27066326e-03 -5.46206748e-05 9.99997421e-01 -5.90876475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:109.23, Z:-0.59 [[ 1.12635938e-01 -9.93636304e-01 2.00337082e-04 1.74045264e+02] [ 9.93633730e-01 1.12636102e-01 2.26246761e-03 1.09225854e+02] [-2.27063515e-03 -5.57734788e-05 9.99997421e-01 -5.91104953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:109.24, Z:-0.60 [[ 1.04635436e-01 -9.94510626e-01 1.99658845e-04 1.74037952e+02] [ 9.94508053e-01 1.04635619e-01 2.26252746e-03 1.09242984e+02] [-2.27099903e-03 -3.81782179e-05 9.99997421e-01 -5.96530496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:109.28, Z:-0.59 [[ 1.12433777e-01 -9.93659212e-01 1.26729108e-04 1.74053355e+02] [ 9.93656630e-01 1.12433774e-01 2.26888188e-03 1.09280120e+02] [-2.26874401e-03 -1.29173741e-04 9.99997418e-01 -5.92430698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:109.31, Z:-0.59 [[ 1.11862393e-01 -9.93723687e-01 1.99268849e-04 1.74056761e+02] [ 9.93721113e-01 1.11862557e-01 2.26249295e-03 1.09307227e+02] [-2.27058356e-03 -5.50702150e-05 9.99997421e-01 -5.92881439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:109.33, Z:-0.59 [[ 1.11101344e-01 -9.93809062e-01 1.98568241e-04 1.74060300e+02] [ 9.93806488e-01 1.11101509e-01 2.26255444e-03 1.09333839e+02] [-2.27060834e-03 -5.40344346e-05 9.99997421e-01 -5.93266745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:109.36, Z:-0.59 [[ 1.10015437e-01 -9.93929859e-01 1.97871457e-04 1.74063771e+02] [ 9.93927285e-01 1.10015603e-01 2.26261538e-03 1.09360374e+02] [-2.27064993e-03 -5.22527801e-05 9.99997421e-01 -5.93247026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:109.38, Z:-0.60 [[ 9.58771867e-02 -9.95393152e-01 1.97139567e-04 1.74054327e+02] [ 9.95390580e-01 9.58773871e-02 2.26267914e-03 1.09375136e+02] [-2.27115655e-03 -2.07084425e-05 9.99997421e-01 -5.98979342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:109.41, Z:-0.60 [[ 9.53786951e-02 -9.95441055e-01 1.03899542e-04 1.74060371e+02] [ 9.95438472e-01 9.53786846e-02 2.27065132e-03 1.09405417e+02] [-2.27020934e-03 -1.13146159e-04 9.99997417e-01 -5.99241111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.08, Y:109.44, Z:-0.59 [[ 1.02799024e-01 -9.94702140e-01 1.12332136e-04 1.74077094e+02] [ 9.94699558e-01 1.02799014e-01 2.26994432e-03 1.09444631e+02] [-2.26946611e-03 -1.21611336e-04 9.99997417e-01 -5.91042796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:109.46, Z:-0.60 [[ 9.30555212e-02 -9.95660903e-01 1.92169327e-04 1.74071434e+02] [ 9.95658331e-01 9.30557176e-02 2.26316521e-03 1.09464222e+02] [-2.27122757e-03 -1.92650270e-05 9.99997421e-01 -5.97625459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:109.49, Z:-0.60 [[ 9.05604312e-02 -9.95890953e-01 1.37338030e-04 1.74074979e+02] [ 9.95888373e-01 9.05605093e-02 2.26780764e-03 1.09491974e+02] [-2.27092651e-03 -6.86002902e-05 9.99997419e-01 -5.97667653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.08, Y:109.52, Z:-0.60 [[ 8.78732598e-02 -9.96131654e-01 1.33442150e-04 1.74079297e+02] [ 9.96129074e-01 8.78733361e-02 2.26813810e-03 1.09519652e+02] [-2.27109016e-03 -6.63830831e-05 9.99997419e-01 -5.97119682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:109.55, Z:-0.59 [[ 8.30783786e-02 -9.96543007e-01 1.37273369e-04 1.74086631e+02] [ 9.96540428e-01 8.30784759e-02 2.26781385e-03 1.09547315e+02] [-2.27137849e-03 -5.16078352e-05 9.99997419e-01 -5.94429784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:109.58, Z:-0.59 [[ 8.60859359e-02 -9.96287705e-01 1.42156853e-04 1.74097694e+02] [ 9.96285126e-01 8.60860366e-02 2.26740039e-03 1.09581543e+02] [-2.27122085e-03 -5.35625267e-05 9.99997419e-01 -5.91629285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:109.61, Z:-0.59 [[ 7.96116195e-02 -9.96825939e-01 1.93034683e-04 1.74102575e+02] [ 9.96823370e-01 7.96118526e-02 2.26306061e-03 1.09609519e+02] [-2.27124537e-03 1.22555629e-05 9.99997421e-01 -5.90686239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:109.63, Z:-0.60 [[ 6.75175200e-02 -9.97718070e-01 1.92379579e-04 1.74095832e+02] [ 9.97715504e-01 6.75177827e-02 2.26311630e-03 1.09628266e+02] [-2.27094107e-03 3.91400891e-05 9.99997421e-01 -5.99296372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:109.66, Z:-0.60 [[ 6.59276426e-02 -9.97824398e-01 1.29394385e-04 1.74101142e+02] [ 9.97821820e-01 6.59277665e-02 2.26841679e-03 1.09657528e+02] [-2.27201230e-03 -2.04388310e-05 9.99997419e-01 -5.99311309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:109.68, Z:-0.60 [[ 6.32388061e-02 -9.97998413e-01 1.43118780e-04 1.74103892e+02] [ 9.97995838e-01 6.32389680e-02 2.26725527e-03 1.09684204e+02] [-2.27176785e-03 -5.46570031e-07 9.99997420e-01 -5.99620212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:109.72, Z:-0.59 [[ 6.90538151e-02 -9.97612927e-01 1.36060352e-04 1.74116568e+02] [ 9.97610349e-01 6.90539460e-02 2.26785144e-03 1.09718889e+02] [-2.27183342e-03 -2.08685783e-05 9.99997419e-01 -5.92124039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.11, Y:109.74, Z:-0.60 [[ 6.05731913e-02 -9.98163740e-01 1.92639861e-04 1.74111879e+02] [ 9.98161176e-01 6.05734725e-02 2.26303514e-03 1.09740659e+02] [-2.27054848e-03 5.52063697e-05 9.99997421e-01 -5.98219054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:109.77, Z:-0.59 [[ 6.41222186e-02 -9.97942042e-01 1.47700086e-04 1.74123201e+02] [ 9.97939468e-01 6.41223887e-02 2.26682638e-03 1.09773949e+02] [-2.27163223e-03 2.04180832e-06 9.99997420e-01 -5.90708216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:109.80, Z:-0.59 [[ 5.83154069e-02 -9.98298190e-01 1.92168005e-04 1.74120798e+02] [ 9.98295627e-01 5.83156928e-02 2.26305037e-03 1.09797372e+02] [-2.27040550e-03 5.98697757e-05 9.99997421e-01 -5.93905863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:109.83, Z:-0.59 [[ 5.89400117e-02 -9.98261514e-01 1.58346731e-04 1.74124666e+02] [ 9.98258942e-01 5.89402193e-02 2.26591021e-03 1.09826682e+02] [-2.27130395e-03 2.45182663e-05 9.99997420e-01 -5.91155881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:109.86, Z:-0.59 [[ 5.88657785e-02 -9.98265893e-01 1.63848492e-04 1.74127114e+02] [ 9.98263323e-01 5.88659987e-02 2.26544470e-03 1.09855096e+02] [-2.27116128e-03 3.02067740e-05 9.99997420e-01 -5.91223173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:109.88, Z:-0.59 [[ 5.87812720e-02 -9.98270873e-01 1.63855107e-04 1.74130405e+02] [ 9.98268303e-01 5.87814926e-02 2.26544414e-03 1.09883608e+02] [-2.27115855e-03 3.04056714e-05 9.99997420e-01 -5.90698391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:109.91, Z:-0.59 [[ 6.06120348e-02 -9.98161386e-01 1.69584134e-04 1.74133207e+02] [ 9.98158817e-01 6.06122635e-02 2.26495952e-03 1.09911836e+02] [-2.27107401e-03 3.19880931e-05 9.99997421e-01 -5.89299442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:109.94, Z:-0.59 [[ 6.16001118e-02 -9.98100896e-01 1.68519840e-04 1.74135110e+02] [ 9.98098326e-01 6.16003356e-02 2.26504945e-03 1.09940297e+02] [-2.27112877e-03 2.86720711e-05 9.99997421e-01 -5.90161465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:109.97, Z:-0.59 [[ 6.60364536e-02 -9.97817197e-01 1.67466676e-04 1.74140975e+02] [ 9.97814626e-01 6.60366636e-02 2.26513815e-03 1.09971241e+02] [-2.27125274e-03 1.75190086e-05 9.99997421e-01 -5.89983098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:109.99, Z:-0.59 [[ 6.32181754e-02 -9.97999712e-01 1.91151358e-04 1.74137423e+02] [ 9.97997147e-01 6.32184464e-02 2.26313768e-03 1.09994566e+02] [-2.27069504e-03 4.76970753e-05 9.99997421e-01 -5.93375124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:110.03, Z:-0.59 [[ 6.91863632e-02 -9.97603740e-01 1.57068057e-04 1.74144281e+02] [ 9.97601167e-01 6.91865415e-02 2.26599800e-03 1.10026741e+02] [-2.27143507e-03 -8.48829993e-08 9.99997420e-01 -5.91571357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:110.05, Z:-0.60 [[ 6.64706240e-02 -9.97788364e-01 1.90547629e-04 1.74139250e+02] [ 9.97785798e-01 6.64708852e-02 2.26317920e-03 1.10050387e+02] [-2.27083974e-03 3.96907851e-05 9.99997421e-01 -5.95717021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.08, Z:-0.59 [[ 7.45600069e-02 -9.97216517e-01 1.54373481e-04 1.74145625e+02] [ 9.97213942e-01 7.45601652e-02 2.26620303e-03 1.10082759e+02] [-2.27140521e-03 -1.50247258e-05 9.99997420e-01 -5.92754917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.11, Z:-0.59 [[ 7.61212492e-02 -9.97098550e-01 1.89936692e-04 1.74147245e+02] [ 9.97095982e-01 7.61214843e-02 2.26321845e-03 1.10110886e+02] [-2.27111010e-03 1.71060963e-05 9.99997421e-01 -5.92668611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:110.14, Z:-0.59 [[ 7.38518532e-02 -9.97269205e-01 1.89300877e-04 1.74144920e+02] [ 9.97266637e-01 7.38520927e-02 2.26327163e-03 1.10135767e+02] [-2.27107137e-03 2.16366450e-05 9.99997421e-01 -5.92737452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.17, Z:-0.59 [[ 7.59005715e-02 -9.97115378e-01 1.63564475e-04 1.74147930e+02] [ 9.97112804e-01 7.59007472e-02 2.26541540e-03 1.10165017e+02] [-2.27129520e-03 -8.85409088e-06 9.99997421e-01 -5.93323933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.20, Z:-0.59 [[ 7.94872225e-02 -9.96835871e-01 1.69298258e-04 1.74150871e+02] [ 9.96833298e-01 7.94874020e-02 2.26493836e-03 1.10195179e+02] [-2.27122888e-03 -1.12715187e-05 9.99997421e-01 -5.93194554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.22, Z:-0.59 [[ 8.01089227e-02 -9.96786098e-01 1.88522452e-04 1.74151631e+02] [ 9.96783528e-01 8.01091443e-02 2.26333710e-03 1.10222364e+02] [-2.27116533e-03 6.60257819e-06 9.99997421e-01 -5.93974390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.25, Z:-0.59 [[ 8.05631761e-02 -9.96749487e-01 1.87830912e-04 1.74152174e+02] [ 9.96746917e-01 8.05633949e-02 2.26339449e-03 1.10250122e+02] [-2.27116959e-03 4.87363376e-06 9.99997421e-01 -5.94589173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.28, Z:-0.60 [[ 8.25299018e-02 -9.96588571e-01 1.87181666e-04 1.74152818e+02] [ 9.96586001e-01 8.25301140e-02 2.26344818e-03 1.10277347e+02] [-2.27117471e-03 -2.59528268e-07 9.99997421e-01 -5.95428809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.30, Z:-0.59 [[ 8.29601148e-02 -9.96552851e-01 1.87393718e-04 1.74154093e+02] [ 9.96550280e-01 8.29603265e-02 2.26343071e-03 1.10304871e+02] [-2.27117457e-03 -1.02720928e-06 9.99997421e-01 -5.93782096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:174.16, Y:110.33, Z:-0.60 [[ 8.46691200e-02 -9.96409106e-01 1.85721236e-04 1.74155787e+02] [ 9.96406534e-01 8.46693234e-02 2.26356794e-03 1.10330044e+02] [-2.27116460e-03 -6.60045262e-06 9.99997421e-01 -5.96229422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:110.35, Z:-0.60 [[ 8.32912707e-02 -9.96525229e-01 1.81972379e-04 1.74154941e+02] [ 9.96522657e-01 8.32914691e-02 2.26387413e-03 1.10353629e+02] [-2.27116443e-03 -7.22135406e-06 9.99997421e-01 -5.95702656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:110.39, Z:-0.59 [[ 8.90583320e-02 -9.96026400e-01 1.57456847e-04 1.74160403e+02] [ 9.96023823e-01 8.90584598e-02 2.26592410e-03 1.10385232e+02] [-2.27094308e-03 -4.49686494e-05 9.99997420e-01 -5.94756725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:110.41, Z:-0.60 [[ 8.95953430e-02 -9.95978232e-01 1.89840441e-04 1.74161563e+02] [ 9.95975661e-01 8.95955431e-02 2.26320772e-03 1.10413144e+02] [-2.27111449e-03 -1.36964140e-05 9.99997421e-01 -5.95757779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:110.44, Z:-0.60 [[ 9.00142972e-02 -9.95940455e-01 1.89194388e-04 1.74163027e+02] [ 9.95937884e-01 9.00144947e-02 2.26326173e-03 1.10441511e+02] [-2.27110416e-03 -1.53000554e-05 9.99997421e-01 -5.96316364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:110.47, Z:-0.60 [[ 9.04947843e-02 -9.95896912e-01 1.88550952e-04 1.74164923e+02] [ 9.95894340e-01 9.04949791e-02 2.26331533e-03 1.10469611e+02] [-2.27109166e-03 -1.70414074e-05 9.99997421e-01 -5.96401955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:110.50, Z:-0.60 [[ 9.07985801e-02 -9.95869260e-01 1.87904148e-04 1.74167128e+02] [ 9.95866688e-01 9.07987726e-02 2.26336903e-03 1.10497615e+02] [-2.27108111e-03 -1.83832123e-05 9.99997421e-01 -5.96458819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:110.52, Z:-0.60 [[ 9.07409916e-02 -9.95874509e-01 1.87258608e-04 1.74169979e+02] [ 9.95871937e-01 9.07411829e-02 2.26342244e-03 1.10524993e+02] [-2.27107678e-03 -1.88996041e-05 9.99997421e-01 -5.96708777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:110.55, Z:-0.60 [[ 9.06027691e-02 -9.95887094e-01 1.86579344e-04 1.74172948e+02] [ 9.95884522e-01 9.06029592e-02 2.26347843e-03 1.10552756e+02] [-2.27107360e-03 -1.92659324e-05 9.99997421e-01 -5.95888811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:110.58, Z:-0.60 [[ 9.01110696e-02 -9.95931705e-01 1.85928291e-04 1.74175503e+02] [ 9.95929133e-01 9.01112595e-02 2.26353191e-03 1.10580952e+02] [-2.27107742e-03 -1.87978800e-05 9.99997421e-01 -5.96023700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:110.61, Z:-0.60 [[ 8.99846651e-02 -9.95943134e-01 1.85283026e-04 1.74177920e+02] [ 9.95940562e-01 8.99848538e-02 2.26358473e-03 1.10607776e+02] [-2.27107433e-03 -1.91570329e-05 9.99997421e-01 -5.96575656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:110.64, Z:-0.60 [[ 9.01808438e-02 -9.95925389e-01 1.84602796e-04 1.74180287e+02] [ 9.95922817e-01 9.01810305e-02 2.26364020e-03 1.10635829e+02] [-2.27106442e-03 -2.02868462e-05 9.99997421e-01 -5.96464876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:110.66, Z:-0.60 [[ 9.03247754e-02 -9.95912346e-01 1.83954855e-04 1.74182904e+02] [ 9.95909774e-01 9.03249602e-02 2.26369285e-03 1.10663362e+02] [-2.27105537e-03 -2.12651109e-05 9.99997421e-01 -5.96570446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:110.69, Z:-0.60 [[ 9.01971843e-02 -9.95923910e-01 1.83301946e-04 1.74185135e+02] [ 9.95921337e-01 9.01973679e-02 2.26374572e-03 1.10689968e+02] [-2.27105184e-03 -2.16291708e-05 9.99997421e-01 -5.97116500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:110.72, Z:-0.60 [[ 9.03030942e-02 -9.95914313e-01 1.82612535e-04 1.74187732e+02] [ 9.95911740e-01 9.03032761e-02 2.26380133e-03 1.10718008e+02] [-2.27104266e-03 -2.25622974e-05 9.99997421e-01 -5.97266865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:174.19, Y:110.75, Z:-0.60 [[ 8.96202985e-02 -9.95975988e-01 1.81972421e-04 1.74190479e+02] [ 9.95973416e-01 8.96204806e-02 2.26385279e-03 1.10745288e+02] [-2.27105147e-03 -2.16474682e-05 9.99997421e-01 -5.99732586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:110.77, Z:-0.60 [[ 8.98285649e-02 -9.95957225e-01 1.89133060e-04 1.74193027e+02] [ 9.95954653e-01 8.98287628e-02 2.26327967e-03 1.10770570e+02] [-2.27111933e-03 -1.49392141e-05 9.99997421e-01 -5.95886559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:110.80, Z:-0.60 [[ 8.96156203e-02 -9.95976410e-01 1.79880874e-04 1.74195922e+02] [ 9.95973837e-01 8.96157977e-02 2.26401478e-03 1.10798880e+02] [-2.27102548e-03 -2.37344444e-05 9.99997421e-01 -5.95127362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:110.83, Z:-0.60 [[ 8.93147409e-02 -9.96003436e-01 1.79227302e-04 1.74198446e+02] [ 9.96000863e-01 8.93149176e-02 2.26406651e-03 1.10827016e+02] [-2.27102570e-03 -2.37039664e-05 9.99997421e-01 -5.95182116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:110.85, Z:-0.60 [[ 8.91380349e-02 -9.96019266e-01 1.78577299e-04 1.74201145e+02] [ 9.96016693e-01 8.91382105e-02 2.26411778e-03 1.10854457e+02] [-2.27102299e-03 -2.39530387e-05 9.99997421e-01 -5.95219039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:110.88, Z:-0.60 [[ 8.93768231e-02 -9.95997867e-01 1.77892462e-04 1.74203489e+02] [ 9.95995294e-01 8.93769966e-02 2.26417159e-03 1.10882249e+02] [-2.27100957e-03 -2.51844082e-05 9.99997421e-01 -5.95183436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:110.91, Z:-0.60 [[ 8.92344801e-02 -9.96010631e-01 1.77244768e-04 1.74205743e+02] [ 9.96008057e-01 8.92346525e-02 2.26422229e-03 1.10909595e+02] [-2.27100585e-03 -2.55094819e-05 9.99997421e-01 -5.95594210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:110.94, Z:-0.60 [[ 9.00422078e-02 -9.95937934e-01 1.82112223e-04 1.74207417e+02] [ 9.95935361e-01 9.00423891e-02 2.26384186e-03 1.10936884e+02] [-2.27104380e-03 -2.24693171e-05 9.99997421e-01 -5.95880278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:110.97, Z:-0.60 [[ 9.05016103e-02 -9.95896294e-01 1.76249293e-04 1.74209313e+02] [ 9.95893720e-01 9.05017771e-02 2.26429822e-03 1.10965147e+02] [-2.27095708e-03 -2.93970709e-05 9.99997421e-01 -5.96331287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:110.99, Z:-0.60 [[ 9.16860832e-02 -9.95787945e-01 1.75607306e-04 1.74210939e+02] [ 9.95785371e-01 9.16862456e-02 2.26434801e-03 1.10992183e+02] [-2.27091123e-03 -3.27420138e-05 9.99997421e-01 -5.98293988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:111.02, Z:-0.60 [[ 9.20954658e-02 -9.95750167e-01 1.75137428e-04 1.74213012e+02] [ 9.95747593e-01 9.20956260e-02 2.26438435e-03 1.11020189e+02] [-2.27089049e-03 -3.41468597e-05 9.99997421e-01 -5.98334615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:111.05, Z:-0.60 [[ 9.27776581e-02 -9.95686836e-01 1.74489112e-04 1.74215360e+02] [ 9.95684262e-01 9.27778151e-02 2.26443431e-03 1.11048167e+02] [-2.27085615e-03 -3.63528500e-05 9.99997421e-01 -5.98783442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:111.08, Z:-0.60 [[ 9.36107520e-02 -9.95608857e-01 1.73839731e-04 1.74217690e+02] [ 9.95606283e-01 9.36109053e-02 2.26448416e-03 1.11075230e+02] [-2.27081378e-03 -3.89041369e-05 9.99997421e-01 -5.99272720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:111.10, Z:-0.60 [[ 9.33908598e-02 -9.95629508e-01 1.73152560e-04 1.74219871e+02] [ 9.95626934e-01 9.33910122e-02 2.26453670e-03 1.11102756e+02] [-2.27081046e-03 -3.90916780e-05 9.99997421e-01 -5.99416530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:111.12, Z:-0.61 [[ 8.33556623e-02 -9.96519846e-01 1.72507170e-04 1.74210501e+02] [ 9.96517273e-01 8.33558391e-02 2.26458587e-03 1.11120476e+02] [-2.27108424e-03 -1.68596804e-05 9.99997421e-01 -6.07072553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:111.16, Z:-0.60 [[ 9.22092084e-02 -9.95739650e-01 1.06822667e-04 1.74224336e+02] [ 9.95737069e-01 9.22092128e-02 2.26952156e-03 1.11156509e+02] [-2.26970264e-03 -1.02903497e-04 9.99997419e-01 -5.99395403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:111.18, Z:-0.61 [[ 8.35617459e-02 -9.96502587e-01 1.72142633e-04 1.74217346e+02] [ 9.96500014e-01 8.35619214e-02 2.26455620e-03 1.11176453e+02] [-2.27102068e-03 -1.76901337e-05 9.99997421e-01 -6.06419428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:111.21, Z:-0.60 [[ 9.04148088e-02 -9.95904186e-01 1.18258688e-04 1.74229367e+02] [ 9.95901606e-01 9.04148440e-02 2.26859829e-03 1.11210935e+02] [-2.26999888e-03 -8.73408642e-05 9.99997420e-01 -5.99250727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:111.24, Z:-0.60 [[ 8.84415974e-02 -9.96081349e-01 1.71467788e-04 1.74232804e+02] [ 9.96078776e-01 8.84417587e-02 2.26456943e-03 1.11238803e+02] [-2.27086029e-03 -2.94867137e-05 9.99997421e-01 -5.98298053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:111.27, Z:-0.60 [[ 8.72749885e-02 -9.96184244e-01 1.70806768e-04 1.74235110e+02] [ 9.96181670e-01 8.72751513e-02 2.26461929e-03 1.11265723e+02] [-2.27088524e-03 -2.74900514e-05 9.99997421e-01 -5.98484119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:111.29, Z:-0.60 [[ 8.63717127e-02 -9.96262966e-01 1.70108906e-04 1.74237191e+02] [ 9.96260393e-01 8.63718762e-02 2.26467171e-03 1.11292088e+02] [-2.27090118e-03 -2.61308089e-05 9.99997421e-01 -5.98350641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:111.32, Z:-0.60 [[ 8.51997080e-02 -9.96363880e-01 1.69362165e-04 1.74239222e+02] [ 9.96361306e-01 8.51998729e-02 2.26472755e-03 1.11319670e+02] [-2.27092236e-03 -2.42082184e-05 9.99997421e-01 -5.97993270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:111.35, Z:-0.60 [[ 8.40417248e-02 -9.96462222e-01 1.68729324e-04 1.74241123e+02] [ 9.96459649e-01 8.40418913e-02 2.26477470e-03 1.11347266e+02] [-2.27094276e-03 -2.22036095e-05 9.99997421e-01 -5.98100850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:111.38, Z:-0.60 [[ 8.25642618e-02 -9.96585729e-01 1.68078226e-04 1.74243583e+02] [ 9.96583155e-01 8.25644306e-02 2.26482302e-03 1.11375759e+02] [-2.27096758e-03 -1.94895121e-05 9.99997421e-01 -5.98898129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:111.40, Z:-0.60 [[ 8.16132012e-02 -9.96664064e-01 1.67427114e-04 1.74245917e+02] [ 9.96661491e-01 8.16133710e-02 2.26487115e-03 1.11402594e+02] [-2.27097998e-03 -1.79752277e-05 9.99997421e-01 -5.99333454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:111.43, Z:-0.60 [[ 8.00550495e-02 -9.96790430e-01 1.66740004e-04 1.74248510e+02] [ 9.96787857e-01 8.00552217e-02 2.26492174e-03 1.11430641e+02] [-2.27100072e-03 -1.51140098e-05 9.99997421e-01 -6.00330886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:111.46, Z:-0.60 [[ 7.96623069e-02 -9.96821894e-01 1.66089594e-04 1.74250775e+02] [ 9.96819321e-01 7.96624786e-02 2.26496943e-03 1.11459030e+02] [-2.27100223e-03 -1.48713733e-05 9.99997421e-01 -6.01043050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:111.49, Z:-0.60 [[ 7.86849833e-02 -9.96899517e-01 1.65441673e-04 1.74252648e+02] [ 9.96896943e-01 7.86851561e-02 2.26501676e-03 1.11486285e+02] [-2.27101191e-03 -1.32945078e-05 9.99997421e-01 -6.01917702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09999999999997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:174.26, Y:111.51, Z:-0.60 [[ 8.09301990e-02 -9.96719758e-01 1.64757318e-04 1.74255166e+02] [ 9.96717184e-01 8.09303644e-02 2.26506653e-03 1.11509566e+02] [-2.27097044e-03 -1.90958353e-05 9.99997421e-01 -6.03051545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:111.54, Z:-0.60 [[ 7.76982826e-02 -9.96976908e-01 1.47040116e-04 1.74256148e+02] [ 9.96974333e-01 7.76984162e-02 2.26636079e-03 1.11536709e+02] [-2.27093416e-03 -2.94971201e-05 9.99997421e-01 -6.04886658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:111.57, Z:-0.60 [[ 7.87591406e-02 -9.96893663e-01 1.49109807e-04 1.74260725e+02] [ 9.96891088e-01 7.87592761e-02 2.26620697e-03 1.11566495e+02] [-2.27091115e-03 -2.98382762e-05 9.99997421e-01 -6.03446373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:111.59, Z:-0.60 [[ 7.73675074e-02 -9.97002628e-01 1.68570897e-04 1.74263711e+02] [ 9.97000056e-01 7.73676908e-02 2.26475844e-03 1.11594135e+02] [-2.27101206e-03 -7.15352220e-06 9.99997421e-01 -6.03582284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:111.62, Z:-0.60 [[ 7.70844520e-02 -9.97024553e-01 1.67927430e-04 1.74265756e+02] [ 9.97021981e-01 7.70846346e-02 2.26480615e-03 1.11622673e+02] [-2.27101197e-03 -7.15400229e-06 9.99997421e-01 -6.03646968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:111.65, Z:-0.61 [[ 7.63626061e-02 -9.97080099e-01 1.67284429e-04 1.74267600e+02] [ 9.97077527e-01 7.63627891e-02 2.26485365e-03 1.11648909e+02] [-2.27101480e-03 -6.15458219e-06 9.99997421e-01 -6.05610818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:111.68, Z:-0.60 [[ 7.59363244e-02 -9.97112657e-01 1.55536772e-04 1.74270724e+02] [ 9.97110083e-01 7.59364818e-02 2.26571619e-03 1.11677547e+02] [-2.27098521e-03 -1.69628766e-05 9.99997421e-01 -6.03207902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:111.71, Z:-0.60 [[ 7.56368760e-02 -9.97135415e-01 1.66021857e-04 1.74273097e+02] [ 9.97132842e-01 7.56370580e-02 2.26494763e-03 1.11705197e+02] [-2.27101690e-03 -5.76771656e-06 9.99997421e-01 -6.02768082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:111.73, Z:-0.60 [[ 7.63105091e-02 -9.97084088e-01 1.65388955e-04 1.74275905e+02] [ 9.97081516e-01 7.63106880e-02 2.26499384e-03 1.11733548e+02] [-2.27101027e-03 -7.93656367e-06 9.99997421e-01 -6.01270896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:111.76, Z:-0.60 [[ 7.66544813e-02 -9.97057703e-01 1.64735837e-04 1.74278217e+02] [ 9.97055130e-01 7.66546578e-02 2.26504135e-03 1.11761677e+02] [-2.27100469e-03 -9.37485794e-06 9.99997421e-01 -6.01185370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:111.79, Z:-0.60 [[ 7.60133992e-02 -9.97106783e-01 1.64080902e-04 1.74280175e+02] [ 9.97104210e-01 7.60135758e-02 2.26508879e-03 1.11788288e+02] [-2.27100777e-03 -8.57133991e-06 9.99997421e-01 -6.02086571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:111.82, Z:-0.60 [[ 7.53135565e-02 -9.97159888e-01 1.63603390e-04 1.74282141e+02] [ 9.97157315e-01 7.53137339e-02 2.26512328e-03 1.11816141e+02] [-2.27101165e-03 -7.45617260e-06 9.99997421e-01 -6.02139226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:111.84, Z:-0.60 [[ 7.49048246e-02 -9.97190674e-01 1.62952922e-04 1.74284426e+02] [ 9.97188102e-01 7.49050015e-02 2.26517007e-03 1.11844112e+02] [-2.27101246e-03 -7.17745168e-06 9.99997421e-01 -6.02281717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:111.87, Z:-0.60 [[ 7.51435475e-02 -9.97172714e-01 1.62305989e-04 1.74286339e+02] [ 9.97170141e-01 7.51437223e-02 2.26521642e-03 1.11871706e+02] [-2.27100829e-03 -8.36971202e-06 9.99997421e-01 -6.02824190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:111.90, Z:-0.60 [[ 7.52280089e-02 -9.97166345e-01 1.61666024e-04 1.74287738e+02] [ 9.97163773e-01 7.52281821e-02 2.26526210e-03 1.11899474e+02] [-2.27100497e-03 -9.20365444e-06 9.99997421e-01 -6.03808156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:111.93, Z:-0.60 [[ 7.54915594e-02 -9.97146428e-01 1.61023765e-04 1.74289260e+02] [ 9.97143855e-01 7.54917304e-02 2.26530775e-03 1.11928011e+02] [-2.27099949e-03 -1.04477568e-05 9.99997421e-01 -6.04741448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:111.96, Z:-0.61 [[ 7.57819505e-02 -9.97124401e-01 1.60378552e-04 1.74290493e+02] [ 9.97121827e-01 7.57821193e-02 2.26535343e-03 1.11956184e+02] [-2.27099301e-03 -1.17559463e-05 9.99997421e-01 -6.05793723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:111.98, Z:-0.61 [[ 7.67018716e-02 -9.97054059e-01 1.59733808e-04 1.74291288e+02] [ 9.97051486e-01 7.67020366e-02 2.26539889e-03 1.11984685e+02] [-2.27097707e-03 -1.44975038e-05 9.99997421e-01 -6.07170833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:112.01, Z:-0.61 [[ 7.66865292e-02 -9.97055240e-01 1.59094190e-04 1.74292862e+02] [ 9.97052666e-01 7.66866928e-02 2.26544381e-03 1.12012524e+02] [-2.27097303e-03 -1.51037365e-05 9.99997421e-01 -6.07001948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:112.04, Z:-0.61 [[ 7.65748311e-02 -9.97063825e-01 1.58449815e-04 1.74294754e+02] [ 9.97061251e-01 7.65749935e-02 2.26548888e-03 1.12041012e+02] [-2.27097030e-03 -1.54952571e-05 9.99997421e-01 -6.06753292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:112.07, Z:-0.61 [[ 7.63618980e-02 -9.97080155e-01 1.57807173e-04 1.74296555e+02] [ 9.97077581e-01 7.63620595e-02 2.26553364e-03 1.12069097e+02] [-2.27096911e-03 -1.56544542e-05 9.99997421e-01 -6.06163729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:112.10, Z:-0.60 [[ 7.60520713e-02 -9.97103835e-01 1.57160857e-04 1.74298080e+02] [ 9.97101261e-01 7.60522320e-02 2.26557847e-03 1.12096454e+02] [-2.27096942e-03 -1.55966472e-05 9.99997421e-01 -6.04816163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:112.12, Z:-0.60 [[ 7.59317437e-02 -9.97113006e-01 1.56477085e-04 1.74299947e+02] [ 9.97110432e-01 7.59319032e-02 2.26562570e-03 1.12124070e+02] [-2.27096645e-03 -1.60079764e-05 9.99997421e-01 -6.04213681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:112.15, Z:-0.60 [[ 7.55659270e-02 -9.97140796e-01 1.55837710e-04 1.74301527e+02] [ 9.97138222e-01 7.55660860e-02 2.26566968e-03 1.12152010e+02] [-2.27096771e-03 -1.58156928e-05 9.99997421e-01 -6.03122274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:112.18, Z:-0.60 [[ 7.60659260e-02 -9.97102778e-01 1.55180946e-04 1.74302537e+02] [ 9.97100204e-01 7.60660822e-02 2.26571466e-03 1.12179764e+02] [-2.27095439e-03 -1.76127304e-05 9.99997421e-01 -6.03029996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:112.21, Z:-0.60 [[ 7.65111017e-02 -9.97068718e-01 1.54525078e-04 1.74304052e+02] [ 9.97066143e-01 7.65112553e-02 2.26575939e-03 1.12206861e+02] [-2.27094072e-03 -1.92840238e-05 9.99997421e-01 -6.03654592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.24, Z:-0.60 [[ 7.73411638e-02 -9.97004674e-01 1.53833750e-04 1.74305517e+02] [ 9.97002100e-01 7.73413137e-02 2.26580633e-03 1.12235162e+02] [-2.27091720e-03 -2.18675264e-05 9.99997421e-01 -6.04389356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.26, Z:-0.61 [[ 7.81721819e-02 -9.96939861e-01 1.53195342e-04 1.74306595e+02] [ 9.96937286e-01 7.81723282e-02 2.26584949e-03 1.12263473e+02] [-2.27089131e-03 -2.44002500e-05 9.99997421e-01 -6.05066165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.29, Z:-0.61 [[ 7.95160037e-02 -9.96833578e-01 1.52545720e-04 1.74307461e+02] [ 9.96831003e-01 7.95161451e-02 2.26589322e-03 1.12290138e+02] [-2.27084830e-03 -2.81124711e-05 9.99997421e-01 -6.06380065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.32, Z:-0.61 [[ 8.11368493e-02 -9.96702959e-01 1.51862572e-04 1.74308719e+02] [ 9.96700384e-01 8.11369850e-02 2.26593901e-03 1.12318485e+02] [-2.27078979e-03 -3.24896686e-05 9.99997421e-01 -6.06163657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.35, Z:-0.61 [[ 8.43939910e-02 -9.96432452e-01 1.51200230e-04 1.74309859e+02] [ 9.96429876e-01 8.43941167e-02 2.26598320e-03 1.12345999e+02] [-2.27065961e-03 -4.05749398e-05 9.99997421e-01 -6.06588187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.37, Z:-0.61 [[ 8.55794542e-02 -9.96331338e-01 1.50505730e-04 1.74311418e+02] [ 9.96328762e-01 8.55795753e-02 2.26602933e-03 1.12373892e+02] [-2.27059625e-03 -4.39723663e-05 9.99997421e-01 -6.06429097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.40, Z:-0.61 [[ 8.67865878e-02 -9.96226915e-01 1.49856382e-04 1.74313070e+02] [ 9.96224339e-01 8.67867042e-02 2.26607227e-03 1.12400813e+02] [-2.27052773e-03 -4.73741055e-05 9.99997421e-01 -6.06159862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:112.43, Z:-0.60 [[ 8.86314623e-02 -9.96064477e-01 1.49169489e-04 1.74314329e+02] [ 9.96061900e-01 8.86315724e-02 2.26611749e-03 1.12428926e+02] [-2.27042026e-03 -5.22672619e-05 9.99997421e-01 -6.04731554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:112.46, Z:-0.61 [[ 8.90935069e-02 -9.96023255e-01 1.48510193e-04 1.74315660e+02] [ 9.96020679e-01 8.90936144e-02 2.26616069e-03 1.12455998e+02] [-2.27038006e-03 -5.39809806e-05 9.99997421e-01 -6.05019508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:112.48, Z:-0.60 [[ 8.92902143e-02 -9.96005640e-01 1.47813970e-04 1.74317153e+02] [ 9.96003064e-01 8.92903196e-02 2.26620611e-03 1.12483493e+02] [-2.27035242e-03 -5.51268619e-05 9.99997421e-01 -6.04845338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:112.51, Z:-0.61 [[ 8.89387659e-02 -9.96037085e-01 1.47126457e-04 1.74318863e+02] [ 9.96034508e-01 8.89388706e-02 2.26625074e-03 1.12511645e+02] [-2.27035504e-03 -5.50145159e-05 9.99997421e-01 -6.05146945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:112.54, Z:-0.60 [[ 8.80371444e-02 -9.96117182e-01 1.46484628e-04 1.74320779e+02] [ 9.96114605e-01 8.80372499e-02 2.26629223e-03 1.12540142e+02] [-2.27038873e-03 -5.36024182e-05 9.99997421e-01 -6.04772231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:112.57, Z:-0.60 [[ 8.55518380e-02 -9.96333710e-01 1.45845696e-04 1.74322998e+02] [ 9.96331134e-01 8.55519485e-02 2.26633334e-03 1.12568387e+02] [-2.27050169e-03 -4.85783750e-05 9.99997421e-01 -6.03608500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:112.59, Z:-0.60 [[ 8.28401534e-02 -9.96562837e-01 1.45200909e-04 1.74323565e+02] [ 9.96560261e-01 8.28402695e-02 2.26637465e-03 1.12594590e+02] [-2.27061324e-03 -4.30453679e-05 9.99997421e-01 -6.03962769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:112.62, Z:-0.60 [[ 8.17521950e-02 -9.96652678e-01 1.30799853e-04 1.74327395e+02] [ 9.96650101e-01 8.17522812e-02 2.26729238e-03 1.12624300e+02] [-2.27039621e-03 -5.49944420e-05 9.99997421e-01 -6.01875816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:112.65, Z:-0.60 [[ 7.93497804e-02 -9.96846825e-01 1.44387171e-04 1.74329520e+02] [ 9.96844249e-01 7.93499037e-02 2.26642677e-03 1.12652229e+02] [-2.27073744e-03 -3.59089460e-05 9.99997421e-01 -6.01491022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:112.68, Z:-0.60 [[ 7.45916804e-02 -9.97214150e-01 1.43737221e-04 1.74332187e+02] [ 9.97211575e-01 7.45918144e-02 2.26646799e-03 1.12680432e+02] [-2.27087557e-03 -2.57232353e-05 9.99997421e-01 -6.01244798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:174.33, Y:112.71, Z:-0.60 [[ 7.17696486e-02 -9.97421224e-01 1.43087586e-04 1.74334199e+02] [ 9.97418649e-01 7.17697885e-02 2.26650901e-03 1.12705773e+02] [-2.27093355e-03 -1.99483286e-05 9.99997421e-01 -6.03033767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:112.73, Z:-0.60 [[ 6.76588846e-02 -9.97708502e-01 1.42093800e-04 1.74335844e+02] [ 9.97705928e-01 6.76590328e-02 2.26657133e-03 1.12732846e+02] [-2.27099141e-03 -1.15858613e-05 9.99997421e-01 -6.02310877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:112.76, Z:-0.60 [[ 6.34622812e-02 -9.97984228e-01 1.41244661e-04 1.74338057e+02] [ 9.97981654e-01 6.34624384e-02 2.26662424e-03 1.12759540e+02] [-2.27101897e-03 -2.88556512e-06 9.99997421e-01 -6.03656698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:112.79, Z:-0.61 [[ 5.34729941e-02 -9.98569286e-01 1.40554197e-04 1.74341373e+02] [ 9.98566714e-01 5.34731754e-02 2.26666706e-03 1.12786589e+02] [-2.27093998e-03 1.91472687e-05 9.99997421e-01 -6.05957424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:112.81, Z:-0.61 [[ 4.93137260e-02 -9.98783328e-01 1.39887386e-04 1.74342975e+02] [ 9.98780757e-01 4.93139165e-02 2.26670821e-03 1.12814696e+02] [-2.27084876e-03 2.79370022e-05 9.99997421e-01 -6.06161346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:112.84, Z:-0.61 [[ 4.55674244e-02 -9.98961256e-01 1.39251605e-04 1.74344526e+02] [ 9.98958685e-01 4.55676231e-02 2.26674727e-03 1.12843030e+02] [-2.27073806e-03 3.58167649e-05 9.99997421e-01 -6.06350102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:112.87, Z:-0.61 [[ 3.49594632e-02 -9.99388722e-01 1.38619200e-04 1.74339619e+02] [ 9.99386153e-01 3.49596878e-02 2.26678594e-03 1.12865072e+02] [-2.27024639e-03 5.92884891e-05 9.99997421e-01 -6.12424476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:112.90, Z:-0.61 [[ 3.19062159e-02 -9.99490862e-01 9.79924876e-05 1.74349254e+02] [ 9.99488287e-01 3.19063561e-02 2.26924034e-03 1.12898081e+02] [-2.27121157e-03 2.55394712e-05 9.99997420e-01 -6.05493378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:112.93, Z:-0.61 [[ 2.70788259e-02 -9.99633292e-01 1.37876311e-04 1.74350715e+02] [ 9.99630725e-01 2.70790690e-02 2.26681446e-03 1.12925014e+02] [-2.26971676e-03 7.64427225e-05 9.99997421e-01 -6.05419380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:112.95, Z:-0.60 [[ 2.31592480e-02 -9.99731779e-01 1.37200591e-04 1.74352374e+02] [ 9.99729213e-01 2.31594996e-02 2.26685536e-03 1.12952941e+02] [-2.26942484e-03 8.46647732e-05 9.99997421e-01 -6.04526491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:112.98, Z:-0.60 [[ 2.02771991e-02 -9.99794387e-01 1.36548897e-04 1.74353352e+02] [ 9.99791821e-01 2.02774567e-02 2.26689461e-03 1.12980332e+02] [-2.26919737e-03 9.05541975e-05 9.99997421e-01 -6.04331172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.01, Z:-0.60 [[ 1.83684288e-02 -9.99831277e-01 1.36073469e-04 1.74353753e+02] [ 9.99828711e-01 1.83686902e-02 2.26692315e-03 1.13007098e+02] [-2.26904016e-03 9.44103446e-05 9.99997421e-01 -6.03874749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.04, Z:-0.60 [[ 1.79825540e-02 -9.99838292e-01 1.35393334e-04 1.74354058e+02] [ 9.99835726e-01 1.79828149e-02 2.26696377e-03 1.13035189e+02] [-2.26903194e-03 9.46052943e-05 9.99997421e-01 -6.02981729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.06, Z:-0.60 [[ 2.10487641e-02 -9.99778441e-01 1.34740145e-04 1.74351694e+02] [ 9.99775875e-01 2.10490156e-02 2.26700259e-03 1.13062501e+02] [-2.26933647e-03 8.69923435e-05 9.99997421e-01 -6.02816971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.09, Z:-0.60 [[ 2.37225111e-02 -9.99718573e-01 1.34051632e-04 1.74350669e+02] [ 9.99716005e-01 2.37227542e-02 2.26704331e-03 1.13090740e+02] [-2.26958537e-03 8.02336017e-05 9.99997421e-01 -6.02697465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.11, Z:-0.61 [[ 2.08793349e-02 -9.99781994e-01 1.33399153e-04 1.74343346e+02] [ 9.99779427e-01 2.08795838e-02 2.26708170e-03 1.13113479e+02] [-2.26937278e-03 8.60345707e-05 9.99997421e-01 -6.09923785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.14, Z:-0.61 [[ 3.06346092e-02 -9.99530646e-01 9.68680238e-05 1.74340477e+02] [ 9.99528070e-01 3.06347502e-02 2.26920681e-03 1.13142448e+02] [-2.27110928e-03 2.73060449e-05 9.99997421e-01 -6.10565141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.17, Z:-0.61 [[ 4.02307714e-02 -9.99190409e-01 1.03848406e-04 1.74344346e+02] [ 9.99187834e-01 4.02309034e-02 2.26880070e-03 1.13173630e+02] [-2.27114182e-03 1.24884612e-05 9.99997421e-01 -6.05732724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.20, Z:-0.61 [[ 4.51107616e-02 -9.98981983e-01 1.32488161e-04 1.74342937e+02] [ 9.98979411e-01 4.51109462e-02 2.26712703e-03 1.13202070e+02] [-2.27079572e-03 3.00811175e-05 9.99997421e-01 -6.05948312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.23, Z:-0.61 [[ 5.01949008e-02 -9.98739433e-01 1.31850240e-04 1.74341566e+02] [ 9.98736860e-01 5.01950708e-02 2.26716413e-03 1.13229041e+02] [-2.27092445e-03 1.78836164e-05 9.99997421e-01 -6.06788119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.26, Z:-0.61 [[ 6.02114661e-02 -9.98185635e-01 1.31384089e-04 1.74337721e+02] [ 9.98183060e-01 6.02116092e-02 2.26719115e-03 1.13257770e+02] [-2.27098848e-03 -5.36553023e-06 9.99997421e-01 -6.06513553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.28, Z:-0.61 [[ 6.46280671e-02 -9.97909413e-01 1.30743021e-04 1.74336681e+02] [ 9.97906837e-01 6.46281973e-02 2.26722811e-03 1.13284595e+02] [-2.27093796e-03 -1.60572156e-05 9.99997421e-01 -6.06397447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.31, Z:-0.61 [[ 6.85684288e-02 -9.97646407e-01 1.30274404e-04 1.74336050e+02] [ 9.97643831e-01 6.85685478e-02 2.26725504e-03 1.13312373e+02] [-2.27085157e-03 -2.54946600e-05 9.99997421e-01 -6.05650834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.34, Z:-0.60 [[ 7.18956602e-02 -9.97412150e-01 1.29641550e-04 1.74335343e+02] [ 9.97409574e-01 7.18957692e-02 2.26729123e-03 1.13340847e+02] [-2.27074450e-03 -3.37026766e-05 9.99997421e-01 -6.04835861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.37, Z:-0.60 [[ 7.16077334e-02 -9.97432863e-01 1.28987202e-04 1.74336900e+02] [ 9.97430286e-01 7.16078416e-02 2.26732845e-03 1.13369407e+02] [-2.27074440e-03 -3.37025098e-05 9.99997421e-01 -6.04900545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.40, Z:-0.60 [[ 7.65730423e-02 -9.97063966e-01 1.28332677e-04 1.74335085e+02] [ 9.97061389e-01 7.65731362e-02 2.26736550e-03 1.13397274e+02] [-2.27053527e-03 -4.56635165e-05 9.99997421e-01 -6.03899409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.42, Z:-0.60 [[ 7.78877070e-02 -9.96962130e-01 1.27683186e-04 1.74335638e+02] [ 9.96959553e-01 7.78877960e-02 2.26740207e-03 1.13424789e+02] [-2.27045896e-03 -4.93077757e-05 9.99997421e-01 -6.03774478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.45, Z:-0.60 [[ 7.84314722e-02 -9.96919499e-01 1.26997937e-04 1.74336400e+02] [ 9.96916922e-01 7.84315583e-02 2.26744045e-03 1.13453208e+02] [-2.27041625e-03 -5.12323000e-05 9.99997421e-01 -6.03503493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.48, Z:-0.60 [[ 7.85898481e-02 -9.96907027e-01 1.26349312e-04 1.74337338e+02] [ 9.96904449e-01 7.85899323e-02 2.26747660e-03 1.13479783e+02] [-2.27039313e-03 -5.22424497e-05 9.99997421e-01 -6.03413480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.51, Z:-0.60 [[ 7.80178865e-02 -9.96951951e-01 1.25876288e-04 1.74338306e+02] [ 9.96949374e-01 7.80179711e-02 2.26750285e-03 1.13508261e+02] [-2.27041201e-03 -5.14134939e-05 9.99997421e-01 -6.03796170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.54, Z:-0.60 [[ 7.68737719e-02 -9.97040825e-01 1.25235291e-04 1.74339941e+02] [ 9.97038248e-01 7.68738580e-02 2.26753826e-03 1.13536011e+02] [-2.27045553e-03 -4.94498440e-05 9.99997421e-01 -6.04904936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.56, Z:-0.61 [[ 7.58322405e-02 -9.97120582e-01 1.24593966e-04 1.74341529e+02] [ 9.97118005e-01 7.58323278e-02 2.26757349e-03 1.13564143e+02] [-2.27049245e-03 -4.77202915e-05 9.99997421e-01 -6.05507853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:113.59, Z:-0.61 [[ 7.49245558e-02 -9.97189198e-01 1.23946350e-04 1.74343429e+02] [ 9.97186620e-01 7.49246440e-02 2.26760889e-03 1.13591771e+02] [-2.27052173e-03 -4.63019474e-05 9.99997421e-01 -6.06058346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.62, Z:-0.61 [[ 7.34378572e-02 -9.97299787e-01 1.23289360e-04 1.74345554e+02] [ 9.97297210e-01 7.34379478e-02 2.26764461e-03 1.13619280e+02] [-2.27057561e-03 -4.35748266e-05 9.99997421e-01 -6.07589823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.65, Z:-0.61 [[ 7.26099077e-02 -9.97360409e-01 1.22637122e-04 1.74347621e+02] [ 9.97357832e-01 7.26099989e-02 2.26767989e-03 1.13647023e+02] [-2.27059882e-03 -4.23429327e-05 9.99997421e-01 -6.08088294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.68, Z:-0.61 [[ 7.19289125e-02 -9.97409754e-01 1.21983243e-04 1.74350050e+02] [ 9.97407177e-01 7.19290040e-02 2.26771506e-03 1.13675450e+02] [-2.27061525e-03 -4.14473162e-05 9.99997421e-01 -6.08114627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:113.70, Z:-0.61 [[ 7.08959632e-02 -9.97483708e-01 1.21321646e-04 1.74352108e+02] [ 9.97481131e-01 7.08960559e-02 2.26775045e-03 1.13702244e+02] [-2.27064536e-03 -3.97582999e-05 9.99997421e-01 -6.08971639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:113.73, Z:-0.61 [[ 6.85281169e-02 -9.97649178e-01 1.20624341e-04 1.74355640e+02] [ 9.97646601e-01 6.85282141e-02 2.26778754e-03 1.13730527e+02] [-2.27072255e-03 -3.50667457e-05 9.99997421e-01 -6.09234088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:113.76, Z:-0.61 [[ 6.68161146e-02 -9.97765299e-01 1.19962217e-04 1.74358325e+02] [ 9.97762723e-01 6.68162147e-02 2.26782257e-03 1.13757504e+02] [-2.27077008e-03 -3.18332645e-05 9.99997421e-01 -6.09438052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:113.79, Z:-0.61 [[ 6.48744930e-02 -9.97893424e-01 1.19266264e-04 1.74361249e+02] [ 9.97890848e-01 6.48745966e-02 2.26785917e-03 1.13785444e+02] [-2.27081910e-03 -2.81115005e-05 9.99997421e-01 -6.09009712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:113.81, Z:-0.61 [[ 6.28186503e-02 -9.98024951e-01 1.18614447e-04 1.74364338e+02] [ 9.98022375e-01 6.28187576e-02 2.26789326e-03 1.13813907e+02] [-2.27086527e-03 -2.40861210e-05 9.99997421e-01 -6.08198439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:113.84, Z:-0.61 [[ 5.87165185e-02 -9.98274690e-01 1.17966902e-04 1.74368583e+02] [ 9.98272114e-01 5.87166350e-02 2.26792694e-03 1.13841432e+02] [-2.27094068e-03 -1.54017058e-05 9.99997421e-01 -6.05899621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:113.87, Z:-0.61 [[ 5.66073815e-02 -9.98396510e-01 1.17316687e-04 1.74371207e+02] [ 9.98393934e-01 5.66075020e-02 2.26796058e-03 1.13868473e+02] [-2.27096493e-03 -1.12550409e-05 9.99997421e-01 -6.05327523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:113.90, Z:-0.60 [[ 5.46105433e-02 -9.98507724e-01 1.16842302e-04 1.74373775e+02] [ 9.98505148e-01 5.46106678e-02 2.26798501e-03 1.13896588e+02] [-2.27098139e-03 -7.18825338e-06 9.99997421e-01 -6.04833067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:113.92, Z:-0.60 [[ 5.27377621e-02 -9.98608389e-01 1.16200535e-04 1.74376297e+02] [ 9.98605814e-01 5.27378900e-02 2.26801790e-03 1.13924123e+02] [-2.27098987e-03 -3.57165843e-06 9.99997421e-01 -6.04645037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:113.95, Z:-0.60 [[ 5.13676020e-02 -9.98679807e-01 1.15559234e-04 1.74378605e+02] [ 9.98677231e-01 5.13677320e-02 2.26805057e-03 1.13952372e+02] [-2.27099232e-03 -1.09794289e-06 9.99997421e-01 -6.04945545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:113.98, Z:-0.61 [[ 4.94181443e-02 -9.98778170e-01 1.14921526e-04 1.74381455e+02] [ 9.98775595e-01 4.94182779e-02 2.26808288e-03 1.13980690e+02] [-2.27099090e-03 2.69636848e-06 9.99997421e-01 -6.05734711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:114.01, Z:-0.61 [[ 4.85731277e-02 -9.98819622e-01 1.14283338e-04 1.74383371e+02] [ 9.98817047e-01 4.85732619e-02 2.26811504e-03 1.14008361e+02] [-2.27098892e-03 3.97870516e-06 9.99997421e-01 -6.06152359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:114.04, Z:-0.61 [[ 4.75529306e-02 -9.98868713e-01 1.13620950e-04 1.74384995e+02] [ 9.98866138e-01 4.75530660e-02 2.26814822e-03 1.14035494e+02] [-2.27098532e-03 5.63502445e-06 9.99997421e-01 -6.07048162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:114.06, Z:-0.61 [[ 4.70174654e-02 -9.98894061e-01 1.12925263e-04 1.74386765e+02] [ 9.98891486e-01 4.70176006e-02 2.26818286e-03 1.14063154e+02] [-2.27098386e-03 6.15587463e-06 9.99997421e-01 -6.07581077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:114.09, Z:-0.61 [[ 4.60673025e-02 -9.98938332e-01 1.12271395e-04 1.74389105e+02] [ 9.98935757e-01 4.60674386e-02 2.26821522e-03 1.14090402e+02] [-2.27097919e-03 7.66135404e-06 9.99997421e-01 -6.08626367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:114.12, Z:-0.61 [[ 4.56903662e-02 -9.98955644e-01 1.11582336e-04 1.74391182e+02] [ 9.98953069e-01 4.56905018e-02 2.26824912e-03 1.14117617e+02] [-2.27097851e-03 7.82838414e-06 9.99997421e-01 -6.08625233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:114.15, Z:-0.61 [[ 4.51206160e-02 -9.98981540e-01 1.10899966e-04 1.74393160e+02] [ 9.98978965e-01 4.51207515e-02 2.26828248e-03 1.14145682e+02] [-2.27097622e-03 8.44043034e-06 9.99997421e-01 -6.08134318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:114.17, Z:-0.61 [[ 4.48774591e-02 -9.98992493e-01 1.10254232e-04 1.74394926e+02] [ 9.98989918e-01 4.48775938e-02 2.26831387e-03 1.14172606e+02] [-2.27097647e-03 8.34670300e-06 9.99997421e-01 -6.07582432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:114.20, Z:-0.61 [[ 4.46015123e-02 -9.99004851e-01 1.09573682e-04 1.74396501e+02] [ 9.99002276e-01 4.46016462e-02 2.26834674e-03 1.14200802e+02] [-2.27097657e-03 8.29266277e-06 9.99997421e-01 -6.06782119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:114.23, Z:-0.61 [[ 4.43258658e-02 -9.99017120e-01 1.08931813e-04 1.74398029e+02] [ 9.99014545e-01 4.43259989e-02 2.26837757e-03 1.14228781e+02] [-2.27097653e-03 8.27666600e-06 9.99997421e-01 -6.06755419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:114.26, Z:-0.61 [[ 4.39680777e-02 -9.99032931e-01 1.08291981e-04 1.74399970e+02] [ 9.99030355e-01 4.39682102e-02 2.26840811e-03 1.14256497e+02] [-2.27097581e-03 8.44943204e-06 9.99997421e-01 -6.06579543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:114.28, Z:-0.61 [[ 4.33779283e-02 -9.99058729e-01 1.07656731e-04 1.74401777e+02] [ 9.99056154e-01 4.33780609e-02 2.26843826e-03 1.14284396e+02] [-2.27097298e-03 9.15496768e-06 9.99997421e-01 -6.06779940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:114.31, Z:-0.61 [[ 4.26064670e-02 -9.99091926e-01 1.07023548e-04 1.74403662e+02] [ 9.99089351e-01 4.26066002e-02 2.26846813e-03 1.14312311e+02] [-2.27096810e-03 1.02746747e-05 9.99997421e-01 -6.06513600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.34, Z:-0.61 [[ 4.25692593e-02 -9.99093513e-01 1.06377761e-04 1.74405305e+02] [ 9.99090937e-01 4.25693911e-02 2.26849841e-03 1.14339362e+02] [-2.27097049e-03 9.71276000e-06 9.99997421e-01 -6.06469281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.37, Z:-0.61 [[ 4.22516031e-02 -9.99106997e-01 1.05696982e-04 1.74406530e+02] [ 9.99104421e-01 4.22517341e-02 2.26853013e-03 1.14367475e+02] [-2.27097021e-03 9.75328738e-06 9.99997421e-01 -6.06890740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.40, Z:-0.61 [[ 4.23926878e-02 -9.99101020e-01 1.05063238e-04 1.74407835e+02] [ 9.99098445e-01 4.23928171e-02 2.26855948e-03 1.14395141e+02] [-2.27097402e-03 8.79818384e-06 9.99997421e-01 -6.07495505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.42, Z:-0.61 [[ 4.20241891e-02 -9.99116588e-01 1.04411385e-04 1.74408894e+02] [ 9.99114013e-01 4.20243178e-02 2.26858949e-03 1.14422414e+02] [-2.27097320e-03 8.98324453e-06 9.99997421e-01 -6.08839973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.45, Z:-0.61 [[ 4.19688462e-02 -9.99118914e-01 1.03724847e-04 1.74410894e+02] [ 9.99116339e-01 4.19689736e-02 2.26862088e-03 1.14449231e+02] [-2.27097525e-03 8.42178880e-06 9.99997421e-01 -6.11511881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.48, Z:-0.61 [[ 4.18802089e-02 -9.99122634e-01 1.03045689e-04 1.74412652e+02] [ 9.99120058e-01 4.18803349e-02 2.26865172e-03 1.14477228e+02] [-2.27097687e-03 7.94340640e-06 9.99997421e-01 -6.12188231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.50, Z:-0.61 [[ 4.24646060e-02 -9.99097967e-01 1.02414130e-04 1.74413562e+02] [ 9.99095391e-01 4.24647291e-02 2.26868023e-03 1.14504474e+02] [-2.27098280e-03 5.98287294e-06 9.99997421e-01 -6.13158529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:174.41, Y:114.53, Z:-0.61 [[ 4.50573275e-02 -9.98984398e-01 1.01953099e-04 1.74414791e+02] [ 9.98981822e-01 4.50574428e-02 2.26870095e-03 1.14530212e+02] [-2.27099060e-03 -3.72309343e-07 9.99997421e-01 -6.14858104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.56, Z:-0.61 [[ 4.63997543e-02 -9.98922947e-01 9.37221975e-05 1.74415111e+02] [ 9.98920370e-01 4.63998475e-02 2.26906775e-03 1.14557812e+02] [-2.27097254e-03 -1.16631740e-05 9.99997421e-01 -6.14518050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.58, Z:-0.62 [[ 4.29046018e-02 -9.99079169e-01 1.00538644e-04 1.74409807e+02] [ 9.99076593e-01 4.29047195e-02 2.26876569e-03 1.14579822e+02] [-2.27099012e-03 3.10531716e-06 9.99997421e-01 -6.17963331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.61, Z:-0.62 [[ 5.02198470e-02 -9.98738186e-01 5.90059234e-05 1.74416565e+02] [ 9.98735606e-01 5.02198515e-02 2.27057530e-03 1.14613730e+02] [-2.27067352e-03 -5.50966274e-05 9.99997421e-01 -6.15246033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.64, Z:-0.62 [[ 5.27586309e-02 -9.98607289e-01 9.97762412e-05 1.74417293e+02] [ 9.98604712e-01 5.27587215e-02 2.26878231e-03 1.14640625e+02] [-2.27088661e-03 -2.00608239e-05 9.99997421e-01 -6.15826737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:114.66, Z:-0.62 [[ 4.61572454e-02 -9.98934181e-01 9.90692322e-05 1.74410196e+02] [ 9.98931605e-01 4.61573513e-02 2.26881318e-03 1.14660428e+02] [-2.27096781e-03 -5.75877946e-06 9.99997421e-01 -6.20169225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.70, Z:-0.62 [[ 5.33465585e-02 -9.98576058e-01 4.27480387e-05 1.74419681e+02] [ 9.98573478e-01 5.33465179e-02 2.27122708e-03 1.14695988e+02] [-2.27027344e-03 -7.84750905e-05 9.99997420e-01 -6.16033238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.72, Z:-0.62 [[ 5.31903404e-02 -9.98584387e-01 9.87528842e-05 1.74420466e+02] [ 9.98581810e-01 5.31904275e-02 2.26878938e-03 1.14722671e+02] [-2.27083036e-03 -2.20648455e-05 9.99997421e-01 -6.16260337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.75, Z:-0.62 [[ 5.29533747e-02 -9.98596981e-01 9.80747620e-05 1.74421873e+02] [ 9.98594404e-01 5.29534609e-02 2.26881869e-03 1.14750659e+02] [-2.27082889e-03 -2.22046977e-05 9.99997421e-01 -6.15954928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.78, Z:-0.62 [[ 5.23875457e-02 -9.98626825e-01 9.74346484e-05 1.74423097e+02] [ 9.98624248e-01 5.23876319e-02 2.26884618e-03 1.14778642e+02] [-2.27083503e-03 -2.15586804e-05 9.99997421e-01 -6.15811732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:114.81, Z:-0.62 [[ 5.17718760e-02 -9.98658933e-01 9.67820580e-05 1.74424229e+02] [ 9.98656355e-01 5.17719623e-02 2.26887402e-03 1.14805406e+02] [-2.27084190e-03 -2.08118469e-05 9.99997421e-01 -6.16268793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:114.83, Z:-0.62 [[ 5.11791751e-02 -9.98689483e-01 9.60933829e-05 1.74425569e+02] [ 9.98686906e-01 5.11792614e-02 2.26890318e-03 1.14833346e+02] [-2.27084774e-03 -2.01533902e-05 9.99997421e-01 -6.16318176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:114.86, Z:-0.62 [[ 5.03217215e-02 -9.98733055e-01 9.54294224e-05 1.74426857e+02] [ 9.98730478e-01 5.03218085e-02 2.26893111e-03 1.14860318e+02] [-2.27085868e-03 -1.88682468e-05 9.99997421e-01 -6.17440821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:114.89, Z:-0.62 [[ 4.98280190e-02 -9.98757808e-01 9.49478727e-05 1.74427968e+02] [ 9.98755231e-01 4.98281061e-02 2.26895126e-03 1.14888004e+02] [-2.27086386e-03 -1.82276621e-05 9.99997421e-01 -6.17886258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:114.91, Z:-0.62 [[ 4.89913721e-02 -9.98799197e-01 9.42979302e-05 1.74428985e+02] [ 9.98796620e-01 4.89914599e-02 2.26897827e-03 1.14914810e+02] [-2.27087347e-03 -1.69759048e-05 9.99997421e-01 -6.18723112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:114.94, Z:-0.62 [[ 4.82586789e-02 -9.98834867e-01 9.36134915e-05 1.74430492e+02] [ 9.98832290e-01 4.82587671e-02 2.26900651e-03 1.14943128e+02] [-2.27088049e-03 -1.59950786e-05 9.99997421e-01 -6.19191908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:114.97, Z:-0.62 [[ 4.70793200e-02 -9.98891150e-01 9.29707275e-05 1.74433450e+02] [ 9.98888573e-01 4.70794097e-02 2.26903285e-03 1.14970961e+02] [-2.27089384e-03 -1.39571262e-05 9.99997421e-01 -6.19454305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:115.00, Z:-0.62 [[ 4.61721114e-02 -9.98933495e-01 9.23315819e-05 1.74435333e+02] [ 9.98930918e-01 4.61722020e-02 2.26905885e-03 1.14999312e+02] [-2.27090204e-03 -1.25343662e-05 9.99997421e-01 -6.19562999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:115.03, Z:-0.62 [[ 4.61082839e-02 -9.98936443e-01 9.16929641e-05 1.74437444e+02] [ 9.98933866e-01 4.61083732e-02 2.26908466e-03 1.15027053e+02] [-2.27089917e-03 -1.30283925e-05 9.99997421e-01 -6.19671390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:115.06, Z:-0.62 [[ 4.54889693e-02 -9.98964837e-01 9.10577537e-05 1.74439082e+02] [ 9.98962260e-01 4.54890588e-02 2.26911015e-03 1.15055130e+02] [-2.27090338e-03 -1.22562227e-05 9.99997421e-01 -6.19527152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:115.08, Z:-0.62 [[ 4.60226706e-02 -9.98940391e-01 9.04130568e-05 1.74442002e+02] [ 9.98937814e-01 4.60227573e-02 2.26913584e-03 1.15081861e+02] [-2.27089250e-03 -1.41146700e-05 9.99997421e-01 -6.18995155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:115.11, Z:-0.62 [[ 4.65072490e-02 -9.98917948e-01 8.97353953e-05 1.74444075e+02] [ 9.98915371e-01 4.65073328e-02 2.26916264e-03 1.15110349e+02] [-2.27088064e-03 -1.58944461e-05 9.99997421e-01 -6.18664280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:115.14, Z:-0.62 [[ 4.62281906e-02 -9.98930902e-01 8.91011662e-05 1.74445120e+02] [ 9.98928325e-01 4.62282737e-02 2.26918754e-03 1.15138937e+02] [-2.27088055e-03 -1.58947555e-05 9.99997421e-01 -6.18728962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:115.17, Z:-0.62 [[ 4.66666612e-02 -9.98910514e-01 8.84672400e-05 1.74446834e+02] [ 9.98907937e-01 4.66667417e-02 2.26921226e-03 1.15166971e+02] [-2.27086846e-03 -1.75259312e-05 9.99997421e-01 -6.18409546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:115.19, Z:-0.62 [[ 4.72365092e-02 -9.98883729e-01 8.78326153e-05 1.74448710e+02] [ 9.98881152e-01 4.72365868e-02 2.26923682e-03 1.15194597e+02] [-2.27085265e-03 -1.94564818e-05 9.99997421e-01 -6.18112033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:115.22, Z:-0.62 [[ 4.88687788e-02 -9.98805204e-01 8.71876485e-05 1.74451735e+02] [ 9.98802626e-01 4.88688508e-02 2.26926160e-03 1.15222237e+02] [-2.27081105e-03 -2.38127908e-05 9.99997421e-01 -6.17726832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:115.25, Z:-0.62 [[ 4.99016575e-02 -9.98754132e-01 8.65458398e-05 1.74453770e+02] [ 9.98751555e-01 4.99017253e-02 2.26928608e-03 1.15248964e+02] [-2.27077763e-03 -2.68033444e-05 9.99997421e-01 -6.17395849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:115.28, Z:-0.62 [[ 5.04596106e-02 -9.98726099e-01 8.58686530e-05 1.74455397e+02] [ 9.98723521e-01 5.04596755e-02 2.26931170e-03 1.15277214e+02] [-2.27075373e-03 -2.87495413e-05 9.99997421e-01 -6.16895466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:115.30, Z:-0.62 [[ 5.10565877e-02 -9.98695758e-01 8.52183700e-05 1.74457150e+02] [ 9.98693180e-01 5.10566495e-02 2.26933612e-03 1.15304870e+02] [-2.27072732e-03 -3.07575537e-05 9.99997421e-01 -6.17356488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:115.33, Z:-0.62 [[ 5.14864020e-02 -9.98673692e-01 8.45612927e-05 1.74459417e+02] [ 9.98671114e-01 5.14864613e-02 2.26936060e-03 1.15332244e+02] [-2.27070449e-03 -3.23922920e-05 9.99997421e-01 -6.18359757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:115.36, Z:-0.62 [[ 5.14440164e-02 -9.98675876e-01 8.38686919e-05 1.74461065e+02] [ 9.98673299e-01 5.14440741e-02 2.26938620e-03 1.15359546e+02] [-2.27069580e-03 -3.29889176e-05 9.99997421e-01 -6.18839942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:115.39, Z:-0.62 [[ 5.14163147e-02 -9.98677303e-01 8.31847052e-05 1.74462697e+02] [ 9.98674725e-01 5.14163710e-02 2.26941127e-03 1.15386949e+02] [-2.27068658e-03 -3.36103016e-05 9.99997421e-01 -6.19392558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:115.41, Z:-0.62 [[ 5.11044600e-02 -9.98693310e-01 8.24889216e-05 1.74464453e+02] [ 9.98690732e-01 5.11045156e-02 2.26943656e-03 1.15414987e+02] [-2.27068667e-03 -3.35974086e-05 9.99997421e-01 -6.18772713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:115.44, Z:-0.62 [[ 5.04048687e-02 -9.98728863e-01 8.18446127e-05 1.74467198e+02] [ 9.98726285e-01 5.04049246e-02 2.26945980e-03 1.15442662e+02] [-2.27070038e-03 -3.26514571e-05 9.99997421e-01 -6.18615810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:115.47, Z:-0.62 [[ 4.93343035e-02 -9.98782319e-01 8.11945257e-05 1.74468862e+02] [ 9.98779741e-01 4.93343607e-02 2.26948306e-03 1.15469433e+02] [-2.27072523e-03 -3.08679187e-05 9.99997421e-01 -6.19073237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:115.50, Z:-0.62 [[ 4.81810359e-02 -9.98838616e-01 8.05106864e-05 1.74470636e+02] [ 9.98836038e-01 4.81810945e-02 2.26950732e-03 1.15497192e+02] [-2.27075064e-03 -2.89302384e-05 9.99997421e-01 -6.19017091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:115.52, Z:-0.62 [[ 4.64287902e-02 -9.98921599e-01 7.98661977e-05 1.74472606e+02] [ 9.98919021e-01 4.64288518e-02 2.26952999e-03 1.15524615e+02] [-2.27079063e-03 -2.55916679e-05 9.99997421e-01 -6.21446465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:115.55, Z:-0.62 [[ 4.46056783e-02 -9.99004668e-01 8.27774488e-05 1.74474408e+02] [ 9.99002090e-01 4.46057513e-02 2.26942799e-03 1.15552458e+02] [-2.27086151e-03 -1.85345306e-05 9.99997421e-01 -6.19252084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.58, Z:-0.62 [[ 3.95762030e-02 -9.99216552e-01 7.87691190e-05 1.74477489e+02] [ 9.99213975e-01 3.95762798e-02 2.26956711e-03 1.15580519e+02] [-2.27090641e-03 -1.11136440e-05 9.99997421e-01 -6.18894371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.61, Z:-0.62 [[ 3.65607926e-02 -9.99331428e-01 7.81272247e-05 1.74479604e+02] [ 9.99328850e-01 3.65608758e-02 2.26958920e-03 1.15608325e+02] [-2.27092822e-03 -4.90319062e-06 9.99997421e-01 -6.18516768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.64, Z:-0.62 [[ 3.34202482e-02 -9.99441384e-01 7.74913353e-05 1.74481500e+02] [ 9.99438807e-01 3.34203380e-02 2.26961092e-03 1.15636887e+02] [-2.27093286e-03 1.59688776e-06 9.99997421e-01 -6.18268232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.67, Z:-0.62 [[ 3.08188487e-02 -9.99524984e-01 7.68544319e-05 1.74483097e+02] [ 9.99522407e-01 3.08189438e-02 2.26963248e-03 1.15665328e+02] [-2.27092294e-03 6.87026658e-06 9.99997421e-01 -6.17521432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.69, Z:-0.62 [[ 2.70799504e-02 -9.99633268e-01 7.62213814e-05 1.74484000e+02] [ 9.99630692e-01 2.70800536e-02 2.26965374e-03 1.15693737e+02] [-2.27088547e-03 1.47311215e-05 9.99997421e-01 -6.16071097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.72, Z:-0.62 [[ 2.55261805e-02 -9.99674151e-01 7.55742188e-05 1.74484335e+02] [ 9.99671575e-01 2.55262863e-02 2.26967529e-03 1.15721367e+02] [-2.27086485e-03 1.76132572e-05 9.99997421e-01 -6.15874211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.75, Z:-0.62 [[ 2.37628992e-02 -9.99717620e-01 7.48790255e-05 1.74484624e+02] [ 9.99715043e-01 2.37630079e-02 2.26969823e-03 1.15748838e+02] [-2.27083666e-03 2.09230781e-05 9.99997421e-01 -6.16344946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:115.78, Z:-0.62 [[ 2.16000134e-02 -9.99766690e-01 7.41887568e-05 1.74485127e+02] [ 9.99764114e-01 2.16001262e-02 2.26972079e-03 1.15777346e+02] [-2.27079373e-03 2.51452572e-05 9.99997421e-01 -6.16550308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:115.81, Z:-0.62 [[ 1.70838757e-02 -9.99854057e-01 7.35335466e-05 1.74485613e+02] [ 9.99851482e-01 1.70839986e-02 2.26974202e-03 1.15805024e+02] [-2.27066701e-03 3.47466352e-05 9.99997421e-01 -6.17569579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:115.83, Z:-0.62 [[ 1.47618576e-02 -9.99891035e-01 7.28846016e-05 1.74486307e+02] [ 9.99888460e-01 1.47619850e-02 2.26976285e-03 1.15832987e+02] [-2.27059145e-03 3.93705560e-05 9.99997421e-01 -6.17440952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:115.86, Z:-0.62 [[ 1.23245565e-02 -9.99924047e-01 7.22322417e-05 1.74486354e+02] [ 9.99921472e-01 1.23246887e-02 2.26978361e-03 1.15859933e+02] [-2.27050146e-03 4.42524931e-05 9.99997421e-01 -6.18430864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:115.89, Z:-0.62 [[ 8.34404982e-03 -9.99965185e-01 7.15442312e-05 1.74485401e+02] [ 9.99962611e-01 8.34419073e-03 2.26980530e-03 1.15886818e+02] [-2.27032326e-03 5.26021877e-05 9.99997421e-01 -6.19159242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:115.91, Z:-0.62 [[ 6.58769208e-03 -9.99978298e-01 7.08723914e-05 1.74485040e+02] [ 9.99975724e-01 6.58783599e-03 2.26982628e-03 1.15914982e+02] [-2.27024391e-03 5.59177544e-05 9.99997421e-01 -6.18300422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:115.94, Z:-0.62 [[ 5.64592443e-03 -9.99984059e-01 7.02133512e-05 1.74485029e+02] [ 9.99981485e-01 5.64606927e-03 2.26984666e-03 1.15942078e+02] [-2.27020691e-03 5.73966684e-05 9.99997421e-01 -6.18868426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:115.97, Z:-0.62 [[ 5.88278654e-03 -9.99982694e-01 6.97322582e-05 1.74483535e+02] [ 9.99980119e-01 5.88292967e-03 2.26986144e-03 1.15970250e+02] [-2.27023239e-03 5.63777615e-05 9.99997421e-01 -6.16495216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.00, Z:-0.62 [[ 6.67950490e-03 -9.99977689e-01 6.90857560e-05 1.74482582e+02] [ 9.99975115e-01 6.67964452e-03 2.26988112e-03 1.15997431e+02] [-2.27029195e-03 5.39223548e-05 9.99997421e-01 -6.16157193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.03, Z:-0.62 [[ 8.63495396e-03 -9.99962716e-01 6.84042151e-05 1.74481739e+02] [ 9.99960141e-01 8.63508700e-03 2.26990166e-03 1.16025229e+02] [-2.27040770e-03 4.88009922e-05 9.99997421e-01 -6.15493625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.05, Z:-0.62 [[ 1.09493043e-02 -9.99940052e-01 6.77639562e-05 1.74480380e+02] [ 9.99937477e-01 1.09494299e-02 2.26992077e-03 1.16052211e+02] [-2.27052667e-03 4.29056661e-05 9.99997421e-01 -6.15479188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.08, Z:-0.62 [[ 1.62601110e-02 -9.99867793e-01 6.70889526e-05 1.74476756e+02] [ 9.99865217e-01 1.62602214e-02 2.26994072e-03 1.16080566e+02] [-2.27073150e-03 3.01704222e-05 9.99997421e-01 -6.15320990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.11, Z:-0.62 [[ 1.89659323e-02 -9.99820128e-01 6.64354811e-05 1.74475347e+02] [ 9.99817552e-01 1.89660342e-02 2.26995985e-03 1.16108081e+02] [-2.27081156e-03 2.33714554e-05 9.99997421e-01 -6.16562116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.14, Z:-0.62 [[ 2.15278041e-02 -9.99768248e-01 6.59587765e-05 1.74474239e+02] [ 9.99765671e-01 2.15278984e-02 2.26997370e-03 1.16136051e+02] [-2.27086758e-03 1.70757713e-05 9.99997421e-01 -6.16443287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.16, Z:-0.62 [[ 2.38339641e-02 -9.99715929e-01 6.53193588e-05 1.74473365e+02] [ 9.99713352e-01 2.38340510e-02 2.26999210e-03 1.16164461e+02] [-2.27090408e-03 1.11977249e-05 9.99997421e-01 -6.16572245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.19, Z:-0.62 [[ 2.83588383e-02 -9.99597805e-01 6.46651378e-05 1.74471294e+02] [ 9.99595228e-01 2.83589120e-02 2.27001073e-03 1.16191443e+02] [-2.27093158e-03 2.64095902e-07 9.99997421e-01 -6.19013876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.22, Z:-0.62 [[ 2.99038313e-02 -9.99552778e-01 6.39883829e-05 1.74470362e+02] [ 9.99550201e-01 2.99038995e-02 2.27002981e-03 1.16219308e+02] [-2.27092811e-03 -3.92298752e-06 9.99997421e-01 -6.18540538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.25, Z:-0.62 [[ 3.12561847e-02 -9.99511404e-01 6.33451721e-05 1.74469599e+02] [ 9.99508826e-01 3.12562479e-02 2.27004776e-03 1.16247715e+02] [-2.27091856e-03 -7.63897335e-06 9.99997421e-01 -6.19364968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.28, Z:-0.62 [[ 3.34544525e-02 -9.99440241e-01 6.27071358e-05 1.74467708e+02] [ 9.99437663e-01 3.34545086e-02 2.27006538e-03 1.16275774e+02] [-2.27089253e-03 -1.32719213e-05 9.99997421e-01 -6.19788304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.30, Z:-0.62 [[ 3.40600427e-02 -9.99419787e-01 6.20546897e-05 1.74467458e+02] [ 9.99417208e-01 3.40600958e-02 2.27008322e-03 1.16302862e+02] [-2.27087968e-03 -1.53006066e-05 9.99997421e-01 -6.20683298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.33, Z:-0.62 [[ 3.46100300e-02 -9.99400892e-01 6.13660084e-05 1.74467525e+02] [ 9.99398314e-01 3.46100801e-02 2.27010184e-03 1.16331100e+02] [-2.27086568e-03 -1.72392073e-05 9.99997421e-01 -6.20162745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.36, Z:-0.62 [[ 3.46238230e-02 -9.99400414e-01 6.07204771e-05 1.74467642e+02] [ 9.99397836e-01 3.46238716e-02 2.27011910e-03 1.16358255e+02] [-2.27086035e-03 -1.79162886e-05 9.99997421e-01 -6.20606280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.39, Z:-0.62 [[ 3.49047876e-02 -9.99390640e-01 6.02494063e-05 1.74467789e+02] [ 9.99388062e-01 3.49048344e-02 2.27013161e-03 1.16386182e+02] [-2.27085127e-03 -1.90259241e-05 9.99997421e-01 -6.19427981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.41, Z:-0.62 [[ 3.51501439e-02 -9.99382041e-01 5.96035455e-05 1.74468228e+02] [ 9.99379463e-01 3.51501886e-02 2.27014856e-03 1.16414363e+02] [-2.27084078e-03 -2.02294894e-05 9.99997421e-01 -6.19193908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.44, Z:-0.62 [[ 3.48675638e-02 -9.99391940e-01 5.89611706e-05 1.74468897e+02] [ 9.99389362e-01 3.48676078e-02 2.27016525e-03 1.16442959e+02] [-2.27084068e-03 -2.02299650e-05 9.99997421e-01 -6.19258590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.47, Z:-0.62 [[ 3.49125842e-02 -9.99390368e-01 5.83192672e-05 1.74469302e+02] [ 9.99387790e-01 3.49126266e-02 2.27018174e-03 1.16470827e+02] [-2.27083384e-03 -2.09743473e-05 9.99997421e-01 -6.19581432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.50, Z:-0.62 [[ 3.51177349e-02 -9.99383180e-01 5.76678457e-05 1.74469701e+02] [ 9.99380602e-01 3.51177753e-02 2.27019828e-03 1.16498893e+02] [-2.27082315e-03 -2.20920950e-05 9.99997421e-01 -6.20043426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.53, Z:-0.62 [[ 3.59750949e-02 -9.99352685e-01 5.70184374e-05 1.74470476e+02] [ 9.99350107e-01 3.59751316e-02 2.27021459e-03 1.16526778e+02] [-2.27079630e-03 -2.46898040e-05 9.99997421e-01 -6.20997516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.55, Z:-0.62 [[ 3.63797552e-02 -9.99338036e-01 5.63735897e-05 1.74471421e+02] [ 9.99335458e-01 3.63797894e-02 2.27023061e-03 1.16553514e+02] [-2.27077866e-03 -2.62543067e-05 9.99997421e-01 -6.21358104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:174.47, Y:116.58, Z:-0.63 [[ 3.42141397e-02 -9.99414523e-01 5.56928635e-05 1.74470170e+02] [ 9.99411945e-01 3.42141780e-02 2.27024731e-03 1.16579693e+02] [-2.27082362e-03 -2.20144455e-05 9.99997421e-01 -6.25549299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.61, Z:-0.62 [[ 3.65803954e-02 -9.99330712e-01 4.39211614e-05 1.74473402e+02] [ 9.99328134e-01 3.65804008e-02 2.27053110e-03 1.16607815e+02] [-2.27061812e-03 -3.91652731e-05 9.99997421e-01 -6.21751199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:116.64, Z:-0.62 [[ 3.63958317e-02 -9.99337451e-01 5.44800364e-05 1.74474495e+02] [ 9.99334872e-01 3.63958615e-02 2.27027772e-03 1.16636212e+02] [-2.27075640e-03 -2.81848454e-05 9.99997421e-01 -6.22177494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.66, Z:-0.62 [[ 3.58950545e-02 -9.99355563e-01 5.38323749e-05 1.74476151e+02] [ 9.99352985e-01 3.58950842e-02 2.27029308e-03 1.16663067e+02] [-2.27076233e-03 -2.76947492e-05 9.99997421e-01 -6.22909380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.69, Z:-0.62 [[ 3.49477968e-02 -9.99389138e-01 5.31490432e-05 1.74477377e+02] [ 9.99386559e-01 3.49478273e-02 2.27030907e-03 1.16690942e+02] [-2.27077967e-03 -2.62258607e-05 9.99997421e-01 -6.23225608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.72, Z:-0.62 [[ 3.27658422e-02 -9.99463054e-01 5.25043289e-05 1.74479723e+02] [ 9.99460476e-01 3.27658769e-02 2.27032398e-03 1.16718009e+02] [-2.27082529e-03 -2.19130757e-05 9.99997421e-01 -6.23289042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.75, Z:-0.62 [[ 3.11384194e-02 -9.99515081e-01 5.20344572e-05 1.74481015e+02] [ 9.99512502e-01 3.11384572e-02 2.27033475e-03 1.16745946e+02] [-2.27085409e-03 -1.86855451e-05 9.99997421e-01 -6.23155886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.77, Z:-0.62 [[ 2.90198059e-02 -9.99578835e-01 5.14025876e-05 1.74482142e+02] [ 9.99576257e-01 2.90198478e-02 2.27034906e-03 1.16773666e+02] [-2.27088456e-03 -1.45042828e-05 9.99997421e-01 -6.22275558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.80, Z:-0.62 [[ 2.67508098e-02 -9.99642132e-01 5.07497329e-05 1.74483545e+02] [ 9.99639554e-01 2.67508561e-02 2.27036365e-03 1.16800825e+02] [-2.27090876e-03 -1.00026258e-05 9.99997421e-01 -6.21928018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:116.83, Z:-0.62 [[ 2.14267808e-02 -9.99770419e-01 5.00615486e-05 1.74485841e+02] [ 9.99767841e-01 2.14268392e-02 2.27037883e-03 1.16828550e+02] [-2.27093025e-03 1.40301701e-06 9.99997421e-01 -6.20412293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.85, Z:-0.63 [[ 1.18241590e-02 -9.99930091e-01 4.94213145e-05 1.74480507e+02] [ 9.99927514e-01 1.18242407e-02 2.27039276e-03 1.16850303e+02] [-2.27081841e-03 2.25722472e-05 9.99997421e-01 -6.25873298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:116.88, Z:-0.63 [[ 1.18707534e-02 -9.99929540e-01 7.16590842e-06 1.74481186e+02] [ 9.99926961e-01 1.18707391e-02 2.27128738e-03 1.16877763e+02] [-2.27121241e-03 -1.97965074e-05 9.99997421e-01 -6.25917470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:116.91, Z:-0.62 [[ 1.60438296e-02 -9.99871289e-01 5.65990381e-06 1.74489881e+02] [ 9.99868710e-01 1.60438010e-02 2.27131901e-03 1.16911199e+02] [-2.27111747e-03 -3.07814944e-05 9.99997421e-01 -6.18855096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:116.94, Z:-0.62 [[ 1.31210581e-02 -9.99913914e-01 4.88826162e-05 1.74490975e+02] [ 9.99911337e-01 1.31211353e-02 2.27038841e-03 1.16938276e+02] [-2.27083435e-03 1.90883839e-05 9.99997421e-01 -6.18714227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:116.96, Z:-0.62 [[ 2.99627544e-03 -9.99995510e-01 4.81919604e-05 1.74486621e+02] [ 9.99992933e-01 2.99637714e-03 2.27040307e-03 1.16962124e+02] [-2.27053727e-03 4.13888669e-05 9.99997421e-01 -6.22728057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:116.99, Z:-0.62 [[ 7.28645154e-04 -9.99999734e-01 1.72098201e-05 1.74486866e+02] [ 9.99997156e-01 7.28682359e-04 2.27104367e-03 1.16990063e+02] [-2.27105561e-03 1.55549862e-05 9.99997421e-01 -6.24579195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.02, Z:-0.62 [[ 4.84322430e-03 -9.99988271e-01 1.53923331e-05 1.74493060e+02] [ 9.99985692e-01 4.84324677e-03 2.27108021e-03 1.17021721e+02] [-2.27112812e-03 4.39276200e-06 9.99997421e-01 -6.21455578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.04, Z:-0.63 [[-4.11353162e-03 -9.99991538e-01 4.62880972e-05 1.74486102e+02] [ 9.99988962e-01 -4.11341593e-03 2.27045033e-03 1.17042726e+02] [-2.27024072e-03 5.56271555e-05 9.99997421e-01 -6.29072087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.07, Z:-0.63 [[-5.83495625e-03 -9.99982977e-01 1.88040286e-08 1.74485698e+02] [ 9.99980397e-01 -5.83494116e-03 2.27136723e-03 1.17069036e+02] [-2.27132845e-03 1.32721321e-05 9.99997420e-01 -6.30958787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.10, Z:-0.62 [[ 5.50314938e-04 -9.99999849e-01 -1.15815298e-05 1.74495786e+02] [ 9.99997269e-01 5.50287210e-04 2.27159564e-03 1.17104885e+02] [-2.27158893e-03 -1.28315912e-05 9.99997420e-01 -6.24752745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.13, Z:-0.63 [[-8.10953511e-04 -9.99999670e-01 4.62161061e-05 1.74496288e+02] [ 9.99997094e-01 -8.10846492e-04 2.27041913e-03 1.17131879e+02] [-2.27038091e-03 4.80571761e-05 9.99997422e-01 -6.25212635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.16, Z:-0.63 [[-2.08086603e-03 -9.99997834e-01 4.55319879e-05 1.74496785e+02] [ 9.99995258e-01 -2.08075729e-03 2.27043285e-03 1.17158735e+02] [-2.27033319e-03 5.02562385e-05 9.99997422e-01 -6.25189613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.19, Z:-0.63 [[-4.06157947e-03 -9.99991751e-01 4.48577351e-05 1.74496771e+02] [ 9.99989175e-01 -4.06146716e-03 2.27044617e-03 1.17187160e+02] [-2.27024526e-03 5.40788470e-05 9.99997422e-01 -6.25470039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.21, Z:-0.63 [[-4.63957450e-03 -9.99989236e-01 4.42166191e-05 1.74497101e+02] [ 9.99986660e-01 -4.63946215e-03 2.27045866e-03 1.17214448e+02] [-2.27022908e-03 5.47499913e-05 9.99997422e-01 -6.25522289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.24, Z:-0.63 [[-9.09010838e-03 -9.99958683e-01 4.35414576e-05 1.74493695e+02] [ 9.99956108e-01 -9.08998610e-03 2.27047161e-03 1.17238987e+02] [-2.26998201e-03 6.41783795e-05 9.99997422e-01 -6.27646731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.27, Z:-0.62 [[-5.09911409e-03 -9.99986999e-01 2.04969655e-05 1.74497921e+02] [ 9.99984421e-01 -5.09905440e-03 2.27090448e-03 1.17270455e+02] [-2.27077044e-03 3.20762472e-05 9.99997421e-01 -6.24279538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.29, Z:-0.62 [[-8.16809907e-03 -9.99966640e-01 4.28132388e-05 1.74494483e+02] [ 9.99964064e-01 -8.16798082e-03 2.27048367e-03 1.17294437e+02] [-2.27005823e-03 6.13572358e-05 9.99997422e-01 -6.24952026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.33, Z:-0.62 [[-2.25568617e-03 -9.99997456e-01 1.51578707e-05 1.74497335e+02] [ 9.99994877e-01 -2.25564593e-03 2.27098861e-03 1.17326334e+02] [-2.27094864e-03 2.02804306e-05 9.99997421e-01 -6.22011327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.35, Z:-0.62 [[-8.77132265e-04 -9.99999614e-01 4.19574937e-05 1.74496342e+02] [ 9.99997038e-01 -8.77034740e-04 2.27049337e-03 1.17354265e+02] [-2.27045570e-03 4.39488924e-05 9.99997422e-01 -6.22113097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:117.38, Z:-0.62 [[ 1.16429036e-03 -9.99999321e-01 4.13245857e-05 1.74495571e+02] [ 9.99996745e-01 1.16438118e-03 2.27050489e-03 1.17382865e+02] [-2.27055147e-03 3.86809242e-05 9.99997422e-01 -6.22554902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.41, Z:-0.62 [[ 3.12989748e-03 -9.99995101e-01 4.06605795e-05 1.74494675e+02] [ 9.99992524e-01 3.12998173e-03 2.27051678e-03 1.17410178e+02] [-2.27063293e-03 3.35537908e-05 9.99997422e-01 -6.22884001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.44, Z:-0.62 [[ 7.27656331e-03 -9.99973525e-01 3.99593402e-05 1.74492575e+02] [ 9.99970947e-01 7.27663529e-03 2.27052912e-03 1.17438495e+02] [-2.27075978e-03 2.34365303e-05 9.99997422e-01 -6.24087104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.46, Z:-0.63 [[ 6.58710037e-03 -9.99978304e-01 3.93055370e-05 1.74489347e+02] [ 9.99975727e-01 6.58717264e-03 2.27054044e-03 1.17463776e+02] [-2.27075009e-03 2.43483051e-05 9.99997422e-01 -6.25221544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.49, Z:-0.63 [[ 1.04715019e-02 -9.99945172e-01 1.97836587e-05 1.74491358e+02] [ 9.99942594e-01 1.04715199e-02 2.27087091e-03 1.17494208e+02] [-2.27095357e-03 -3.99690612e-06 9.99997421e-01 -6.25800179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.52, Z:-0.63 [[ 7.75338467e-03 -9.99969941e-01 3.86508956e-05 1.74486973e+02] [ 9.99967364e-01 7.75345245e-03 2.27054974e-03 1.17517135e+02] [-2.27078117e-03 2.10451886e-05 9.99997422e-01 -6.28465558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.55, Z:-0.63 [[ 9.80361191e-03 -9.99951943e-01 5.72962158e-06 1.74488102e+02] [ 9.99949365e-01 9.80359964e-03 2.27109556e-03 1.17546643e+02] [-2.27104259e-03 -1.65356080e-05 9.99997421e-01 -6.28043998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.58, Z:-0.63 [[ 1.38159391e-02 -9.99904555e-01 1.46902868e-05 1.74490645e+02] [ 9.99901977e-01 1.38159369e-02 2.27094710e-03 1.17578073e+02] [-2.27093331e-03 -1.66864202e-05 9.99997421e-01 -6.28617394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.61, Z:-0.63 [[ 1.41086626e-02 -9.99900467e-01 3.78108711e-05 1.74490849e+02] [ 9.99897889e-01 1.41087121e-02 2.27056209e-03 1.17605283e+02] [-2.27086955e-03 5.77241588e-06 9.99997422e-01 -6.28531299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.63, Z:-0.63 [[ 1.42123466e-02 -9.99898999e-01 3.71285584e-05 1.74490888e+02] [ 9.99896421e-01 1.42123942e-02 2.27057324e-03 1.17633576e+02] [-2.27087160e-03 4.85453885e-06 9.99997422e-01 -6.27793928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.66, Z:-0.63 [[ 1.43397033e-02 -9.99897181e-01 3.64820172e-05 1.74490481e+02] [ 9.99894602e-01 1.43397491e-02 2.27058363e-03 1.17661571e+02] [-2.27087331e-03 3.91867660e-06 9.99997422e-01 -6.26374344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.69, Z:-0.63 [[ 1.44236969e-02 -9.99895972e-01 3.58399973e-05 1.74490187e+02] [ 9.99893394e-01 1.44237411e-02 2.27059376e-03 1.17688559e+02] [-2.27087451e-03 3.08582031e-06 9.99997422e-01 -6.26095678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.72, Z:-0.63 [[ 1.41761521e-02 -9.99899513e-01 3.53713053e-05 1.74489706e+02] [ 9.99896935e-01 1.41761959e-02 2.27060107e-03 1.17716674e+02] [-2.27087433e-03 3.17927366e-06 9.99997422e-01 -6.26149075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.74, Z:-0.63 [[ 1.40711742e-02 -9.99900996e-01 3.47318707e-05 1.74489270e+02] [ 9.99898417e-01 1.40712168e-02 2.27061085e-03 1.17744927e+02] [-2.27087477e-03 2.77818175e-06 9.99997422e-01 -6.26653831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.77, Z:-0.63 [[ 1.49447483e-02 -9.99888320e-01 3.40895258e-05 1.74488859e+02] [ 9.99885742e-01 1.49447872e-02 2.27062049e-03 1.17772745e+02] [-2.27087637e-03 1.51779055e-07 9.99997422e-01 -6.27062472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.80, Z:-0.63 [[ 1.60226399e-02 -9.99871629e-01 3.34496222e-05 1.74489398e+02] [ 9.99869051e-01 1.60226745e-02 2.27062992e-03 1.17801223e+02] [-2.27087439e-03 -2.93624343e-06 9.99997422e-01 -6.27328779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.83, Z:-0.63 [[ 1.70144993e-02 -9.99855242e-01 3.28093185e-05 1.74489530e+02] [ 9.99852664e-01 1.70145299e-02 2.27063917e-03 1.17829643e+02] [-2.27086871e-03 -5.82930393e-06 9.99997422e-01 -6.27483615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.86, Z:-0.63 [[ 1.85113522e-02 -9.99828650e-01 3.21697252e-05 1.74489552e+02] [ 9.99826071e-01 1.85113775e-02 2.27064823e-03 1.17857078e+02] [-2.27085466e-03 -9.86863917e-06 9.99997422e-01 -6.28045493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.89, Z:-0.63 [[ 2.27918375e-02 -9.99740232e-01 3.14948519e-05 1.74488152e+02] [ 9.99737653e-01 2.27918502e-02 2.27065759e-03 1.17885069e+02] [-2.27078557e-03 -2.02658694e-05 9.99997422e-01 -6.28007581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.91, Z:-0.63 [[ 2.50424996e-02 -9.99686387e-01 3.08405272e-05 1.74487660e+02] [ 9.99683809e-01 2.50425050e-02 2.27066648e-03 1.17913587e+02] [-2.27072669e-03 -2.60323886e-05 9.99997422e-01 -6.28221083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.94, Z:-0.63 [[ 2.72763815e-02 -9.99627930e-01 3.01886420e-05 1.74487447e+02] [ 9.99625351e-01 2.72763797e-02 2.27067515e-03 1.17940794e+02] [-2.27065373e-03 -3.17584697e-05 9.99997422e-01 -6.29050037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:117.97, Z:-0.63 [[ 3.17109413e-02 -9.99497081e-01 2.95014794e-05 1.74487504e+02] [ 9.99494503e-01 3.17109265e-02 2.27068407e-03 1.17968724e+02] [-2.27047762e-03 -4.25189629e-05 9.99997422e-01 -6.28026758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:118.00, Z:-0.63 [[ 3.33031046e-02 -9.99445297e-01 2.88566606e-05 1.74487859e+02] [ 9.99442719e-01 3.33030843e-02 2.27069227e-03 1.17996864e+02] [-2.27039372e-03 -4.67805229e-05 9.99997422e-01 -6.27273834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:118.02, Z:-0.63 [[ 3.50047412e-02 -9.99387146e-01 2.82013392e-05 1.74488565e+02] [ 9.99384568e-01 3.50047149e-02 2.27070041e-03 1.18024722e+02] [-2.27029598e-03 -5.13012969e-05 9.99997422e-01 -6.26783418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:118.05, Z:-0.63 [[ 3.77651269e-02 -9.99286643e-01 2.75403837e-05 1.74489545e+02] [ 9.99284065e-01 3.77650921e-02 2.27070842e-03 1.18051647e+02] [-2.27012866e-03 -5.82329252e-05 9.99997422e-01 -6.27248725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:118.08, Z:-0.63 [[ 3.82035895e-02 -9.99269976e-01 2.68439198e-05 1.74489758e+02] [ 9.99267398e-01 3.82035519e-02 2.27071666e-03 1.18078912e+02] [-2.27008451e-03 -5.99252730e-05 9.99997422e-01 -6.27612571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:118.11, Z:-0.63 [[ 3.87080346e-02 -9.99250563e-01 2.63733479e-05 1.74490389e+02] [ 9.99247985e-01 3.87079946e-02 2.27072212e-03 1.18106525e+02] [-2.27004122e-03 -6.15416756e-05 9.99997422e-01 -6.27255756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:118.13, Z:-0.63 [[ 3.87589611e-02 -9.99248589e-01 2.57167820e-05 1.74491119e+02] [ 9.99246011e-01 3.87589195e-02 2.27072956e-03 1.18134515e+02] [-2.27002006e-03 -6.23137266e-05 9.99997422e-01 -6.27364504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:118.16, Z:-0.63 [[ 3.99027721e-02 -9.99203567e-01 1.96089188e-05 1.74493914e+02] [ 9.99200989e-01 3.99027137e-02 2.27079711e-03 1.18162769e+02] [-2.26977102e-03 -7.10178486e-05 9.99997422e-01 -6.28241052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.19, Z:-0.62 [[ 3.74882964e-02 -9.99297066e-01 2.78290844e-05 1.74495099e+02] [ 9.99294488e-01 3.74882629e-02 2.27070656e-03 1.18189017e+02] [-2.27015367e-03 -5.73154701e-05 9.99997422e-01 -6.24637889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.22, Z:-0.62 [[ 3.62284327e-02 -9.99343535e-01 2.44910877e-05 1.74496411e+02] [ 9.99340956e-01 3.62283949e-02 2.27074257e-03 1.18216413e+02] [-2.27013917e-03 -5.77904973e-05 9.99997422e-01 -6.24112204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.24, Z:-0.62 [[ 3.49709627e-02 -9.99388329e-01 2.37955722e-05 1.74497770e+02] [ 9.99385750e-01 3.49709265e-02 2.27074985e-03 1.18244653e+02] [-2.27019305e-03 -5.56293527e-05 9.99997422e-01 -6.23598771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.27, Z:-0.62 [[ 3.32636819e-02 -9.99446610e-01 2.31275145e-05 1.74498991e+02] [ 9.99444032e-01 3.32636486e-02 2.27075666e-03 1.18272019e+02] [-2.27026935e-03 -5.24190708e-05 9.99997422e-01 -6.24200531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.30, Z:-0.62 [[ 3.19710961e-02 -9.99488794e-01 2.24242505e-05 1.74500205e+02] [ 9.99486215e-01 3.19710646e-02 2.27076360e-03 1.18300214e+02] [-2.27031970e-03 -5.01860721e-05 9.99997422e-01 -6.24856885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.33, Z:-0.63 [[ 2.92376133e-02 -9.99572489e-01 1.92702581e-05 1.74501736e+02] [ 9.99569911e-01 2.92375817e-02 2.27079416e-03 1.18328242e+02] [-2.27038679e-03 -4.71306313e-05 9.99997422e-01 -6.26045363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.36, Z:-0.63 [[ 2.79168845e-02 -9.99610248e-01 2.15510890e-05 1.74502620e+02] [ 9.99607669e-01 2.79168615e-02 2.27077251e-03 1.18356281e+02] [-2.27048911e-03 -4.18502602e-05 9.99997422e-01 -6.26774101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.38, Z:-0.63 [[ 2.68071760e-02 -9.99640623e-01 2.08959958e-05 1.74503804e+02] [ 9.99638045e-01 2.68071543e-02 2.27077854e-03 1.18383509e+02] [-2.27052264e-03 -3.99847276e-05 9.99997422e-01 -6.28129209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:118.41, Z:-0.63 [[ 2.56351718e-02 -9.99671365e-01 2.02052239e-05 1.74504872e+02] [ 9.99668786e-01 2.56351516e-02 2.27078469e-03 1.18411423e+02] [-2.27055639e-03 -3.80134241e-05 9.99997422e-01 -6.28604476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.44, Z:-0.63 [[ 2.37985920e-02 -9.99716773e-01 1.95566987e-05 1.74506564e+02] [ 9.99714195e-01 2.37985750e-02 2.27079027e-03 1.18438470e+02] [-2.27061255e-03 -3.44905018e-05 9.99997422e-01 -6.29751037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.47, Z:-0.63 [[ 2.24748148e-02 -9.99747409e-01 1.88744601e-05 1.74507419e+02] [ 9.99744831e-01 2.24747997e-02 2.27079594e-03 1.18465528e+02] [-2.27064656e-03 -3.21660743e-05 9.99997422e-01 -6.30090231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.49, Z:-0.63 [[ 2.11381280e-02 -9.99776565e-01 1.81966558e-05 1.74508469e+02] [ 9.99773986e-01 2.11381148e-02 2.27080138e-03 1.18493514e+02] [-2.27067864e-03 -2.98079470e-05 9.99997422e-01 -6.30092907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.52, Z:-0.63 [[ 1.79649733e-02 -9.99838617e-01 1.75577106e-05 1.74510281e+02] [ 9.99836038e-01 1.79649669e-02 2.27080632e-03 1.18520474e+02] [-2.27075527e-03 -2.32401431e-05 9.99997422e-01 -6.31343678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.55, Z:-0.63 [[ 1.57697944e-02 -9.99875649e-01 1.68831779e-05 1.74511572e+02] [ 9.99873070e-01 1.57697921e-02 2.27081133e-03 1.18548205e+02] [-2.27079520e-03 -1.89291929e-05 9.99997422e-01 -6.31425007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.58, Z:-0.63 [[ 1.28715790e-02 -9.99917158e-01 1.61827733e-05 1.74512980e+02] [ 9.99914579e-01 1.28715825e-02 2.27081632e-03 1.18575699e+02] [-2.27083650e-03 -1.30476007e-05 9.99997422e-01 -6.31490729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.60, Z:-0.63 [[ 1.00580165e-02 -9.99949417e-01 1.54792413e-05 1.74514677e+02] [ 9.99946838e-01 1.00580257e-02 2.27082112e-03 1.18602074e+02] [-2.27086194e-03 -7.36153783e-06 9.99997422e-01 -6.32129492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.63, Z:-0.63 [[ 2.91295550e-03 -9.99995757e-01 1.49362350e-05 1.74512181e+02] [ 9.99993179e-01 2.91298191e-03 2.27082469e-03 1.18626339e+02] [-2.27085856e-03 8.32132184e-06 9.99997422e-01 -6.34383112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.65, Z:-0.63 [[ 2.90573896e-03 -9.99995778e-01 -9.67190222e-06 1.74512380e+02] [ 9.99993200e-01 2.90570950e-03 2.27097593e-03 1.18654831e+02] [-2.27093824e-03 -1.62706997e-05 9.99997421e-01 -6.34437024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.69, Z:-0.63 [[ 3.70801587e-03 -9.99993125e-01 -1.04164473e-05 1.74518035e+02] [ 9.99990547e-01 3.70798265e-03 2.27098041e-03 1.18686230e+02] [-2.27092617e-03 -1.88371802e-05 9.99997421e-01 -6.31946471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.51, Y:118.71, Z:-0.64 [[-1.11883194e-02 -9.99937409e-01 1.41389122e-05 1.74512587e+02] [ 9.99934831e-01 -1.11882585e-02 2.27082752e-03 1.18706235e+02] [-2.27052719e-03 3.95447344e-05 9.99997422e-01 -6.37374328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.74, Z:-0.63 [[-6.76006656e-03 -9.99977150e-01 -4.14386175e-05 1.74522387e+02] [ 9.99974571e-01 -6.76014324e-03 2.27110281e-03 1.18741445e+02] [-2.27133104e-03 -2.60847576e-05 9.99997420e-01 -6.31294378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.77, Z:-0.63 [[-1.01375677e-02 -9.99948613e-01 1.26105060e-05 1.74523621e+02] [ 9.99946036e-01 -1.01375130e-02 2.27080266e-03 1.18767381e+02] [-2.27055813e-03 3.56302412e-05 9.99997422e-01 -6.31078859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.80, Z:-0.63 [[-1.37116081e-02 -9.99905991e-01 1.19067377e-05 1.74524894e+02] [ 9.99903414e-01 -1.37115457e-02 2.27080635e-03 1.18795149e+02] [-2.27042961e-03 4.30419945e-05 9.99997422e-01 -6.29464731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.82, Z:-0.63 [[-1.97802668e-02 -9.99804351e-01 1.12735906e-05 1.74527180e+02] [ 9.99801774e-01 -1.97801902e-02 2.27080949e-03 1.18823375e+02] [-2.27014222e-03 5.61885736e-05 9.99997422e-01 -6.28049051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.85, Z:-0.63 [[-2.27154376e-02 -9.99741971e-01 1.06159265e-05 1.74528220e+02] [ 9.99739394e-01 -2.27153550e-02 2.27081257e-03 1.18850426e+02] [-2.26998549e-03 6.21956612e-05 9.99997422e-01 -6.27749634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.88, Z:-0.63 [[-2.48702499e-02 -9.99690687e-01 9.92343198e-06 1.74528981e+02] [ 9.99688111e-01 -2.48701632e-02 2.27081559e-03 1.18878787e+02] [-2.26986640e-03 6.63960882e-05 9.99997422e-01 -6.27198138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.91, Z:-0.63 [[-2.64067471e-02 -9.99651281e-01 9.27134195e-06 1.74528950e+02] [ 9.99648704e-01 -2.64066579e-02 2.27081826e-03 1.18905674e+02] [-2.26978155e-03 6.92330083e-05 9.99997422e-01 -6.27533765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.93, Z:-0.63 [[-2.79488052e-02 -9.99609356e-01 8.58431588e-06 1.74528154e+02] [ 9.99606779e-01 -2.79487136e-02 2.27082085e-03 1.18932488e+02] [-2.26969385e-03 7.20476699e-05 9.99997422e-01 -6.27970024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.96, Z:-0.63 [[-2.84814755e-02 -9.99594320e-01 7.91547686e-06 1.74527847e+02] [ 9.99591744e-01 -2.84813841e-02 2.27082318e-03 1.18961047e+02] [-2.26967651e-03 7.25886402e-05 9.99997422e-01 -6.27729048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.99, Z:-0.63 [[-2.90175294e-02 -9.99578903e-01 7.27165312e-06 1.74527220e+02] [ 9.99576326e-01 -2.90174381e-02 2.27082525e-03 1.18989104e+02] [-2.26965800e-03 7.31623106e-05 9.99997422e-01 -6.27983740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.02, Z:-0.63 [[-2.93664178e-02 -9.99568714e-01 6.62416219e-06 1.74526546e+02] [ 9.99566137e-01 -2.93663270e-02 2.27082713e-03 1.19017465e+02] [-2.26965323e-03 7.33073465e-05 9.99997422e-01 -6.28397823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.04, Z:-0.63 [[-2.94596680e-02 -9.99565970e-01 5.98136692e-06 1.74525623e+02] [ 9.99563393e-01 -2.94595785e-02 2.27082883e-03 1.19044762e+02] [-2.26966701e-03 7.28766188e-05 9.99997422e-01 -6.29025169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.07, Z:-0.63 [[-2.79894135e-02 -9.99608220e-01 5.30463445e-06 1.74523328e+02] [ 9.99605643e-01 -2.79893293e-02 2.27083041e-03 1.19072988e+02] [-2.26979227e-03 6.88617539e-05 9.99997422e-01 -6.29180658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.10, Z:-0.63 [[-2.67960096e-02 -9.99640922e-01 4.67293804e-06 1.74521604e+02] [ 9.99638345e-01 -2.67959299e-02 2.27083171e-03 1.19100851e+02] [-2.26989109e-03 6.55204764e-05 9.99997422e-01 -6.28919221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.13, Z:-0.63 [[-2.54284409e-02 -9.99676645e-01 4.03296821e-06 1.74519998e+02] [ 9.99674068e-01 -2.54283662e-02 2.27083284e-03 1.19127642e+02] [-2.26999601e-03 6.17753926e-05 9.99997422e-01 -6.29663643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.16, Z:-0.63 [[-2.20428537e-02 -9.99757027e-01 3.35877160e-06 1.74516478e+02] [ 9.99754449e-01 -2.20427892e-02 2.27083384e-03 1.19155370e+02] [-2.27020805e-03 5.34136049e-05 9.99997422e-01 -6.29211274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.18, Z:-0.63 [[-2.03684637e-02 -9.99792541e-01 2.72338936e-06 1.74514748e+02] [ 9.99789964e-01 -2.03684050e-02 2.27083460e-03 1.19183014e+02] [-2.27030803e-03 4.89762296e-05 9.99997422e-01 -6.28590134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.21, Z:-0.63 [[-1.86922560e-02 -9.99825285e-01 2.06860107e-06 1.74512923e+02] [ 9.99822707e-01 -1.86922032e-02 2.27083520e-03 1.19209888e+02] [-2.27039978e-03 4.45152673e-05 9.99997422e-01 -6.29563535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.24, Z:-0.63 [[-1.68154538e-02 -9.99858610e-01 1.37969719e-06 1.74510890e+02] [ 9.99856032e-01 -1.68154073e-02 2.27083562e-03 1.19238237e+02] [-2.27049135e-03 3.95646300e-05 9.99997422e-01 -6.29019989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.27, Z:-0.63 [[-1.24418784e-02 -9.99922597e-01 7.37608939e-07 1.74506919e+02] [ 9.99920019e-01 -1.24418447e-02 2.27083583e-03 1.19266046e+02] [-2.27065088e-03 2.89910132e-05 9.99997422e-01 -6.29694315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.29, Z:-0.63 [[-1.03297298e-02 -9.99946647e-01 8.37207081e-08 1.74504791e+02] [ 9.99944069e-01 -1.03297030e-02 2.27083585e-03 1.19292797e+02] [-2.27071383e-03 2.35408369e-05 9.99997422e-01 -6.31146500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.30, Z:-0.63 [[-8.23591572e-03 -9.99966084e-01 -6.05004374e-07 1.74502709e+02] [ 9.99963506e-01 -8.23589586e-03 2.27083567e-03 1.19297537e+02] [-2.27076363e-03 1.80974289e-05 9.99997422e-01 -6.31538847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.29, Z:-0.63 [[-6.10680762e-03 -9.99981353e-01 -1.47581274e-06 1.74500879e+02] [ 9.99978775e-01 -6.10679523e-03 2.27083510e-03 1.19291311e+02] [-2.27080177e-03 1.23917717e-05 9.99997422e-01 -6.31538247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.30, Z:-0.63 [[-1.80019114e-03 -9.99998380e-01 -2.34763265e-06 1.74497697e+02] [ 9.99995801e-01 -1.80019183e-03 2.27083420e-03 1.19297804e+02] [-2.27083475e-03 1.74031282e-06 9.99997422e-01 -6.31989600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.29, Z:-0.63 [[ 2.59093424e-04 -9.99999966e-01 -3.22105308e-06 1.74496692e+02] [ 9.99997388e-01 2.59085442e-04 2.27083296e-03 1.19292602e+02] [-2.27083205e-03 -3.80940255e-06 9.99997422e-01 -6.31890622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.29, Z:-0.63 [[ 2.35301461e-03 -9.99997232e-01 -4.09637490e-06 1.74495761e+02] [ 9.99994653e-01 2.35299924e-03 2.27083138e-03 1.19290441e+02] [-2.27081546e-03 -9.43965241e-06 9.99997422e-01 -6.31106317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.30, Z:-0.63 [[ 4.43397777e-03 -9.99990170e-01 -4.97067589e-06 1.74494809e+02] [ 9.99987592e-01 4.43395505e-03 2.27082947e-03 1.19302484e+02] [-2.27078511e-03 -1.50394216e-05 9.99997422e-01 -6.31065969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 7.32384234e-03 -9.99973180e-01 -5.84982474e-06 1.74493796e+02] [ 9.99970602e-01 7.32381017e-03 2.27082720e-03 1.19287189e+02] [-2.27072346e-03 -2.24808332e-05 9.99997422e-01 -6.30394668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.27, Z:-0.63 [[ 9.28231038e-03 -9.99956918e-01 -6.23372300e-06 1.74489486e+02] [ 9.99954340e-01 9.28227229e-03 2.27082615e-03 1.19266071e+02] [-2.27067046e-03 -2.73119515e-05 9.99997422e-01 -6.32532487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 1.57192457e-02 -9.99876445e-01 -2.56383382e-05 1.74490377e+02] [ 9.99873868e-01 1.57191469e-02 2.27076479e-03 1.19290721e+02] [-2.27008121e-03 -6.13298140e-05 9.99997421e-01 -6.30779180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 1.81788900e-02 -9.99834750e-01 -7.18801124e-06 1.74489763e+02] [ 9.99832173e-01 1.81788268e-02 2.27082319e-03 1.19290304e+02] [-2.27031727e-03 -4.84678498e-05 9.99997422e-01 -6.31596608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.28, Z:-0.63 [[ 2.17502225e-02 -9.99763436e-01 -8.06878552e-06 1.74490180e+02] [ 9.99760859e-01 2.17501481e-02 2.27082006e-03 1.19275438e+02] [-2.27010737e-03 -5.74576975e-05 9.99997422e-01 -6.33194202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 2.32680190e-02 -9.99729263e-01 -9.19980075e-06 1.74489281e+02] [ 9.99726686e-01 2.32679381e-02 2.27081567e-03 1.19288035e+02] [-2.26998682e-03 -6.20346685e-05 9.99997422e-01 -6.32984688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.28, Z:-0.63 [[ 2.65079288e-02 -9.99648603e-01 -9.55010406e-06 1.74490685e+02] [ 9.99646026e-01 2.65078388e-02 2.27081420e-03 1.19275661e+02] [-2.26976309e-03 -6.97413048e-05 9.99997422e-01 -6.34933675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 2.45301463e-02 -9.99699091e-01 -8.71436028e-06 1.74489894e+02] [ 9.99696514e-01 2.45300633e-02 2.27081780e-03 1.19286782e+02] [-2.26992073e-03 -6.44152085e-05 9.99997422e-01 -6.33032143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 2.84295020e-02 -9.99595800e-01 -1.04555217e-05 1.74492789e+02] [ 9.99593223e-01 2.84294049e-02 2.27080979e-03 1.19290882e+02] [-2.26959468e-03 -7.50092599e-05 9.99997422e-01 -6.32806257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 2.37139142e-02 -9.99718786e-01 -2.58666137e-06 1.74491639e+02] [ 9.99716208e-01 2.37138472e-02 2.27084601e-03 1.19287222e+02] [-2.27014608e-03 -5.64365748e-05 9.99997422e-01 -6.30717214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.28, Z:-0.63 [[ 2.27059492e-02 -9.99742187e-01 -1.10561464e-05 1.74492624e+02] [ 9.99739610e-01 2.27058655e-02 2.27080478e-03 1.19281787e+02] [-2.26996829e-03 -6.26140453e-05 9.99997422e-01 -6.30338518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.29, Z:-0.63 [[ 2.13456076e-02 -9.99772157e-01 -1.19398867e-05 1.74493558e+02] [ 9.99769579e-01 2.13455255e-02 2.27080013e-03 1.19294911e+02] [-2.27002788e-03 -6.04087441e-05 9.99997422e-01 -6.30602459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.29, Z:-0.63 [[ 1.70138738e-02 -9.99855254e-01 -1.28275280e-05 1.74495971e+02] [ 9.99852676e-01 1.70138008e-02 2.27079511e-03 1.19290946e+02] [-2.27024818e-03 -5.14606598e-05 9.99997422e-01 -6.31506294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.27, Z:-0.63 [[ 1.58148083e-02 -9.99874938e-01 -2.54381500e-05 1.74497701e+02] [ 9.99872361e-01 1.58147098e-02 2.27071796e-03 1.19274520e+02] [-2.27003168e-03 -6.13458725e-05 9.99997422e-01 -6.30185550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.27, Z:-0.63 [[ 1.27823716e-02 -9.99918302e-01 -1.37563887e-05 1.74499143e+02] [ 9.99915725e-01 1.27823074e-02 2.27078873e-03 1.19270470e+02] [-2.27042737e-03 -4.27812947e-05 9.99997422e-01 -6.30139898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.45, Z:-0.63 [[ 7.30791689e-03 -9.99973297e-01 -1.46368501e-05 1.74498657e+02] [ 9.99970719e-01 7.30786481e-03 2.27078305e-03 1.19445614e+02] [-2.27061545e-03 -3.12311153e-05 9.99997422e-01 -6.31005921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.26, Z:-0.63 [[ 5.57176566e-03 -9.99984477e-01 -3.01441557e-05 1.74502583e+02] [ 9.99981900e-01 5.57168285e-03 2.27067632e-03 1.19261645e+02] [-2.27047312e-03 -4.27952865e-05 9.99997422e-01 -6.29751901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.24, Z:-0.63 [[-6.84636450e-03 -9.99976563e-01 -1.58122664e-05 1.74504494e+02] [ 9.99973985e-01 -6.84638275e-03 2.27077612e-03 1.19243858e+02] [-2.27083116e-03 -2.65294072e-07 9.99997422e-01 -6.27707167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.48, Z:-0.63 [[-1.18166757e-02 -9.99930180e-01 -3.32273245e-05 1.74503344e+02] [ 9.99927602e-01 -1.18167207e-02 2.27065628e-03 1.19476871e+02] [-2.27089038e-03 -6.39330998e-06 9.99997422e-01 -6.28390715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.24, Z:-0.63 [[-1.51445368e-02 -9.99885314e-01 -3.81125142e-05 1.74507733e+02] [ 9.99882736e-01 -1.51445843e-02 2.27062158e-03 1.19237550e+02] [-2.27093837e-03 -3.72053299e-06 9.99997421e-01 -6.27488310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.24, Z:-0.63 [[-1.89208157e-02 -9.99820985e-01 -3.42755444e-05 1.74509533e+02] [ 9.99818406e-01 -1.89208448e-02 2.27065176e-03 1.19237191e+02] [-2.27089380e-03 8.69326332e-06 9.99997421e-01 -6.28172726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.25, Z:-0.63 [[-2.04782819e-02 -9.99790298e-01 -3.18237910e-05 1.74512225e+02] [ 9.99787719e-01 -2.04783014e-02 2.27067151e-03 1.19246932e+02] [-2.27084704e-03 1.46824158e-05 9.99997422e-01 -6.28111294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.23, Z:-0.63 [[-2.76730343e-02 -9.99617028e-01 -1.83974068e-05 1.74514920e+02] [ 9.99614450e-01 -2.76730047e-02 2.27078029e-03 1.19232466e+02] [-2.27041975e-03 4.44490671e-05 9.99997422e-01 -6.27770454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.24, Z:-0.63 [[-3.14271242e-02 -9.99506046e-01 -1.92653039e-05 1.74515802e+02] [ 9.99503468e-01 -3.14270869e-02 2.27077292e-03 1.19237529e+02] [-2.27025672e-03 5.21081246e-05 9.99997422e-01 -6.27756090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.22, Z:-0.63 [[-3.47245289e-02 -9.99396922e-01 -2.01316170e-05 1.74516948e+02] [ 9.99394343e-01 -3.47244851e-02 2.27076524e-03 1.19224683e+02] [-2.27009485e-03 5.87318292e-05 9.99997422e-01 -6.27806207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.22, Z:-0.63 [[-4.05915773e-02 -9.99175822e-01 -2.09970612e-05 1.74518872e+02] [ 9.99173244e-01 -4.05915203e-02 2.27075724e-03 1.19219771e+02] [-2.26973803e-03 7.11939162e-05 9.99997422e-01 -6.26858912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.26023277e-02 -9.99092108e-01 -2.18583738e-05 1.74520236e+02] [ 9.99089531e-01 -4.26022675e-02 2.27074895e-03 1.19209813e+02] [-2.26961857e-03 7.49007185e-05 9.99997422e-01 -6.26777809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.22, Z:-0.63 [[-4.51821279e-02 -9.98978766e-01 -2.42452633e-05 1.74519933e+02] [ 9.98976188e-01 -4.51820664e-02 2.27072537e-03 1.19217832e+02] [-2.26950188e-03 7.83757632e-05 9.99997422e-01 -6.26233557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.65741266e-02 -9.98914836e-01 -2.27270164e-05 1.74520370e+02] [ 9.98912259e-01 -4.65740581e-02 2.27074056e-03 1.19211767e+02] [-2.26933493e-03 8.30554632e-05 9.99997422e-01 -6.26631593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.77628615e-02 -9.98858703e-01 -2.35861966e-05 1.74520249e+02] [ 9.98856126e-01 -4.77627918e-02 2.27073164e-03 1.19208177e+02] [-2.26926660e-03 8.48974237e-05 9.99997422e-01 -6.26570540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.76039154e-02 -9.98866291e-01 -2.44438238e-05 1.74519876e+02] [ 9.98863713e-01 -4.76038481e-02 2.27072241e-03 1.19206147e+02] [-2.26931169e-03 8.36792287e-05 9.99997422e-01 -6.27040252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.20, Z:-0.63 [[-4.64857321e-02 -9.98918954e-01 -2.53010335e-05 1.74520247e+02] [ 9.98916376e-01 -4.64856697e-02 2.27071285e-03 1.19199808e+02] [-2.26943424e-03 8.02821327e-05 9.99997422e-01 -6.26995587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.55258246e-02 -9.98963162e-01 -2.63719164e-05 1.74518479e+02] [ 9.98960584e-01 -4.55257670e-02 2.27070076e-03 1.19208396e+02] [-2.26954701e-03 7.70310193e-05 9.99997422e-01 -6.28158555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.59044836e-02 -9.98945833e-01 -2.59346928e-05 1.74518580e+02] [ 9.98943256e-01 -4.59044241e-02 2.27070575e-03 1.19206048e+02] [-2.26950257e-03 7.83282885e-05 9.99997422e-01 -6.28153414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.45865588e-02 -9.99005525e-01 -2.67954144e-05 1.74517764e+02] [ 9.99002947e-01 -4.45865047e-02 2.27069560e-03 1.19206021e+02] [-2.26963216e-03 7.44738048e-05 9.99997422e-01 -6.28074544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.21, Z:-0.63 [[-4.10587033e-02 -9.99156736e-01 -2.76567028e-05 1.74516081e+02] [ 9.99154158e-01 -4.10586602e-02 2.27068510e-03 1.19208566e+02] [-2.26990586e-03 6.55980763e-05 9.99997422e-01 -6.26828792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.20, Z:-0.63 [[-3.91245249e-02 -9.99234342e-01 -2.84113529e-05 1.74515027e+02] [ 9.99231764e-01 -3.91244886e-02 2.27067566e-03 1.19204041e+02] [-2.27004868e-03 6.04495803e-05 9.99997422e-01 -6.26514412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.19, Z:-0.63 [[-3.64812585e-02 -9.99334337e-01 -2.91664625e-05 1.74514809e+02] [ 9.99331759e-01 -3.64812307e-02 2.27066596e-03 1.19193178e+02] [-2.27021849e-03 5.36897797e-05 9.99997422e-01 -6.25842455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.21, Z:-0.63 [[-3.44653588e-02 -9.99405893e-01 -2.98177237e-05 1.74512219e+02] [ 9.99403314e-01 -3.44653377e-02 2.27065739e-03 1.19206715e+02] [-2.27033606e-03 4.84590899e-05 9.99997422e-01 -6.25721298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.21, Z:-0.63 [[-3.18765959e-02 -9.99491812e-01 -3.05778999e-05 1.74510688e+02] [ 9.99489233e-01 -3.18765832e-02 2.27064715e-03 1.19205291e+02] [-2.27046796e-03 4.18182202e-05 9.99997422e-01 -6.25496927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.20, Z:-0.63 [[-2.58283776e-02 -9.99666391e-01 -3.14438746e-05 1.74508188e+02] [ 9.99663813e-01 -2.58283824e-02 2.27063516e-03 1.19199705e+02] [-2.27068980e-03 2.72135189e-05 9.99997422e-01 -6.25608020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.21, Z:-0.63 [[-2.38482382e-02 -9.99715590e-01 -3.02419310e-05 1.74505250e+02] [ 9.99713012e-01 -2.38482454e-02 2.27065200e-03 1.19208093e+02] [-2.27072742e-03 2.39177980e-05 9.99997422e-01 -6.25902764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.21, Z:-0.63 [[-2.16449723e-02 -9.99765720e-01 -3.24129838e-05 1.74503703e+02] [ 9.99763141e-01 -2.16449901e-02 2.27062101e-03 1.19206695e+02] [-2.27079063e-03 1.67422224e-05 9.99997422e-01 -6.25935712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.21, Z:-0.63 [[-1.96522458e-02 -9.99806875e-01 -3.32834134e-05 1.74502017e+02] [ 9.99804297e-01 -1.96522707e-02 2.27060825e-03 1.19205790e+02] [-2.27082384e-03 1.13456517e-05 9.99997422e-01 -6.26335358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.21, Z:-0.63 [[-1.52194778e-02 -9.99884176e-01 -3.41544217e-05 1.74498799e+02] [ 9.99881598e-01 -1.52195162e-02 2.27059515e-03 1.19208626e+02] [-2.27085198e-03 4.06894807e-07 9.99997422e-01 -6.26904330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.20, Z:-0.63 [[-1.32790779e-02 -9.99911829e-01 -3.50277456e-05 1.74497483e+02] [ 9.99909251e-01 -1.32791232e-02 2.27058168e-03 1.19202521e+02] [-2.27084661e-03 -4.87333593e-06 9.99997422e-01 -6.27250575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.20, Z:-0.63 [[-1.14236408e-02 -9.99934747e-01 -3.59013578e-05 1.74496061e+02] [ 9.99932170e-01 -1.14236929e-02 2.27056786e-03 1.19201517e+02] [-2.27082983e-03 -9.96077084e-06 9.99997422e-01 -6.27639158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.20, Z:-0.63 [[-9.60643028e-03 -9.99953857e-01 -3.67742418e-05 1.74494922e+02] [ 9.99951279e-01 -9.60648902e-03 2.27055373e-03 1.19203495e+02] [-2.27080223e-03 -1.49605340e-05 9.99997422e-01 -6.27929264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.26, Z:-0.63 [[-6.84419489e-03 -9.99976578e-01 -3.76491561e-05 1.74491916e+02] [ 9.99974000e-01 -6.84426273e-03 2.27053922e-03 1.19263387e+02] [-2.27074372e-03 -2.21081643e-05 9.99997422e-01 -6.28871063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.20, Z:-0.63 [[-6.34609510e-03 -9.99979863e-01 -3.82368726e-05 1.74492521e+02] [ 9.99977285e-01 -6.34616556e-03 2.27052923e-03 1.19199589e+02] [-2.27072617e-03 -2.38270096e-05 9.99997422e-01 -6.29006630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:174.48, Y:119.74, Z:-0.63 [[-5.94700183e-03 -9.99982316e-01 -3.94422928e-05 1.74483044e+02] [ 9.99979738e-01 -5.94707606e-03 2.27050829e-03 1.19737355e+02] [-2.27070271e-03 -2.59387767e-05 9.99997422e-01 -6.33605738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.20, Z:-0.63 [[-6.26692530e-03 -9.99980362e-01 -4.25972392e-05 1.74492597e+02] [ 9.99977785e-01 -6.26700587e-03 2.27045224e-03 1.19195781e+02] [-2.27067461e-03 -2.83675383e-05 9.99997422e-01 -6.29395798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.19, Z:-0.63 [[-7.05058163e-03 -9.99975144e-01 -4.08131454e-05 1.74493651e+02] [ 9.99972566e-01 -7.05065612e-03 2.27048431e-03 1.19192077e+02] [-2.27071563e-03 -2.48037908e-05 9.99997422e-01 -6.28505106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:119.19, Z:-0.63 [[-7.89487700e-03 -9.99968834e-01 -4.16896451e-05 1.74494430e+02] [ 9.99966257e-01 -7.89495131e-03 2.27046822e-03 1.19188209e+02] [-2.27072659e-03 -2.37631711e-05 9.99997422e-01 -6.28865292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.19, Z:-0.63 [[-8.19556513e-03 -9.99966415e-01 -4.25651156e-05 1.74495141e+02] [ 9.99963838e-01 -8.19564065e-03 2.27045180e-03 1.19188965e+02] [-2.27072440e-03 -2.39559407e-05 9.99997422e-01 -6.27976255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.19, Z:-0.63 [[-8.43785224e-03 -9.99964400e-01 -4.34408747e-05 1.74495792e+02] [ 9.99961823e-01 -8.43792913e-03 2.27043505e-03 1.19185412e+02] [-2.27072077e-03 -2.42816208e-05 9.99997422e-01 -6.27984845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.19, Z:-0.63 [[-8.38521020e-03 -9.99964843e-01 -4.43173551e-05 1.74496493e+02] [ 9.99962265e-01 -8.38528922e-03 2.27041794e-03 1.19185367e+02] [-2.27070973e-03 -2.52777511e-05 9.99997422e-01 -6.28424523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.18, Z:-0.63 [[-8.92096600e-03 -9.99960206e-01 -4.51941245e-05 1.74496761e+02] [ 9.99957629e-01 -8.92104562e-03 2.27040049e-03 1.19183624e+02] [-2.27071332e-03 -2.49380440e-05 9.99997422e-01 -6.27944891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.18, Z:-0.63 [[-9.63105383e-03 -9.99953619e-01 -4.60717758e-05 1.74497256e+02] [ 9.99951042e-01 -9.63113361e-03 2.27038268e-03 1.19182410e+02] [-2.27072110e-03 -2.42033424e-05 9.99997422e-01 -6.29012173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.18, Z:-0.63 [[-1.03016500e-02 -9.99946936e-01 -4.69501511e-05 1.74498413e+02] [ 9.99944358e-01 -1.03017301e-02 2.27036451e-03 1.19176229e+02] [-2.27072771e-03 -2.35590380e-05 9.99997422e-01 -6.27798805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.18, Z:-0.63 [[-1.16938551e-02 -9.99931623e-01 -4.78274917e-05 1.74500776e+02] [ 9.99929046e-01 -1.16939336e-02 2.27034603e-03 1.19177791e+02] [-2.27075008e-03 -2.12750006e-05 9.99997422e-01 -6.27311289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.18, Z:-0.63 [[-1.27479648e-02 -9.99918740e-01 -4.87048252e-05 1.74502141e+02] [ 9.99916163e-01 -1.27480425e-02 2.27032721e-03 1.19175344e+02] [-2.27076361e-03 -1.97586907e-05 9.99997422e-01 -6.28621197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.17, Z:-0.63 [[-1.37305105e-02 -9.99905731e-01 -4.95834757e-05 1.74503407e+02] [ 9.99903154e-01 -1.37305877e-02 2.27030802e-03 1.19174137e+02] [-2.27077481e-03 -1.84061857e-05 9.99997422e-01 -6.28435697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.17, Z:-0.63 [[-1.47009142e-02 -9.99891934e-01 -5.04624159e-05 1.74504559e+02] [ 9.99889357e-01 -1.47009909e-02 2.27028848e-03 1.19170373e+02] [-2.27078499e-03 -1.70815164e-05 9.99997422e-01 -6.27782818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.17, Z:-0.63 [[-1.57025074e-02 -9.99876707e-01 -5.13413485e-05 1.74505586e+02] [ 9.99874129e-01 -1.57025835e-02 2.27026861e-03 1.19168601e+02] [-2.27079489e-03 -1.56859766e-05 9.99997422e-01 -6.26002803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.16, Z:-0.63 [[-1.76601975e-02 -9.99844045e-01 -5.22199760e-05 1.74507462e+02] [ 9.99841468e-01 -1.76602706e-02 2.27024840e-03 1.19161113e+02] [-2.27081656e-03 -1.21186623e-05 9.99997422e-01 -6.26203846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.16, Z:-0.63 [[-1.87705427e-02 -9.99823816e-01 -5.30969747e-05 1.74508935e+02] [ 9.99821239e-01 -1.87706148e-02 2.27022789e-03 1.19158470e+02] [-2.27082457e-03 -1.04740737e-05 9.99997422e-01 -6.26300925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.51, Y:119.14, Z:-0.63 [[-2.98549783e-02 -9.99554239e-01 -5.39723508e-05 1.74505926e+02] [ 9.99551661e-01 -2.98550239e-02 2.27020707e-03 1.19140219e+02] [-2.27080645e-03 1.38288301e-05 9.99997422e-01 -6.31543948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.15, Z:-0.63 [[-3.20553553e-02 -9.99486092e-01 -8.03971933e-05 1.74508683e+02] [ 9.99483515e-01 -3.20554552e-02 2.26955959e-03 1.19145358e+02] [-2.27097041e-03 -7.60413047e-06 9.99997421e-01 -6.30065794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.51, Y:119.15, Z:-0.63 [[-3.80805347e-02 -9.99274670e-01 -7.95875259e-05 1.74507700e+02] [ 9.99272093e-01 -3.80806172e-02 2.26957952e-03 1.19145643e+02] [-2.27096406e-03 6.89720786e-06 9.99997421e-01 -6.31173623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.15, Z:-0.62 [[-2.80915871e-02 -9.99605349e-01 -9.61735038e-05 1.74515334e+02] [ 9.99602774e-01 -2.80917330e-02 2.26916199e-03 1.19146374e+02] [-2.27096815e-03 -3.23909395e-05 9.99997421e-01 -6.24729568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.14, Z:-0.63 [[-4.14169999e-02 -9.99141946e-01 -5.60181966e-05 1.74510425e+02] [ 9.99139368e-01 -4.14170203e-02 2.27015287e-03 1.19142731e+02] [-2.27052506e-03 3.80529356e-05 9.99997422e-01 -6.30588454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.13, Z:-0.63 [[-4.56998804e-02 -9.98955211e-01 -9.10449122e-05 1.74512826e+02] [ 9.98952633e-01 -4.56999693e-02 2.26925984e-03 1.19131696e+02] [-2.27104969e-03 1.27553487e-05 9.99997421e-01 -6.30062610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.12, Z:-0.63 [[-4.90348180e-02 -9.98797066e-01 -9.26396947e-05 1.74513404e+02] [ 9.98794488e-01 -4.90349019e-02 2.26921836e-03 1.19121646e+02] [-2.27103121e-03 1.87426926e-05 9.99997421e-01 -6.30834290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.12, Z:-0.63 [[-4.80177754e-02 -9.98846477e-01 -9.56214178e-05 1.74516611e+02] [ 9.98843899e-01 -4.80178687e-02 2.26913971e-03 1.19122710e+02] [-2.27111374e-03 1.34481711e-05 9.99997421e-01 -6.29790246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.12, Z:-0.63 [[-4.98574314e-02 -9.98756341e-01 -8.51411919e-05 1.74518146e+02] [ 9.98753763e-01 -4.98574961e-02 2.26941635e-03 1.19117918e+02] [-2.27083890e-03 2.81121841e-05 9.99997421e-01 -6.29673238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.12, Z:-0.63 [[-5.07130718e-02 -9.98713261e-01 -8.36955231e-05 1.74519879e+02] [ 9.98710683e-01 -5.07131311e-02 2.26945479e-03 1.19115541e+02] [-2.27077906e-03 3.15034110e-05 9.99997421e-01 -6.28378410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.62 [[-4.62949947e-02 -9.98927809e-01 -8.19291568e-05 1.74525375e+02] [ 9.98925231e-01 -4.62950613e-02 2.26950208e-03 1.19122443e+02] [-2.27086166e-03 2.32254849e-05 9.99997421e-01 -6.24382586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.62 [[-4.78213370e-02 -9.98855904e-01 -6.05069933e-05 1.74525915e+02] [ 9.98853325e-01 -4.78213511e-02 2.27007307e-03 1.19121157e+02] [-2.27036942e-03 4.81203181e-05 9.99997422e-01 -6.24030563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.11, Z:-0.63 [[-5.51423882e-02 -9.98478499e-01 -6.13724562e-05 1.74523115e+02] [ 9.98475921e-01 -5.51423853e-02 2.27004967e-03 1.19108560e+02] [-2.26998002e-03 6.38970407e-05 9.99997422e-01 -6.28175429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.10, Z:-0.63 [[-5.48189930e-02 -9.98496305e-01 -8.07907854e-05 1.74524205e+02] [ 9.98493727e-01 -5.48190351e-02 2.26951487e-03 1.19103807e+02] [-2.27053108e-03 4.37434272e-05 9.99997421e-01 -6.26926266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-5.15885514e-02 -9.98668421e-01 -8.00666895e-05 1.74526288e+02] [ 9.98665843e-01 -5.15886002e-02 2.26953492e-03 1.19107003e+02] [-2.27064339e-03 3.71221511e-05 9.99997421e-01 -6.22876238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.10, Z:-0.62 [[-4.99552806e-02 -9.98751453e-01 -7.27099175e-05 1.74526969e+02] [ 9.98748875e-01 -4.99553169e-02 2.26973989e-03 1.19104351e+02] [-2.27053826e-03 4.07665447e-05 9.99997421e-01 -6.22559195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-4.75213242e-02 -9.98870221e-01 -7.21141248e-05 1.74527486e+02] [ 9.98867643e-01 -4.75213654e-02 2.26975656e-03 1.19106147e+02] [-2.27061920e-03 3.58293716e-05 9.99997422e-01 -6.22430322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-4.58133826e-02 -9.98950013e-01 -6.95254214e-05 1.74527534e+02] [ 9.98947435e-01 -4.58134223e-02 2.26982957e-03 1.19108445e+02] [-2.27063148e-03 3.45363292e-05 9.99997422e-01 -6.22062738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-3.83661620e-02 -9.99263745e-01 -7.10378788e-05 1.74528821e+02] [ 9.99261168e-01 -3.83662244e-02 2.26978640e-03 1.19113805e+02] [-2.27084071e-03 1.60975990e-05 9.99997422e-01 -6.22203221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-3.59568744e-02 -9.99353340e-01 -6.50315149e-05 1.74529055e+02] [ 9.99350763e-01 -3.59569294e-02 2.26995847e-03 1.19111324e+02] [-2.27082892e-03 1.66313177e-05 9.99997422e-01 -6.22468134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-3.32770159e-02 -9.99446165e-01 -6.59016858e-05 1.74529295e+02] [ 9.99443587e-01 -3.32770798e-02 2.26993321e-03 1.19111208e+02] [-2.27086906e-03 9.67158635e-06 9.99997422e-01 -6.22224264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-3.01123464e-02 -9.99546518e-01 -6.67724302e-05 1.74527671e+02] [ 9.99543941e-01 -3.01124204e-02 2.26990760e-03 1.19114934e+02] [-2.27088891e-03 1.61026571e-06 9.99997422e-01 -6.24534732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.63 [[-2.77329185e-02 -9.99615366e-01 -7.54089983e-05 1.74527299e+02] [ 9.99612789e-01 -2.77330182e-02 2.26965100e-03 1.19119802e+02] [-2.27086933e-03 -1.24357529e-05 9.99997421e-01 -6.25365548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.62 [[-2.37728156e-02 -9.99717384e-01 -7.67606753e-05 1.74527760e+02] [ 9.99714808e-01 -2.37729286e-02 2.26961035e-03 1.19116966e+02] [-2.27079375e-03 -2.27837554e-05 9.99997421e-01 -6.24691901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.13, Z:-0.62 [[-1.87031079e-02 -9.99825079e-01 -7.39765634e-05 1.74528816e+02] [ 9.99822503e-01 -1.87032277e-02 2.26969469e-03 1.19126155e+02] [-2.27068128e-03 -3.15130880e-05 9.99997422e-01 -6.23345613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.63 [[-1.54735414e-02 -9.99880275e-01 -6.94506867e-05 1.74527391e+02] [ 9.99877699e-01 -1.54736592e-02 2.26983317e-03 1.19115361e+02] [-2.27063607e-03 -3.43198352e-05 9.99997422e-01 -6.26338337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.62 [[-1.12702632e-02 -9.99936486e-01 -7.19730023e-05 1.74528621e+02] [ 9.99933911e-01 -1.12703975e-02 2.26975532e-03 1.19115817e+02] [-2.27042232e-03 -4.63875059e-05 9.99997422e-01 -6.23563138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.63 [[-1.17682747e-02 -9.99930749e-01 -7.04503870e-05 1.74527371e+02] [ 9.99928174e-01 -1.17684043e-02 2.26980258e-03 1.19116365e+02] [-2.27047448e-03 -4.37336665e-05 9.99997422e-01 -6.25490340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.62 [[-8.41885207e-03 -9.99964558e-01 -7.43120093e-05 1.74529045e+02] [ 9.99961984e-01 -8.41899907e-03 2.26968171e-03 1.19111603e+02] [-2.27022691e-03 -5.52010696e-05 9.99997422e-01 -6.23510238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.62 [[-8.15360719e-03 -9.99966756e-01 -7.15566918e-05 1.74529128e+02] [ 9.99964182e-01 -8.15374862e-03 2.26976858e-03 1.19120684e+02] [-2.27027658e-03 -5.30473274e-05 9.99997422e-01 -6.23832905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.12, Z:-0.62 [[-8.54521794e-03 -9.99963486e-01 -7.24416642e-05 1.74529277e+02] [ 9.99960912e-01 -8.54536037e-03 2.26974033e-03 1.19118347e+02] [-2.27027650e-03 -5.30434068e-05 9.99997422e-01 -6.23827194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.63 [[-1.16924482e-02 -9.99931638e-01 -7.33305410e-05 1.74528501e+02] [ 9.99929063e-01 -1.16925846e-02 2.26971162e-03 1.19109522e+02] [-2.27041388e-03 -4.67868536e-05 9.99997422e-01 -6.26067213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.10, Z:-0.62 [[-1.00595144e-02 -9.99949399e-01 -7.94495209e-05 1.74530203e+02] [ 9.99946825e-01 -1.00596688e-02 2.26951118e-03 1.19102663e+02] [-2.27019557e-03 -5.66151159e-05 9.99997422e-01 -6.24969354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.10, Z:-0.62 [[-1.32349164e-02 -9.99912412e-01 -7.50257256e-05 1.74529836e+02] [ 9.99909837e-01 -1.32350526e-02 2.26965741e-03 1.19104792e+02] [-2.27045159e-03 -4.49802350e-05 9.99997422e-01 -6.24778716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.63 [[-1.07885498e-02 -9.99941799e-01 -8.23944816e-05 1.74531807e+02] [ 9.99939225e-01 -1.07887090e-02 2.26941112e-03 1.19105542e+02] [-2.27016797e-03 -5.79058192e-05 9.99997421e-01 -6.25337610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.11, Z:-0.63 [[-1.09551991e-02 -9.99939987e-01 -7.61176111e-05 1.74532448e+02] [ 9.99937413e-01 -1.09553436e-02 2.26962163e-03 1.19106542e+02] [-2.27031932e-03 -5.12486903e-05 9.99997422e-01 -6.25940036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.09, Z:-0.62 [[-1.41071261e-02 -9.99900487e-01 -7.70041760e-05 1.74532276e+02] [ 9.99897912e-01 -1.41072646e-02 2.26959155e-03 1.19088158e+02] [-2.27045201e-03 -4.49789006e-05 9.99997422e-01 -6.24448225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.09, Z:-0.62 [[-1.54454982e-02 -9.99880708e-01 -8.42368642e-05 1.74533410e+02] [ 9.99878134e-01 -1.54456496e-02 2.26934326e-03 1.19087917e+02] [-2.27037364e-03 -4.91754613e-05 9.99997421e-01 -6.24191985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.09, Z:-0.62 [[-1.67038774e-02 -9.99860477e-01 -8.69284353e-05 1.74533774e+02] [ 9.99857903e-01 -1.67040317e-02 2.26925006e-03 1.19094711e+02] [-2.27038551e-03 -4.90108082e-05 9.99997421e-01 -6.24252265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.08, Z:-0.62 [[-1.77820800e-02 -9.99841882e-01 -8.84832613e-05 1.74534886e+02] [ 9.99839309e-01 -1.77822351e-02 2.26919566e-03 1.19083808e+02] [-2.27041029e-03 -4.81180241e-05 9.99997421e-01 -6.24110597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.09, Z:-0.62 [[-1.87552698e-02 -9.99824100e-01 -8.96551498e-05 1.74535286e+02] [ 9.99821527e-01 -1.87554250e-02 2.26915419e-03 1.19085188e+02] [-2.27043657e-03 -4.70805497e-05 9.99997421e-01 -6.23888514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.07, Z:-0.62 [[-2.04768381e-02 -9.99790324e-01 -8.94475018e-05 1.74537108e+02] [ 9.99787749e-01 -2.04769883e-02 2.26916157e-03 1.19072764e+02] [-2.27051739e-03 -4.29632626e-05 9.99997421e-01 -6.23951747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.08, Z:-0.62 [[-2.19504998e-02 -9.99759055e-01 -8.84006083e-05 1.74537115e+02] [ 9.99756480e-01 -2.19506439e-02 2.26919892e-03 1.19081519e+02] [-2.27059262e-03 -3.85690307e-05 9.99997421e-01 -6.23367843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.08, Z:-0.62 [[-2.00059873e-02 -9.99799856e-01 -8.92135865e-05 1.74538548e+02] [ 9.99797282e-01 -2.00061383e-02 2.26916960e-03 1.19075375e+02] [-2.27050026e-03 -4.37985231e-05 9.99997421e-01 -6.24514812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.07, Z:-0.62 [[-2.20684129e-02 -9.99756460e-01 -8.21791494e-05 1.74539362e+02] [ 9.99753884e-01 -2.20685426e-02 2.26942433e-03 1.19071711e+02] [-2.27068520e-03 -3.20763308e-05 9.99997421e-01 -6.24051662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.07, Z:-0.62 [[-2.28054815e-02 -9.99739918e-01 -8.30564178e-05 1.74539964e+02] [ 9.99737342e-01 -2.28056113e-02 2.26939222e-03 1.19074781e+02] [-2.27069614e-03 -3.12800201e-05 9.99997421e-01 -6.23529061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.06, Z:-0.62 [[-2.64611862e-02 -9.99649838e-01 -8.39349986e-05 1.74539767e+02] [ 9.99647262e-01 -2.64613085e-02 2.26935972e-03 1.19056589e+02] [-2.27078611e-03 -2.38554415e-05 9.99997421e-01 -6.21807368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.06, Z:-0.62 [[-2.52564322e-02 -9.99681001e-01 -9.44192448e-05 1.74540166e+02] [ 9.99678427e-01 -2.52565815e-02 2.26896594e-03 1.19062444e+02] [-2.27062685e-03 -3.70828976e-05 9.99997421e-01 -6.20469001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.08, Z:-0.62 [[-2.53293639e-02 -9.99679156e-01 -9.17176556e-05 1.74538381e+02] [ 9.99676581e-01 -2.53295069e-02 2.26906795e-03 1.19077748e+02] [-2.27066309e-03 -3.42139446e-05 9.99997421e-01 -6.20760910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.05, Z:-0.62 [[-2.41986657e-02 -9.99707165e-01 -9.42123240e-05 1.74538943e+02] [ 9.99704591e-01 -2.41988172e-02 2.26897293e-03 1.19053579e+02] [-2.27058832e-03 -3.92783755e-05 9.99997421e-01 -6.22442038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.06, Z:-0.62 [[-2.30571228e-02 -9.99734145e-01 -9.29729966e-05 1.74538178e+02] [ 9.99731571e-01 -2.30572744e-02 2.26902037e-03 1.19055234e+02] [-2.27056084e-03 -4.06309588e-05 9.99997421e-01 -6.21768356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:119.06, Z:-0.62 [[-2.07711360e-02 -9.99784252e-01 -9.25241004e-05 1.74537703e+02] [ 9.99781679e-01 -2.07712925e-02 2.26903760e-03 1.19063875e+02] [-2.27046991e-03 -4.53734119e-05 9.99997421e-01 -6.23317707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.21, Z:-0.63 [[-1.75389727e-02 -9.99846176e-01 -8.90942245e-05 1.74530194e+02] [ 9.99843603e-01 -1.75391298e-02 2.26916946e-03 1.19207302e+02] [-2.27038305e-03 -4.92813892e-05 9.99997421e-01 -6.25643804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.08, Z:-0.62 [[-1.61299118e-02 -9.99869901e-01 -8.96600981e-05 1.74534064e+02] [ 9.99867327e-01 -1.61300738e-02 2.26914750e-03 1.19077909e+02] [-2.27029851e-03 -5.30470535e-05 9.99997421e-01 -6.24724157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.06, Z:-0.62 [[-1.45655969e-02 -9.99893912e-01 -9.05731627e-05 1.74532651e+02] [ 9.99891339e-01 -1.45657650e-02 2.26911172e-03 1.19058883e+02] [-2.27019026e-03 -5.75123542e-05 9.99997421e-01 -6.22129359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.06, Z:-0.62 [[-1.31153654e-02 -9.99913986e-01 -8.92000723e-05 1.74531301e+02] [ 9.99911413e-01 -1.31155341e-02 2.26916569e-03 1.19059140e+02] [-2.27014042e-03 -5.94312331e-05 9.99997421e-01 -6.22700894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.06, Z:-0.62 [[-1.17764153e-02 -9.99930652e-01 -9.00809268e-05 1.74529928e+02] [ 9.99928079e-01 -1.17765894e-02 2.26913073e-03 1.19060192e+02] [-2.27003421e-03 -6.33522223e-05 9.99997421e-01 -6.21878607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.07, Z:-0.62 [[-8.65830992e-03 -9.99962512e-01 -9.09637034e-05 1.74526486e+02] [ 9.99959940e-01 -8.65849406e-03 2.26909534e-03 1.19065969e+02] [-2.26979788e-03 -7.13135287e-05 9.99997421e-01 -6.20473147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.06, Z:-0.62 [[-7.52743811e-03 -9.99971664e-01 -9.17384287e-05 1.74525161e+02] [ 9.99969093e-01 -7.52762692e-03 2.26906402e-03 1.19058127e+02] [-2.26969029e-03 -7.46553544e-05 9.99997421e-01 -6.20030935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.05, Z:-0.62 [[-6.80161236e-03 -9.99976864e-01 -9.26253791e-05 1.74523445e+02] [ 9.99974293e-01 -6.80180504e-03 2.26902781e-03 1.19054091e+02] [-2.26960533e-03 -7.71899505e-05 9.99997421e-01 -6.19513922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.07, Z:-0.62 [[-5.51174766e-03 -9.99984806e-01 -9.35100595e-05 1.74518947e+02] [ 9.99982235e-01 -5.51194566e-03 2.26899135e-03 1.19066765e+02] [-2.26947230e-03 -8.10022906e-05 9.99997421e-01 -6.18939325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.05, Z:-0.62 [[-5.05716179e-03 -9.99987208e-01 -9.42871656e-05 1.74517573e+02] [ 9.99984637e-01 -5.05736273e-03 2.26895906e-03 1.19052821e+02] [-2.26940688e-03 -8.28112241e-05 9.99997421e-01 -6.18323244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:119.06, Z:-0.62 [[-4.42500174e-03 -9.99990205e-01 -9.51770926e-05 1.74515505e+02] [ 9.99987635e-01 -4.42520632e-03 2.26892173e-03 1.19056519e+02] [-2.26932068e-03 -8.51359331e-05 9.99997421e-01 -6.17737639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.05, Z:-0.62 [[-2.95389807e-03 -9.99995633e-01 -9.60650374e-05 1.74511621e+02] [ 9.99993063e-01 -2.95410844e-03 2.26888413e-03 1.19054421e+02] [-2.26915801e-03 -8.93623185e-05 9.99997421e-01 -6.18471131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.05, Z:-0.62 [[-2.70589080e-03 -9.99996334e-01 -9.69552399e-05 1.74510009e+02] [ 9.99993765e-01 -2.70610382e-03 2.26884609e-03 1.19047446e+02] [-2.26910014e-03 -9.08153855e-05 9.99997421e-01 -6.19202506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.05, Z:-0.62 [[-3.24244089e-03 -9.99994739e-01 -9.78442079e-05 1.74508227e+02] [ 9.99992169e-01 -3.24265455e-03 2.26880775e-03 1.19045891e+02] [-2.26911309e-03 -9.04869666e-05 9.99997421e-01 -6.20152988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.05, Z:-0.62 [[-3.99825829e-03 -9.99992002e-01 -9.87318041e-05 1.74506708e+02] [ 9.99989432e-01 -3.99847202e-03 2.26876912e-03 1.19047276e+02] [-2.26914576e-03 -8.96596358e-05 9.99997421e-01 -6.21508292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.04, Z:-0.62 [[-6.62859440e-03 -9.99978026e-01 -9.96210461e-05 1.74505537e+02] [ 9.99975456e-01 -6.62880338e-03 2.26873008e-03 1.19039264e+02] [-2.26934059e-03 -8.45801095e-05 9.99997421e-01 -6.21794315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.04, Z:-0.62 [[-8.74753319e-03 -9.99961735e-01 -1.00509523e-04 1.74505344e+02] [ 9.99959164e-01 -8.74773874e-03 2.26869072e-03 1.19041682e+02] [-2.26948313e-03 -8.06599714e-05 9.99997421e-01 -6.21200817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.04, Z:-0.62 [[-1.14386222e-02 -9.99934572e-01 -1.01397681e-04 1.74505387e+02] [ 9.99932001e-01 -1.14388229e-02 2.26865102e-03 1.19039170e+02] [-2.26966246e-03 -7.54405437e-05 9.99997421e-01 -6.21120126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.02, Z:-0.62 [[-2.38155760e-02 -9.99716364e-01 -1.02287486e-04 1.74501292e+02] [ 9.99713791e-01 -2.38157468e-02 2.26861090e-03 1.19022899e+02] [-2.27040349e-03 -4.82299346e-05 9.99997421e-01 -6.24470159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.04, Z:-0.62 [[-2.05313580e-02 -9.99789200e-01 -1.34898922e-04 1.74504757e+02] [ 9.99786634e-01 -2.05316112e-02 2.26711633e-03 1.19038540e+02] [-2.26940811e-03 -8.83231618e-05 9.99997421e-01 -6.20776865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:119.01, Z:-0.62 [[-3.17266918e-02 -9.99496576e-01 -1.03249934e-04 1.74502430e+02] [ 9.99494002e-01 -3.17268444e-02 2.26855678e-03 1.19009539e+02] [-2.27069053e-03 -3.12238875e-05 9.99997421e-01 -6.23162847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.02, Z:-0.62 [[-2.73844401e-02 -9.99624967e-01 -1.30693781e-04 1.74506195e+02] [ 9.99622398e-01 -2.73846662e-02 2.26728631e-03 1.19017355e+02] [-2.27001500e-03 -6.85560651e-05 9.99997421e-01 -6.20541702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.01, Z:-0.62 [[-3.40396097e-02 -9.99420479e-01 -1.04501207e-04 1.74508054e+02] [ 9.99417905e-01 -3.40397592e-02 2.26849290e-03 1.19011392e+02] [-2.27073546e-03 -2.72217646e-05 9.99997422e-01 -6.20117201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.01, Z:-0.62 [[-3.74980013e-02 -9.99296697e-01 -1.05379139e-04 1.74508879e+02] [ 9.99294123e-01 -3.74981439e-02 2.26845212e-03 1.19008365e+02] [-2.27080823e-03 -2.02423341e-05 9.99997422e-01 -6.19704384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.00, Z:-0.62 [[-4.08542054e-02 -9.99165113e-01 -1.06255732e-04 1.74509655e+02] [ 9.99162538e-01 -4.08543414e-02 2.26841106e-03 1.19002905e+02] [-2.27085820e-03 -1.34926159e-05 9.99997422e-01 -6.19617786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.00, Z:-0.62 [[-4.41404285e-02 -9.99025331e-01 -1.07130990e-04 1.74510452e+02] [ 9.99022755e-01 -4.41405580e-02 2.26836972e-03 1.18999652e+02] [-2.27088763e-03 -6.89948529e-06 9.99997422e-01 -6.19922911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.99, Z:-0.62 [[-4.92265015e-02 -9.98787635e-01 -1.08005052e-04 1.74512254e+02] [ 9.98785059e-01 -4.92266198e-02 2.26832810e-03 1.18994409e+02] [-2.27089479e-03 3.78802408e-06 9.99997422e-01 -6.20176239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.99, Z:-0.62 [[-5.13704744e-02 -9.98679660e-01 -1.08877787e-04 1.74513279e+02] [ 9.98677084e-01 -5.13705891e-02 2.26828621e-03 1.18990524e+02] [-2.27088442e-03 7.78918809e-06 9.99997422e-01 -6.19690533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:118.99, Z:-0.62 [[-5.30711498e-02 -9.98590728e-01 -1.09748905e-04 1.74514077e+02] [ 9.98588151e-01 -5.30712622e-02 2.26824406e-03 1.18994921e+02] [-2.27087200e-03 1.07843647e-05 9.99997422e-01 -6.20627129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.98, Z:-0.62 [[-5.46238760e-02 -9.98506995e-01 -1.10621900e-04 1.74515646e+02] [ 9.98504419e-01 -5.46239864e-02 2.26820149e-03 1.18984740e+02] [-2.27085766e-03 1.34415008e-05 9.99997422e-01 -6.19887754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.98, Z:-0.62 [[-5.55923820e-02 -9.98453542e-01 -1.11494292e-04 1.74516751e+02] [ 9.98450965e-01 -5.55924919e-02 2.26815860e-03 1.18982201e+02] [-2.27084924e-03 1.47707562e-05 9.99997422e-01 -6.19969208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.98, Z:-0.62 [[-5.56860638e-02 -9.98448321e-01 -1.11765473e-04 1.74517156e+02] [ 9.98445745e-01 -5.56861740e-02 2.26814524e-03 1.18978204e+02] [-2.27084960e-03 1.47123191e-05 9.99997422e-01 -6.19279781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.98, Z:-0.62 [[-5.54746955e-02 -9.98460087e-01 -1.12634942e-04 1.74517441e+02] [ 9.98457511e-01 -5.54748082e-02 2.26810206e-03 1.18976219e+02] [-2.27085778e-03 1.33610671e-05 9.99997422e-01 -6.19302687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.98, Z:-0.62 [[-5.48813475e-02 -9.98492877e-01 -1.13504103e-04 1.74517376e+02] [ 9.98490301e-01 -5.48814638e-02 2.26805856e-03 1.18980841e+02] [-2.27086959e-03 1.11413641e-05 9.99997422e-01 -6.19549403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:118.97, Z:-0.62 [[-5.21189226e-02 -9.98640879e-01 -1.14375425e-04 1.74518053e+02] [ 9.98638303e-01 -5.21190479e-02 2.26801462e-03 1.18973796e+02] [-2.27089326e-03 3.98679792e-06 9.99997422e-01 -6.19205458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:119.27, Z:-0.62 [[-4.57438319e-02 -9.98953196e-01 -1.15247316e-04 1.74505893e+02] [ 9.98950622e-01 -4.57439756e-02 2.26797032e-03 1.19273389e+02] [-2.27086807e-03 -1.13807251e-05 9.99997422e-01 -6.23217915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:118.90, Z:0.17 [[-1.34036107e-01 9.90976443e-01 1.07009920e-04 1.73711476e+02] [ 9.90973867e-01 1.34036003e-01 -2.26838150e-03 1.18899067e+02] [-2.26225582e-03 -1.98000991e-04 -9.99997421e-01 1.70910615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:174.49, Y:119.58, Z:-0.63 [[-1.14222424e-01 -9.93455158e-01 -2.94613972e-04 1.74488274e+02] [ 9.93452624e-01 -1.14222798e-01 2.24411024e-03 1.19578934e+02] [-2.26307453e-03 -3.63573117e-05 9.99997439e-01 -6.25000501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:118.89, Z:0.17 [[-2.18454545e-01 9.75847088e-01 2.70822824e-04 1.73763337e+02] [ 9.75844527e-01 2.18454596e-01 -2.24712932e-03 1.18889778e+02] [-2.25201709e-03 -2.26614643e-04 -9.99997439e-01 1.70613873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:173.67, Y:119.38, Z:0.17 [[-2.97806019e-01 9.54626285e-01 4.80397344e-04 1.73665954e+02] [ 9.54623764e-01 2.97806341e-01 -2.20303587e-03 1.19382027e+02] [-2.24614133e-03 -1.97478621e-04 -9.99997458e-01 1.73053554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:173.67, Y:119.43, Z:0.17 [[-3.72522468e-01 9.28022942e-01 6.55749400e-04 1.73671360e+02] [ 9.28020467e-01 3.72522995e-01 -2.15195424e-03 1.19428240e+02] [-2.24134463e-03 -1.93102439e-04 -9.99997470e-01 1.72953149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53999999999996 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:173.70, Y:119.40, Z:0.17 [[-4.44185189e-01 8.95934626e-01 8.15065136e-04 1.73702150e+02] [ 8.95932206e-01 4.44185892e-01 -2.09172347e-03 1.19403376e+02] [-2.23608791e-03 -1.98869478e-04 -9.99997480e-01 1.72957105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:119.22, Z:-0.62 [[-4.12164262e-01 -9.11109037e-01 -9.71534645e-04 1.74732608e+02] [ 9.11106804e-01 -4.12165404e-01 2.01783182e-03 1.19221024e+02] [-2.23889777e-03 -5.34936647e-05 9.99997492e-01 -6.19975799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59999999999997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:174.50, Y:119.72, Z:-0.62 [[-4.05122529e-01 -9.14261901e-01 -9.55431085e-04 1.74500969e+02] [ 9.14259659e-01 -4.05123653e-01 2.02542816e-03 1.19723005e+02] [-2.23883953e-03 -5.29655200e-05 9.99997492e-01 -6.24470541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:173.75, Y:119.36, Z:0.17 [[-5.14398938e-01 8.57550484e-01 9.48805985e-04 1.73752963e+02] [ 8.57548115e-01 5.14399762e-01 -2.02856153e-03 1.19355083e+02] [-2.22765949e-03 -2.29843112e-04 -9.99997492e-01 1.72165184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:118.86, Z:0.17 [[-5.80709930e-01 8.14109785e-01 1.11168345e-03 1.74098243e+02] [ 8.14107514e-01 5.80710953e-01 -1.93498559e-03 1.18855551e+02] [-2.22085746e-03 -2.18635493e-04 -9.99997510e-01 1.70771615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:118.86, Z:0.17 [[-6.43356499e-01 7.65565698e-01 1.25565748e-03 1.74136975e+02] [ 7.65563527e-01 6.43357687e-01 -1.83654993e-03 1.18859671e+02] [-2.21383652e-03 -2.20270765e-04 -9.99997525e-01 1.69643448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:118.84, Z:0.17 [[-7.01298403e-01 7.12866477e-01 1.39128900e-03 1.74195724e+02] [ 7.12864418e-01 7.01299749e-01 -1.72730300e-03 1.18843534e+02] [-2.20704703e-03 -2.19554415e-04 -9.99997540e-01 1.69559952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:118.84, Z:0.17 [[-7.54702858e-01 6.56065007e-01 1.51761400e-03 1.74244068e+02] [ 6.56063072e-01 7.54704352e-01 -1.60808510e-03 1.18843640e+02] [-2.20035825e-03 -2.17975918e-04 -9.99997555e-01 1.69406641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:118.85, Z:0.17 [[-8.03627851e-01 5.95129908e-01 1.63385453e-03 1.74289633e+02] [ 5.95128108e-01 8.03629483e-01 -1.47973803e-03 1.18849504e+02] [-2.19365003e-03 -2.16805944e-04 -9.99997570e-01 1.69155917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:118.85, Z:0.17 [[-8.47343880e-01 5.31041734e-01 1.73939670e-03 1.74343740e+02] [ 5.31040079e-01 8.47345638e-01 -1.34304935e-03 1.18852259e+02] [-2.18708547e-03 -2.14335289e-04 -9.99997585e-01 1.70409478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:118.86, Z:0.17 [[-8.86179163e-01 4.63339108e-01 1.83356449e-03 1.74392618e+02] [ 4.63337606e-01 8.86181034e-01 -1.19904980e-03 1.18863250e+02] [-2.18043674e-03 -2.13013564e-04 -9.99997600e-01 1.68502342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:118.88, Z:0.17 [[-9.19544527e-01 3.92981160e-01 1.91595699e-03 1.74426805e+02] [ 3.92979818e-01 9.19546499e-01 -1.04849004e-03 1.18884349e+02] [-2.17384837e-03 -2.11200846e-04 -9.99997615e-01 1.68548531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:118.90, Z:0.17 [[-9.46950614e-01 3.21372976e-01 1.98606027e-03 1.74477844e+02] [ 3.21371804e-01 9.46952674e-01 -8.92488920e-04 1.18899936e+02] [-2.16752690e-03 -2.06879160e-04 -9.99997630e-01 1.69200058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:118.92, Z:0.17 [[-9.68974464e-01 2.47152408e-01 2.04353165e-03 1.74527087e+02] [ 2.47151408e-01 9.68976597e-01 -7.32058368e-04 1.18920051e+02] [-2.16106434e-03 -2.04284139e-04 -9.99997644e-01 1.69751811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:118.95, Z:0.17 [[-9.85172459e-01 1.71554267e-01 2.08815761e-03 1.74566906e+02] [ 1.71553445e-01 9.85174651e-01 -5.67997997e-04 1.18945401e+02] [-2.15464242e-03 -2.01345353e-04 -9.99997658e-01 1.69551286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:118.97, Z:0.17 [[-9.95461118e-01 9.51455171e-02 2.11970082e-03 1.74614992e+02] [ 9.51448761e-02 9.95463355e-01 -4.01444028e-04 1.18972239e+02] [-2.14828009e-03 -1.97943249e-04 -9.99997673e-01 1.69916645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:119.00, Z:0.17 [[-9.99799382e-01 1.99154412e-02 2.13804591e-03 1.74655020e+02] [ 1.99149873e-02 9.99801650e-01 -2.33383105e-04 1.19002829e+02] [-2.14226975e-03 -1.90757127e-04 -9.99997687e-01 1.70300482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:119.04, Z:0.17 [[-9.98367609e-01 -5.70747290e-02 2.14314969e-03 1.74687643e+02] [-5.70749989e-02 9.98369892e-01 -6.49342256e-05 1.19037098e+02] [-2.13595002e-03 -1.87148494e-04 -9.99997701e-01 1.70092281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:119.07, Z:0.17 [[-9.91039552e-01 -1.33551669e-01 2.13507647e-03 1.74725158e+02] [-1.33551755e-01 9.91041835e-01 1.02777551e-04 1.19074759e+02] [-2.12967621e-03 -1.83286591e-04 -9.99997715e-01 1.69499114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:119.94, Z:-0.62 [[-9.92830200e-01 1.19514538e-01 -2.11401561e-03 1.74607142e+02] [-1.19514237e-01 -9.92832451e-01 -2.68561193e-04 1.19938941e+02] [-2.13096026e-03 -1.39807003e-05 9.99997729e-01 -6.18662063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:119.94, Z:-0.62 [[-9.92587641e-01 1.21512572e-01 -2.11411906e-03 1.74613322e+02] [-1.21512277e-01 -9.92589893e-01 -2.67744313e-04 1.19940891e+02] [-2.13098751e-03 -8.86827473e-06 9.99997729e-01 -6.17125391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.75, Y:119.11, Z:0.17 [[-9.78734446e-01 -2.05120489e-01 2.11422211e-03 1.74748436e+02] [-2.05120388e-01 9.78736714e-01 2.66928073e-04 1.19111842e+02] [-2.12401922e-03 -1.72418361e-04 -9.99997729e-01 1.66521902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:119.97, Z:-0.62 [[-9.79770215e-01 2.00114961e-01 -2.08049202e-03 1.74561710e+02] [-2.00114499e-01 -9.79772424e-01 -4.30091602e-04 1.19967940e+02] [-2.12447647e-03 -5.05432385e-06 9.99997743e-01 -6.15369720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:119.15, Z:0.17 [[-9.60291424e-01 -2.78991132e-01 2.08065781e-03 1.74771462e+02] [-2.78990852e-01 9.60293663e-01 4.29288049e-04 1.19153997e+02] [-2.11781007e-03 -1.68242863e-04 -9.99997743e-01 1.65383209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:119.99, Z:-0.62 [[-9.61024967e-01 2.76454109e-01 -2.03449872e-03 1.74526007e+02] [-2.76453482e-01 -9.61027120e-01 -5.88786683e-04 1.19993977e+02] [-2.11798094e-03 -3.39444780e-06 9.99997757e-01 -6.15240957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:119.19, Z:0.17 [[-9.35522927e-01 -3.53260121e-01 2.03472482e-03 1.74780657e+02] [-3.53259672e-01 9.35525124e-01 5.88004283e-04 1.19194984e+02] [-2.11125465e-03 -1.68694734e-04 -9.99997757e-01 1.66105719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:120.01, Z:-0.62 [[-9.36886145e-01 3.49629011e-01 -1.97650703e-03 1.74478166e+02] [-3.49628222e-01 -9.36888229e-01 -7.42895442e-04 1.20013681e+02] [-2.11150397e-03 -4.96580899e-06 9.99997771e-01 -6.16154771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:120.01, Z:-0.62 [[-9.37427454e-01 3.48175043e-01 -1.97679302e-03 1.74475479e+02] [-3.48174252e-01 -9.37429538e-01 -7.42133664e-04 1.20011302e+02] [-2.11149658e-03 -7.42804140e-06 9.99997771e-01 -6.16614542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:120.01, Z:-0.62 [[-9.37698258e-01 3.47445057e-01 -1.97707828e-03 1.74474803e+02] [-3.47444266e-01 -9.37700343e-01 -7.41372919e-04 1.20010151e+02] [-2.11149334e-03 -8.25958258e-06 9.99997771e-01 -6.16889120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:119.23, Z:0.17 [[-9.05032486e-01 -4.25337853e-01 1.97736316e-03 1.74768985e+02] [-4.25337243e-01 9.05034630e-01 7.40612320e-04 1.19231096e+02] [-2.10459259e-03 -1.70767985e-04 -9.99997771e-01 1.67310739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:120.02, Z:-0.62 [[-9.08766462e-01 4.17300699e-01 -1.90900114e-03 1.74402191e+02] [-4.17299755e-01 -9.08768467e-01 -8.87635732e-04 1.20015469e+02] [-2.10525105e-03 -1.00278753e-05 9.99997784e-01 -6.17524781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:120.01, Z:-0.62 [[-9.09130335e-01 4.16507370e-01 -1.90934269e-03 1.74401948e+02] [-4.16506425e-01 -9.09132340e-01 -8.86900442e-04 1.20013431e+02] [-2.10524575e-03 -1.10545981e-05 9.99997784e-01 -6.18309232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:120.01, Z:-0.62 [[-9.09242590e-01 4.16262255e-01 -1.90968395e-03 1.74397506e+02] [-4.16261312e-01 -9.09244596e-01 -8.86165020e-04 1.20010387e+02] [-2.10524686e-03 -1.08114308e-05 9.99997784e-01 -6.18625020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:120.01, Z:-0.62 [[-9.09332451e-01 4.16065914e-01 -1.91002516e-03 1.74390866e+02] [-4.16064972e-01 -9.09334457e-01 -8.85428971e-04 1.20006851e+02] [-2.10524851e-03 -1.04547325e-05 9.99997784e-01 -6.18472650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:120.01, Z:-0.62 [[-9.08973825e-01 4.16848818e-01 -1.91036711e-03 1.74395643e+02] [-4.16847879e-01 -9.08975832e-01 -8.84690570e-04 1.20007797e+02] [-2.10525975e-03 -7.82809195e-06 9.99997784e-01 -6.17176250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:120.01, Z:-0.62 [[-9.08863634e-01 4.17089013e-01 -1.91070850e-03 1.74394491e+02] [-4.17088076e-01 -9.08865642e-01 -8.83952652e-04 1.20006683e+02] [-2.10526424e-03 -6.45868752e-06 9.99997784e-01 -6.16830129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:120.00, Z:-0.62 [[-9.08794201e-01 4.17240276e-01 -1.91104863e-03 1.74391948e+02] [-4.17239342e-01 -9.08796210e-01 -8.83216704e-04 1.20004776e+02] [-2.10526733e-03 -5.29754848e-06 9.99997784e-01 -6.16447950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:120.00, Z:-0.62 [[-9.08654692e-01 4.17544006e-01 -1.91143176e-03 1.74392431e+02] [-4.17543073e-01 -9.08656703e-01 -8.82386747e-04 1.20003665e+02] [-2.10527058e-03 -3.67976530e-06 9.99997784e-01 -6.16091265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:173.82, Y:119.74, Z:-0.62 [[-9.08854640e-01 4.17108605e-01 -1.91177089e-03 1.73820435e+02] [-4.17107673e-01 -9.08856651e-01 -8.81651379e-04 1.19739115e+02] [-2.10527007e-03 -3.87863717e-06 9.99997784e-01 -6.20498930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:119.22, Z:0.17 [[-8.76961315e-01 -4.80557173e-01 1.91177089e-03 1.74628731e+02] [-4.80556387e-01 8.76963387e-01 8.81651379e-04 1.19223809e+02] [-2.10023697e-03 -1.45539560e-04 -9.99997784e-01 1.66925663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:119.97, Z:-0.62 [[-8.77722372e-01 4.79165986e-01 -1.84263107e-03 1.74226487e+02] [-4.79164926e-01 -8.77724306e-01 -1.00803511e-03 1.19970985e+02] [-2.10033821e-03 -1.85078898e-06 9.99997794e-01 -6.17859231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:119.97, Z:-0.62 [[-8.77645114e-01 4.79307477e-01 -1.84301970e-03 1.74227531e+02] [-4.79306418e-01 -8.77647049e-01 -1.00732405e-03 1.19970058e+02] [-2.10033875e-03 -7.01860526e-07 9.99997794e-01 -6.18672302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:119.97, Z:-0.62 [[-8.77594362e-01 4.79400394e-01 -1.84340677e-03 1.74226058e+02] [-4.79399337e-01 -8.77596298e-01 -1.00661522e-03 1.19968598e+02] [-2.10033869e-03 3.28142476e-07 9.99997794e-01 -6.18226690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:119.96, Z:-0.62 [[-8.77662298e-01 4.79276007e-01 -1.84379299e-03 1.74214021e+02] [-4.79274951e-01 -8.77664235e-01 -1.00590730e-03 1.19961451e+02] [-2.10033839e-03 8.36882811e-07 9.99997794e-01 -6.18139167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:119.97, Z:-0.62 [[-8.77738833e-01 4.79135827e-01 -1.84418067e-03 1.74222682e+02] [-4.79134773e-01 -8.77740770e-01 -1.00519603e-03 1.19965446e+02] [-2.10033800e-03 1.31149461e-06 9.99997794e-01 -6.18083193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:119.96, Z:-0.62 [[-8.77604064e-01 4.79382628e-01 -1.84456789e-03 1.74218297e+02] [-4.79381576e-01 -8.77606002e-01 -1.00448497e-03 1.19961234e+02] [-2.10033650e-03 2.71177114e-06 9.99997794e-01 -6.17671039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:119.96, Z:-0.62 [[-8.77636153e-01 4.79323877e-01 -1.84495374e-03 1.74216553e+02] [-4.79322826e-01 -8.77638092e-01 -1.00377578e-03 1.19959467e+02] [-2.10033538e-03 3.37852526e-06 9.99997794e-01 -6.17551226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:119.96, Z:-0.62 [[-8.77657308e-01 4.79285139e-01 -1.84533989e-03 1.74217282e+02] [-4.79284089e-01 -8.77659248e-01 -1.00306538e-03 1.19959329e+02] [-2.10033395e-03 4.09439154e-06 9.99997794e-01 -6.17575791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:119.96, Z:-0.62 [[-8.77478172e-01 4.79613022e-01 -1.84572532e-03 1.74215865e+02] [-4.79611975e-01 -8.77480113e-01 -1.00235565e-03 1.19957666e+02] [-2.10033008e-03 5.68676108e-06 9.99997794e-01 -6.17691977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:119.96, Z:-0.62 [[-8.77165774e-01 4.80184127e-01 -1.84610990e-03 1.74217194e+02] [-4.80183083e-01 -8.77167717e-01 -1.00164684e-03 1.19957175e+02] [-2.10032292e-03 7.86041650e-06 9.99997794e-01 -6.17931172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:119.95, Z:-0.62 [[-8.77248201e-01 4.80033525e-01 -1.84649382e-03 1.74212109e+02] [-4.80032481e-01 -8.77250144e-01 -1.00093860e-03 1.19953850e+02] [-2.10032105e-03 8.30542899e-06 9.99997794e-01 -6.18120057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:119.95, Z:-0.62 [[-8.77525490e-01 4.79526436e-01 -1.84687747e-03 1.74211701e+02] [-4.79525393e-01 -8.77527434e-01 -1.00023020e-03 1.19953020e+02] [-2.10032247e-03 7.89714557e-06 9.99997794e-01 -6.19081105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:119.95, Z:-0.62 [[-8.77789023e-01 4.79043858e-01 -1.84726111e-03 1.74205697e+02] [-4.79042816e-01 -8.77790967e-01 -9.99521190e-04 1.19948987e+02] [-2.10032360e-03 7.54843268e-06 9.99997794e-01 -6.18555112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:119.95, Z:-0.62 [[-8.79103673e-01 4.76627022e-01 -1.84764504e-03 1.74208886e+02] [-4.76625976e-01 -8.79105615e-01 -9.98810965e-04 1.19949304e+02] [-2.10033543e-03 2.57723382e-06 9.99997794e-01 -6.18611129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:119.95, Z:-0.62 [[-8.80130993e-01 4.74727311e-01 -1.84802858e-03 1.74204857e+02] [-4.74726262e-01 -8.80132933e-01 -9.98100831e-04 1.19946085e+02] [-2.10033654e-03 -1.15177663e-06 9.99997794e-01 -6.18750262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:119.94, Z:-0.62 [[-8.81310723e-01 4.72533590e-01 -1.84841140e-03 1.74201953e+02] [-4.72532537e-01 -8.81312661e-01 -9.97391375e-04 1.19943395e+02] [-2.10032929e-03 -5.57718624e-06 9.99997794e-01 -6.19207152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:119.94, Z:-0.62 [[-8.83634773e-01 4.68173227e-01 -1.84879465e-03 1.74197604e+02] [-4.68172166e-01 -8.83636707e-01 -9.96680470e-04 1.19938947e+02] [-2.10028192e-03 -1.51473264e-05 9.99997794e-01 -6.20432160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:119.94, Z:-0.62 [[-8.84843005e-01 4.65885650e-01 -1.84891461e-03 1.74196679e+02] [-4.65884584e-01 -8.84844936e-01 -9.96457875e-04 1.19937231e+02] [-2.10023816e-03 -2.03279658e-05 9.99997794e-01 -6.21376983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:119.93, Z:-0.62 [[-8.86175990e-01 4.63345115e-01 -1.84929846e-03 1.74186006e+02] [-4.63344046e-01 -8.86177919e-01 -9.95744988e-04 1.19930505e+02] [-2.10018104e-03 -2.55438701e-05 9.99997794e-01 -6.20910538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:119.93, Z:-0.62 [[-8.87327981e-01 4.61135156e-01 -1.84993269e-03 1.74183721e+02] [-4.61134085e-01 -8.87329909e-01 -9.94565298e-04 1.19928636e+02] [-2.10012963e-03 -2.94386002e-05 9.99997794e-01 -6.22014480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:119.93, Z:-0.62 [[-8.88399458e-01 4.59067510e-01 -1.85031754e-03 1.74184942e+02] [-4.59066435e-01 -8.88401385e-01 -9.93848785e-04 1.19928809e+02] [-2.10006836e-03 -3.35160435e-05 9.99997794e-01 -6.21158426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:119.92, Z:-0.62 [[-8.89735152e-01 4.56473367e-01 -1.85070167e-03 1.74170900e+02] [-4.56472288e-01 -8.89737076e-01 -9.93132963e-04 1.19920962e+02] [-2.09997664e-03 -3.88312809e-05 9.99997794e-01 -6.20800661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:119.08, Z:0.17 [[-8.31186090e-01 -5.55991239e-01 1.85108695e-03 1.74293226e+02] [-5.55990390e-01 8.31188126e-01 9.92414338e-04 1.19082548e+02] [-2.09037517e-03 -2.04305561e-04 -9.99997794e-01 1.69715405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:119.23, Z:0.17 [[-7.91341667e-01 -6.11371359e-01 1.85108695e-03 1.74461130e+02] [-6.11370652e-01 7.91343757e-01 9.92414338e-04 1.19234913e+02] [-2.07157980e-03 -3.46361416e-04 -9.99997794e-01 1.68417832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:119.89, Z:-0.62 [[-8.14606208e-01 5.80012018e-01 -1.66857202e-03 1.73974570e+02] [-5.80010698e-01 -8.14607916e-01 -1.23833994e-03 1.19889306e+02] [-2.07748403e-03 -4.09697827e-05 9.99997841e-01 -6.19729318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:119.89, Z:-0.62 [[-8.15372989e-01 5.78933592e-01 -1.66905090e-03 1.73969910e+02] [-5.78932270e-01 -8.15374696e-01 -1.23769416e-03 1.19886218e+02] [-2.07744460e-03 -4.29149579e-05 9.99997841e-01 -6.19821584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:119.89, Z:-0.62 [[-8.15722240e-01 5.78441389e-01 -1.66953010e-03 1.73968095e+02] [-5.78440068e-01 -8.15723947e-01 -1.23704744e-03 1.19885055e+02] [-2.07743512e-03 -4.33640040e-05 9.99997841e-01 -6.19550907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:119.88, Z:-0.62 [[-8.15991753e-01 5.78061130e-01 -1.67000960e-03 1.73965068e+02] [-5.78059810e-01 -8.15993461e-01 -1.23639977e-03 1.19883060e+02] [-2.07743156e-03 -4.35265816e-05 9.99997841e-01 -6.19765354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:119.88, Z:-0.62 [[-8.16297816e-01 5.77628847e-01 -1.67048902e-03 1.73963834e+02] [-5.77627527e-01 -8.16299524e-01 -1.23575169e-03 1.19883050e+02] [-2.07742522e-03 -4.38209693e-05 9.99997841e-01 -6.19169304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:119.88, Z:-0.62 [[-8.16189636e-01 5.77781694e-01 -1.67102945e-03 1.73962146e+02] [-5.77780375e-01 -8.16191346e-01 -1.23502047e-03 1.19883666e+02] [-2.07745199e-03 -4.25228825e-05 9.99997841e-01 -6.19783609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:119.88, Z:-0.62 [[-8.16285379e-01 5.77646419e-01 -1.67150761e-03 1.73958764e+02] [-5.77645102e-01 -8.16287090e-01 -1.23437298e-03 1.19882081e+02] [-2.07746121e-03 -4.20624312e-05 9.99997841e-01 -6.19913450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:119.88, Z:-0.62 [[-8.16333125e-01 5.77578942e-01 -1.67198552e-03 1.73951146e+02] [-5.77577626e-01 -8.16334836e-01 -1.23372530e-03 1.19877475e+02] [-2.07747378e-03 -4.14294074e-05 9.99997841e-01 -6.21883079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:119.88, Z:-0.62 [[-8.16465194e-01 5.77392232e-01 -1.67246462e-03 1.73953975e+02] [-5.77390917e-01 -8.16466906e-01 -1.23307548e-03 1.19880432e+02] [-2.07748022e-03 -4.10973296e-05 9.99997841e-01 -6.19860803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:119.88, Z:-0.62 [[-8.16588926e-01 5.77217226e-01 -1.67294347e-03 1.73949892e+02] [-5.77215912e-01 -8.16590639e-01 -1.23242547e-03 1.19879881e+02] [-2.07748719e-03 -4.07353988e-05 9.99997841e-01 -6.21096420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:119.88, Z:-0.62 [[-8.16506242e-01 5.77334180e-01 -1.67336191e-03 1.73948752e+02] [-5.77332868e-01 -8.16507956e-01 -1.23185705e-03 1.19880249e+02] [-2.07750650e-03 -3.97321438e-05 9.99997841e-01 -6.21797254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:119.88, Z:-0.62 [[-8.16475154e-01 5.77378144e-01 -1.67378029e-03 1.73947841e+02] [-5.77376833e-01 -8.16476869e-01 -1.23128832e-03 1.19881302e+02] [-2.07752186e-03 -3.89143628e-05 9.99997841e-01 -6.21982719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:119.88, Z:-0.62 [[-8.16460531e-01 5.77398821e-01 -1.67425732e-03 1.73946413e+02] [-5.77397510e-01 -8.16462247e-01 -1.23063933e-03 1.19882024e+02] [-2.07753759e-03 -3.80564317e-05 9.99997841e-01 -6.21964248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:119.88, Z:-0.62 [[-8.15733176e-01 5.78425951e-01 -1.67473346e-03 1.73937151e+02] [-5.78424644e-01 -8.15734895e-01 -1.22999103e-03 1.19879121e+02] [-2.07759725e-03 -3.46373840e-05 9.99997841e-01 -6.21208257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:119.88, Z:-0.62 [[-8.15415655e-01 5.78873478e-01 -1.67521023e-03 1.73936223e+02] [-5.78872174e-01 -8.15417375e-01 -1.22934134e-03 1.19880392e+02] [-2.07762862e-03 -3.26915905e-05 9.99997841e-01 -6.20968195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90999999999997 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:174.08, Y:118.94, Z:0.17 [[-7.47953735e-01 -6.63748749e-01 1.67574844e-03 1.74077050e+02] [-6.63747641e-01 7.47955587e-01 1.22860725e-03 1.18942648e+02] [-2.06887194e-03 -1.93332693e-04 -9.99997841e-01 1.73256078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:119.20, Z:0.17 [[-7.01991773e-01 -7.12183082e-01 1.67574844e-03 1.74321676e+02] [-7.12182099e-01 7.01993695e-01 1.22860725e-03 1.19204260e+02] [-2.05135814e-03 -3.30965860e-04 -9.99997841e-01 1.66019061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:119.83, Z:-0.62 [[-7.20563571e-01 6.93387338e-01 -1.46271633e-03 1.73731752e+02] [-6.93385834e-01 -7.20565055e-01 -1.44434861e-03 1.19826154e+02] [-2.05547532e-03 -2.65182075e-05 9.99997887e-01 -6.19992157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:119.83, Z:-0.62 [[-7.19595213e-01 6.94392244e-01 -1.46327884e-03 1.73729159e+02] [-6.94390743e-01 -7.19596700e-01 -1.44377851e-03 1.19827325e+02] [-2.05551922e-03 -2.28488203e-05 9.99997887e-01 -6.18069926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:119.82, Z:-0.62 [[-7.19166525e-01 6.94836216e-01 -1.46383716e-03 1.73715789e+02] [-6.94834717e-01 -7.19168014e-01 -1.44321221e-03 1.19815650e+02] [-2.05554097e-03 -2.07850277e-05 9.99997887e-01 -6.20501140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:119.81, Z:-0.62 [[-7.18479678e-01 6.95546410e-01 -1.46439818e-03 1.73705881e+02] [-6.95544914e-01 -7.18481170e-01 -1.44264273e-03 1.19807515e+02] [-2.05556749e-03 -1.79547742e-05 9.99997887e-01 -6.21944144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:119.82, Z:-0.62 [[-7.17745933e-01 6.96303547e-01 -1.46496443e-03 1.73720596e+02] [-6.96302054e-01 -7.17747428e-01 -1.44206749e-03 1.19823944e+02] [-2.05559116e-03 -1.49803383e-05 9.99997887e-01 -6.19866153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:119.83, Z:-0.62 [[-7.15463852e-01 6.98648215e-01 -1.46559705e-03 1.73719509e+02] [-6.98646728e-01 -7.15465353e-01 -1.44142426e-03 1.19828856e+02] [-2.05563240e-03 -7.35237523e-06 9.99997887e-01 -6.22317136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:119.83, Z:-0.62 [[-7.14146786e-01 6.99994442e-01 -1.46615343e-03 1.73713794e+02] [-6.99992959e-01 -7.14148291e-01 -1.44085811e-03 1.19825995e+02] [-2.05564364e-03 -2.68711398e-06 9.99997887e-01 -6.22138157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:119.78, Z:-0.62 [[-7.12929630e-01 7.01234049e-01 -1.46684925e-03 1.73661879e+02] [-7.01232570e-01 -7.12931139e-01 -1.44014939e-03 1.19777672e+02] [-2.05564430e-03 1.87730421e-06 9.99997887e-01 -6.19431300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:119.83, Z:-0.62 [[-7.11977865e-01 7.02200380e-01 -1.46519701e-03 1.73710401e+02] [-7.02198900e-01 -7.11979372e-01 -1.44183302e-03 1.19826963e+02] [-2.05564574e-03 2.30652949e-06 9.99997887e-01 -6.18683187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:119.83, Z:-0.62 [[-7.09908231e-01 7.04292658e-01 -1.46813260e-03 1.73707342e+02] [-7.04291189e-01 -7.09909749e-01 -1.43883766e-03 1.19827594e+02] [-2.05560445e-03 1.25501534e-05 9.99997887e-01 -6.17335211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:119.83, Z:-0.62 [[-7.09296865e-01 7.04908362e-01 -1.46882516e-03 1.73703936e+02] [-7.04906895e-01 -7.09298386e-01 -1.43813032e-03 1.19825938e+02] [-2.05558540e-03 1.53236499e-05 9.99997887e-01 -6.17384689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:119.82, Z:-0.62 [[-7.08903775e-01 7.05303678e-01 -1.46951663e-03 1.73699775e+02] [-7.05302214e-01 -7.08905298e-01 -1.43742342e-03 1.19823770e+02] [-2.05556814e-03 1.74584430e-05 9.99997887e-01 -6.17672681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:119.82, Z:-0.62 [[-7.07986466e-01 7.06224470e-01 -1.47013706e-03 1.73690716e+02] [-7.06223009e-01 -7.07987992e-01 -1.43678858e-03 1.19818630e+02] [-2.05553464e-03 2.10177465e-05 9.99997887e-01 -6.17923295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:119.82, Z:-0.62 [[-7.08011889e-01 7.06198981e-01 -1.47083017e-03 1.73689950e+02] [-7.06197522e-01 -7.08013417e-01 -1.43607870e-03 1.19819336e+02] [-2.05552481e-03 2.19358224e-05 9.99997887e-01 -6.18938929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:119.81, Z:-0.62 [[-7.08396310e-01 7.05813362e-01 -1.47145252e-03 1.73682582e+02] [-7.05811903e-01 -7.08397838e-01 -1.43544073e-03 1.19813441e+02] [-2.05552704e-03 2.17077856e-05 9.99997887e-01 -6.19569660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:119.82, Z:-0.62 [[-7.08906383e-01 7.05301052e-01 -1.47214626e-03 1.73685402e+02] [-7.05299593e-01 -7.08907911e-01 -1.43472891e-03 1.19816914e+02] [-2.05553193e-03 2.12156760e-05 9.99997887e-01 -6.20052863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:119.82, Z:-0.62 [[-7.09983132e-01 7.04217142e-01 -1.47291031e-03 1.73683837e+02] [-7.04215682e-01 -7.09984660e-01 -1.43394409e-03 1.19816544e+02] [-2.05555173e-03 1.91704236e-05 9.99997887e-01 -6.20548752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:119.81, Z:-0.62 [[-7.10792912e-01 7.03399790e-01 -1.47359924e-03 1.73679379e+02] [-7.03398330e-01 -7.10794439e-01 -1.43323575e-03 1.19812919e+02] [-2.05556388e-03 1.77934327e-05 9.99997887e-01 -6.19313338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:119.81, Z:-0.62 [[-7.11569460e-01 7.02614212e-01 -1.47435879e-03 1.73674239e+02] [-7.02612752e-01 -7.11570987e-01 -1.43245399e-03 1.19808323e+02] [-2.05557347e-03 1.66127801e-05 9.99997887e-01 -6.18429456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:119.80, Z:-0.62 [[-7.12510173e-01 7.01660229e-01 -1.47504753e-03 1.73663689e+02] [-7.01658769e-01 -7.12511700e-01 -1.43174442e-03 1.19798448e+02] [-2.05558674e-03 1.48475713e-05 9.99997887e-01 -6.18803127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:119.80, Z:-0.62 [[-7.13562891e-01 7.00589626e-01 -1.47560017e-03 1.73666974e+02] [-7.00588164e-01 -7.13564416e-01 -1.43117462e-03 1.19802132e+02] [-2.05560187e-03 1.25549184e-05 9.99997887e-01 -6.18196908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:119.80, Z:-0.62 [[-7.15709976e-01 6.98396056e-01 -1.47622222e-03 1.73662687e+02] [-6.98394591e-01 -7.15711498e-01 -1.43053271e-03 1.19798262e+02] [-2.05562762e-03 7.13908427e-06 9.99997887e-01 -6.17762157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:119.80, Z:-0.62 [[-7.17215881e-01 6.96849481e-01 -1.47684262e-03 1.73662063e+02] [-6.96848014e-01 -7.17217402e-01 -1.42989194e-03 1.19797815e+02] [-2.05563668e-03 3.59363864e-06 9.99997887e-01 -6.17637605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:119.79, Z:-0.62 [[-7.18827758e-01 6.95186645e-01 -1.47753340e-03 1.73657968e+02] [-6.95185176e-01 -7.18829276e-01 -1.42917778e-03 1.19793690e+02] [-2.05563957e-03 -1.73336447e-07 9.99997887e-01 -6.17597169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:119.79, Z:-0.62 [[-7.20457032e-01 6.93498003e-01 -1.47815299e-03 1.73656056e+02] [-6.93496532e-01 -7.20458548e-01 -1.42853667e-03 1.19791101e+02] [-2.05563529e-03 -4.10531768e-06 9.99997887e-01 -6.18233050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:119.78, Z:-0.62 [[-7.23507851e-01 6.90314568e-01 -1.47877299e-03 1.73645822e+02] [-6.90313091e-01 -7.23509362e-01 -1.42789458e-03 1.19780622e+02] [-2.05560253e-03 -1.22765822e-05 9.99997887e-01 -6.18276163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:119.79, Z:-0.62 [[-7.24945020e-01 6.88805147e-01 -1.47939523e-03 1.73651063e+02] [-6.88803668e-01 -7.24946529e-01 -1.42724960e-03 1.19785679e+02] [-2.05557931e-03 -1.56646302e-05 9.99997887e-01 -6.18168401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:119.78, Z:-0.62 [[-7.25761241e-01 6.87945078e-01 -1.48001742e-03 1.73645534e+02] [-6.87943599e-01 -7.25762750e-01 -1.42660413e-03 1.19779808e+02] [-2.05556680e-03 -1.72054732e-05 9.99997887e-01 -6.19143789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:119.78, Z:-0.62 [[-7.25992854e-01 6.87700650e-01 -1.48063817e-03 1.73645834e+02] [-6.87699172e-01 -7.25994363e-01 -1.42595957e-03 1.19779443e+02] [-2.05556829e-03 -1.70028138e-05 9.99997887e-01 -6.19744076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:119.77, Z:-0.62 [[-7.25475399e-01 6.88246505e-01 -1.48125887e-03 1.73639163e+02] [-6.88245029e-01 -7.25476911e-01 -1.42531451e-03 1.19773514e+02] [-2.05558684e-03 -1.45615605e-05 9.99997887e-01 -6.19850202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:119.77, Z:-0.62 [[-7.25292291e-01 6.88439465e-01 -1.48181171e-03 1.73639183e+02] [-6.88437991e-01 -7.25293804e-01 -1.42473952e-03 1.19774399e+02] [-2.05559577e-03 -1.32171116e-05 9.99997887e-01 -6.19488608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.77, Z:-0.62 [[-7.25222437e-01 6.88513049e-01 -1.48250437e-03 1.73633654e+02] [-6.88511577e-01 -7.25223952e-01 -1.42401841e-03 1.19770229e+02] [-2.05560294e-03 -1.20086839e-05 9.99997887e-01 -6.19161663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.77, Z:-0.62 [[-7.24484856e-01 6.89289123e-01 -1.48305708e-03 1.73629061e+02] [-6.89287653e-01 -7.24486374e-01 -1.42344255e-03 1.19767313e+02] [-2.05561811e-03 -9.00963528e-06 9.99997887e-01 -6.18595708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.77, Z:-0.62 [[-7.24260275e-01 6.89525092e-01 -1.48375062e-03 1.73634012e+02] [-6.89523625e-01 -7.24261795e-01 -1.42271926e-03 1.19772499e+02] [-2.05562452e-03 -7.33793367e-06 9.99997887e-01 -6.19028921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.77, Z:-0.62 [[-7.24020612e-01 6.89776739e-01 -1.48437061e-03 1.73631689e+02] [-6.89775273e-01 -7.24022134e-01 -1.42207212e-03 1.19770371e+02] [-2.05562944e-03 -5.72738370e-06 9.99997887e-01 -6.19549580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:119.78, Z:-0.63 [[-7.12630294e-01 7.01538210e-01 -1.48498780e-03 1.73650008e+02] [-7.01536770e-01 -7.12631840e-01 -1.42142732e-03 1.19777500e+02] [-2.05543517e-03 2.88213728e-05 9.99997887e-01 -6.26762288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.77, Z:-0.62 [[-7.23211842e-01 6.90624731e-01 -1.45332767e-03 1.73627466e+02] [-6.90623201e-01 -7.23213301e-01 -1.45449049e-03 1.19767695e+02] [-2.05557301e-03 -4.82029377e-05 9.99997886e-01 -6.19197034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.77, Z:-0.62 [[-7.23277151e-01 6.90556264e-01 -1.48616988e-03 1.73626269e+02] [-6.90554804e-01 -7.23278678e-01 -1.42012082e-03 1.19767302e+02] [-2.05558831e-03 -8.59193788e-07 9.99997887e-01 -6.18759424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:119.76, Z:-0.62 [[-7.23363995e-01 6.90465293e-01 -1.48678509e-03 1.73614658e+02] [-6.90463833e-01 -7.23365523e-01 -1.41947644e-03 1.19756841e+02] [-2.05558829e-03 -2.26813228e-07 9.99997887e-01 -6.18601820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:119.77, Z:-0.62 [[-7.13557457e-01 7.00595135e-01 -1.48740252e-03 1.73642059e+02] [-7.00593699e-01 -7.13559007e-01 -1.41882917e-03 1.19773194e+02] [-2.05537427e-03 2.96486959e-05 9.99997887e-01 -6.24862162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:119.75, Z:-0.62 [[-7.23472761e-01 6.90351384e-01 -1.45958920e-03 1.73611769e+02] [-6.90349867e-01 -7.23474232e-01 -1.44797612e-03 1.19754552e+02] [-2.05558750e-03 -3.99440720e-05 9.99997886e-01 -6.19569466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.76, Z:-0.63 [[-7.13968209e-01 7.00176535e-01 -1.48854774e-03 1.73633417e+02] [-7.00175101e-01 -7.13969760e-01 -1.41756758e-03 1.19764463e+02] [-2.05532563e-03 3.01458808e-05 9.99997887e-01 -6.26225949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.76, Z:-0.63 [[-7.14717305e-01 6.99411925e-01 -1.46064125e-03 1.73629764e+02] [-6.99410428e-01 -7.14718798e-01 -1.44685711e-03 1.19760867e+02] [-2.05589687e-03 -1.25060973e-05 9.99997887e-01 -6.25433135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.77, Z:-0.62 [[-7.16010129e-01 6.98088363e-01 -1.46025966e-03 1.73634265e+02] [-6.98086863e-01 -7.16011618e-01 -1.44725791e-03 1.19765667e+02] [-2.05587679e-03 -1.68632431e-05 9.99997887e-01 -6.24134152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:119.75, Z:-0.62 [[-7.24173084e-01 6.89616705e-01 -1.46442325e-03 1.73614144e+02] [-6.89615197e-01 -7.24174563e-01 -1.44288040e-03 1.19754711e+02] [-2.05553250e-03 -3.50066187e-05 9.99997887e-01 -6.19367408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.76, Z:-0.62 [[-7.17749933e-01 6.96299370e-01 -1.49059726e-03 1.73628237e+02] [-6.96297932e-01 -7.17751480e-01 -1.41531416e-03 1.19760768e+02] [-2.05536074e-03 2.20581486e-05 9.99997888e-01 -6.22642065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:119.76, Z:-0.62 [[-7.18071140e-01 6.95968157e-01 -1.47041853e-03 1.73625986e+02] [-6.95966674e-01 -7.18072646e-01 -1.43655921e-03 1.19758572e+02] [-2.05566679e-03 -8.18942255e-06 9.99997887e-01 -6.22635147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:119.76, Z:-0.62 [[-7.18140397e-01 6.95896692e-01 -1.47074940e-03 1.73624514e+02] [-6.95895210e-01 -7.18141903e-01 -1.43621054e-03 1.19756448e+02] [-2.05566093e-03 -7.91334225e-06 9.99997887e-01 -6.22546563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:119.74, Z:-0.62 [[-7.19284280e-01 6.94714304e-01 -1.47001351e-03 1.73608968e+02] [-6.94712817e-01 -7.19285782e-01 -1.43698661e-03 1.19741791e+02] [-2.05565496e-03 -1.23646508e-05 9.99997887e-01 -6.22485260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:119.74, Z:-0.62 [[-7.25711622e-01 6.87997434e-01 -1.47424222e-03 1.73604809e+02] [-6.87995943e-01 -7.25713119e-01 -1.43252222e-03 1.19743159e+02] [-2.05544853e-03 -2.53253543e-05 9.99997887e-01 -6.19899231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:119.75, Z:-0.62 [[-7.19620444e-01 6.94366032e-01 -1.49349410e-03 1.73620530e+02] [-6.94364597e-01 -7.19621993e-01 -1.41216155e-03 1.19750499e+02] [-2.05530821e-03 2.08091072e-05 9.99997888e-01 -6.23695485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:119.73, Z:-0.62 [[-7.26429571e-01 6.87239335e-01 -1.47490259e-03 1.73592528e+02] [-6.87237844e-01 -7.26431067e-01 -1.43182897e-03 1.19730225e+02] [-2.05542425e-03 -2.65140283e-05 9.99997887e-01 -6.20816870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:119.73, Z:-0.62 [[-7.26842166e-01 6.86802906e-01 -1.49480152e-03 1.73595441e+02] [-6.86801457e-01 -7.26843703e-01 -1.41074440e-03 1.19732658e+02] [-2.05539042e-03 1.24334644e-06 9.99997888e-01 -6.20562405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:119.73, Z:-0.62 [[-7.27496780e-01 6.86109466e-01 -1.49541628e-03 1.73595367e+02] [-6.86108017e-01 -7.27498317e-01 -1.41009244e-03 1.19731686e+02] [-2.05539060e-03 1.79386146e-07 9.99997888e-01 -6.20714381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:119.73, Z:-0.62 [[-7.27893869e-01 6.85688178e-01 -1.49609849e-03 1.73591079e+02] [-6.85686729e-01 -7.27895407e-01 -1.40936825e-03 1.19727052e+02] [-2.05539036e-03 -1.56245844e-08 9.99997888e-01 -6.20670712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:119.72, Z:-0.62 [[-7.28236484e-01 6.85324291e-01 -1.49664313e-03 1.73582243e+02] [-6.85322843e-01 -7.28238022e-01 -1.40878964e-03 1.19718232e+02] [-2.05539019e-03 -2.48292777e-07 9.99997888e-01 -6.20721187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:119.73, Z:-0.62 [[-7.20971190e-01 6.92963420e-01 -1.49719039e-03 1.73601735e+02] [-6.92961990e-01 -7.20972744e-01 -1.40820780e-03 1.19727930e+02] [-2.05526996e-03 2.22187735e-05 9.99997888e-01 -6.24319639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:119.72, Z:-0.62 [[-7.29408144e-01 6.84077172e-01 -1.47717303e-03 1.73581228e+02] [-6.84075679e-01 -7.29409639e-01 -1.42948302e-03 1.19716004e+02] [-2.05534095e-03 -3.21784064e-05 9.99997887e-01 -6.20240294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:119.72, Z:-0.62 [[-7.30140626e-01 6.83295268e-01 -1.49800055e-03 1.73581611e+02] [-6.83293819e-01 -7.30142162e-01 -1.40731337e-03 1.19715488e+02] [-2.05536393e-03 -3.96214832e-06 9.99997888e-01 -6.20217942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:119.72, Z:-0.62 [[-7.31445999e-01 6.81897723e-01 -1.49854742e-03 1.73583351e+02] [-6.81896272e-01 -7.31447534e-01 -1.40673081e-03 1.19715018e+02] [-2.05535536e-03 -7.09371975e-06 9.99997888e-01 -6.20185556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:119.71, Z:-0.62 [[-7.32290717e-01 6.80990498e-01 -1.49923027e-03 1.73579694e+02] [-6.80989047e-01 -7.32292252e-01 -1.40600268e-03 1.19710486e+02] [-2.05534918e-03 -8.64331943e-06 9.99997888e-01 -6.20351119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:119.71, Z:-0.62 [[-7.28414837e-01 6.85134713e-01 -1.49991176e-03 1.73588981e+02] [-6.85133272e-01 -7.28416381e-01 -1.40527530e-03 1.19712987e+02] [-2.05536319e-03 4.01607776e-06 9.99997888e-01 -6.22063900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:119.70, Z:-0.62 [[-7.33844152e-01 6.79316238e-01 -1.48641696e-03 1.73566517e+02] [-6.79314755e-01 -7.33845657e-01 -1.41968196e-03 1.19696800e+02] [-2.05521364e-03 -3.20803353e-05 9.99997888e-01 -6.20912532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:119.69, Z:-0.62 [[-7.34663521e-01 6.78429997e-01 -1.50038972e-03 1.73564783e+02] [-6.78428543e-01 -7.34665053e-01 -1.40474518e-03 1.19694871e+02] [-2.05530516e-03 -1.41078282e-05 9.99997888e-01 -6.20807736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:119.69, Z:-0.62 [[-7.35694089e-01 6.77312301e-01 -1.50148027e-03 1.73564856e+02] [-6.77310847e-01 -7.35695621e-01 -1.40357856e-03 1.19694583e+02] [-2.05529348e-03 -1.56355778e-05 9.99997888e-01 -6.21202216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:119.69, Z:-0.62 [[-7.37523731e-01 6.75319547e-01 -1.50202874e-03 1.73563462e+02] [-6.75318089e-01 -7.37525260e-01 -1.40299137e-03 1.19692468e+02] [-2.05525163e-03 -2.03922532e-05 9.99997888e-01 -6.22674074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:119.70, Z:-0.62 [[-7.38551757e-01 6.74195108e-01 -1.50264420e-03 1.73568653e+02] [-6.74193650e-01 -7.38553285e-01 -1.40233188e-03 1.19696647e+02] [-2.05522811e-03 -2.26214984e-05 9.99997888e-01 -6.23619222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:119.70, Z:-0.63 [[-7.37018545e-01 6.75870849e-01 -1.50318950e-03 1.73579726e+02] [-6.75869396e-01 -7.37020078e-01 -1.40174712e-03 1.19703881e+02] [-2.05528086e-03 -1.71538422e-05 9.99997888e-01 -6.25761153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:119.69, Z:-0.63 [[-7.38315601e-01 6.74453731e-01 -1.49579298e-03 1.73566081e+02] [-6.74452259e-01 -7.38317116e-01 -1.40968087e-03 1.19691384e+02] [-2.05513408e-03 -3.19484221e-05 9.99997888e-01 -6.26301487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:119.68, Z:-0.63 [[-7.42385107e-01 6.69971724e-01 -1.49723705e-03 1.73553826e+02] [-6.69970245e-01 -7.42386616e-01 -1.40813071e-03 1.19683125e+02] [-2.05493651e-03 -4.22709954e-05 9.99997888e-01 -6.25074047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:119.67, Z:-0.62 [[-7.43413740e-01 6.68830134e-01 -1.50459375e-03 1.73544335e+02] [-6.68828669e-01 -7.43415261e-01 -1.40022567e-03 1.19674906e+02] [-2.05505108e-03 -3.46315700e-05 9.99997888e-01 -6.24750821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:119.68, Z:-0.62 [[-7.43115815e-01 6.69161132e-01 -1.50514380e-03 1.73555054e+02] [-6.69159669e-01 -7.43117339e-01 -1.39963416e-03 1.19684717e+02] [-2.05507923e-03 -3.29087515e-05 9.99997888e-01 -6.24830429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:119.68, Z:-0.62 [[-7.43176308e-01 6.69093945e-01 -1.50583035e-03 1.73551592e+02] [-6.69092484e-01 -7.43177833e-01 -1.39889512e-03 1.19681592e+02] [-2.05509199e-03 -3.20859447e-05 9.99997888e-01 -6.24605351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:119.68, Z:-0.63 [[-7.39322652e-01 6.73349647e-01 -1.50637496e-03 1.73557865e+02] [-6.73348196e-01 -7.39324186e-01 -1.39830843e-03 1.19682994e+02] [-2.05524992e-03 -1.94862358e-05 9.99997888e-01 -6.25334166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:119.68, Z:-0.63 [[-7.39028216e-01 6.73672817e-01 -1.49383375e-03 1.73559844e+02] [-6.73671339e-01 -7.39029725e-01 -1.41182681e-03 1.19683875e+02] [-2.05509689e-03 -3.70268712e-05 9.99997888e-01 -6.25026533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:119.69, Z:-0.63 [[-7.39252544e-01 6.73426650e-01 -1.49088160e-03 1.73561609e+02] [-6.73425165e-01 -7.39254046e-01 -1.41501085e-03 1.19685389e+02] [-2.05504627e-03 -4.20531823e-05 9.99997888e-01 -6.25903130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:119.68, Z:-0.63 [[-7.39770882e-01 6.72857204e-01 -1.49186643e-03 1.73554502e+02] [-6.72855719e-01 -7.39772385e-01 -1.41394782e-03 1.19677939e+02] [-2.05502657e-03 -4.21865688e-05 9.99997888e-01 -6.27810165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:119.67, Z:-0.63 [[-7.45851083e-01 6.66111053e-01 -1.49255819e-03 1.73545374e+02] [-6.66109556e-01 -7.45852574e-01 -1.41320048e-03 1.19674949e+02] [-2.05457683e-03 -5.98298367e-05 9.99997888e-01 -6.25837969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:119.67, Z:-0.63 [[-7.46354966e-01 6.65546382e-01 -1.50934630e-03 1.73541775e+02] [-6.65544921e-01 -7.46356492e-01 -1.39503675e-03 1.19671594e+02] [-2.05497207e-03 -3.66548386e-05 9.99997888e-01 -6.26049584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:119.66, Z:-0.63 [[-7.41989268e-01 6.70410058e-01 -1.51002473e-03 1.73532225e+02] [-6.70408609e-01 -7.41990804e-01 -1.39430201e-03 1.19657660e+02] [-2.05517856e-03 -2.22235541e-05 9.99997888e-01 -6.29920635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:119.66, Z:-0.63 [[-7.47727793e-01 6.64003700e-01 -1.49498192e-03 1.73531952e+02] [-6.64002204e-01 -7.47729284e-01 -1.41059590e-03 1.19663659e+02] [-2.05448266e-03 -6.20704717e-05 9.99997888e-01 -6.26517989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:119.67, Z:-0.63 [[-7.48144384e-01 6.63534247e-01 -1.51119973e-03 1.73535562e+02] [-6.63532786e-01 -7.48145910e-01 -1.39300200e-03 1.19667346e+02] [-2.05490243e-03 -3.94360595e-05 9.99997888e-01 -6.26902914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:119.66, Z:-0.63 [[-7.48375775e-01 6.63273257e-01 -1.51180967e-03 1.73531400e+02] [-6.63271797e-01 -7.48377301e-01 -1.39233972e-03 1.19663563e+02] [-2.05490574e-03 -3.92526050e-05 9.99997888e-01 -6.26682706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:119.66, Z:-0.63 [[-7.41310567e-01 6.71160455e-01 -1.51235108e-03 1.73538764e+02] [-6.71159012e-01 -7.41312110e-01 -1.39175140e-03 1.19663680e+02] [-2.05521267e-03 -1.66919601e-05 9.99997888e-01 -6.31080163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:119.66, Z:-0.63 [[-7.47768611e-01 6.63957735e-01 -1.49356536e-03 1.73530367e+02] [-6.63956236e-01 -7.47770100e-01 -1.41216245e-03 1.19664267e+02] [-2.05445970e-03 -6.43087229e-05 9.99997888e-01 -6.25221990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:119.66, Z:-0.62 [[-7.47418148e-01 6.64352182e-01 -1.51338412e-03 1.73527435e+02] [-6.64350727e-01 -7.47419679e-01 -1.39059367e-03 1.19663031e+02] [-2.05497702e-03 -3.39371040e-05 9.99997888e-01 -6.24374264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.66, Z:-0.62 [[-7.46511087e-01 6.65371254e-01 -1.51399053e-03 1.73522661e+02] [-6.65369803e-01 -7.46512621e-01 -1.38993314e-03 1.19659645e+02] [-2.05503460e-03 -3.02369141e-05 9.99997888e-01 -6.24285407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.65, Z:-0.63 [[-7.38944522e-01 6.73764572e-01 -1.51453046e-03 1.73518034e+02] [-6.73763140e-01 -7.38946074e-01 -1.38934456e-03 1.19652241e+02] [-2.05524748e-03 -6.21375139e-06 9.99997888e-01 -6.29266592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.65, Z:-0.63 [[-7.43378163e-01 6.68869682e-01 -1.50147784e-03 1.73507568e+02] [-6.68868211e-01 -7.43379679e-01 -1.40357202e-03 1.19650066e+02] [-2.05497488e-03 -3.90939902e-05 9.99997888e-01 -6.25130191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:119.65, Z:-0.63 [[-7.42768487e-01 6.69546622e-01 -1.51532541e-03 1.73504167e+02] [-6.69545182e-01 -7.42770032e-01 -1.38845917e-03 1.19648226e+02] [-2.05517645e-03 -1.67248882e-05 9.99997888e-01 -6.25520446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.66, Z:-0.63 [[-7.36249249e-01 6.76708759e-01 -1.51587139e-03 1.73521163e+02] [-6.76707336e-01 -7.36250810e-01 -1.38786282e-03 1.19658349e+02] [-2.05524047e-03 3.98832982e-06 9.99997888e-01 -6.32361545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.65, Z:-0.63 [[-7.36586964e-01 6.76341177e-01 -1.50230535e-03 1.73517308e+02] [-6.76339723e-01 -7.36588496e-01 -1.40267775e-03 1.19654390e+02] [-2.05526956e-03 -1.71253622e-05 9.99997888e-01 -6.33024066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.65, Z:-0.63 [[-7.37024601e-01 6.75864246e-01 -1.50280235e-03 1.73518829e+02] [-6.75862792e-01 -7.37026133e-01 -1.40213456e-03 1.19654741e+02] [-2.05525723e-03 -1.77194734e-05 9.99997888e-01 -6.33785863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.65, Z:-0.63 [[-7.43025340e-01 6.69261597e-01 -1.50296381e-03 1.73507369e+02] [-6.69260130e-01 -7.43026859e-01 -1.40195794e-03 1.19648458e+02] [-2.05501909e-03 -3.58165215e-05 9.99997888e-01 -6.29820844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.65, Z:-0.63 [[-7.37736957e-01 6.75086571e-01 -1.51775119e-03 1.73522474e+02] [-6.75085149e-01 -7.37738518e-01 -1.38576212e-03 1.19651101e+02] [-2.05521291e-03 2.28336102e-06 9.99997888e-01 -6.34988133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.65, Z:-0.63 [[-7.38301604e-01 6.74469038e-01 -1.50256445e-03 1.73524122e+02] [-6.74467580e-01 -7.38303133e-01 -1.40239481e-03 1.19651326e+02] [-2.05521992e-03 -2.19593296e-05 9.99997888e-01 -6.34336406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.64, Z:-0.63 [[-7.44122694e-01 6.68041281e-01 -1.50415966e-03 1.73507084e+02] [-6.68039814e-01 -7.44124213e-01 -1.40064646e-03 1.19641062e+02] [-2.05497128e-03 -3.74142731e-05 9.99997888e-01 -6.28030441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.64, Z:-0.63 [[-7.44166597e-01 6.67992341e-01 -1.51910177e-03 1.73509465e+02] [-6.67990907e-01 -7.44168148e-01 -1.38424869e-03 1.19642508e+02] [-2.05513468e-03 -1.53654683e-05 9.99997888e-01 -6.27248115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.64, Z:-0.63 [[-7.44076816e-01 6.68092345e-01 -1.51991401e-03 1.73508560e+02] [-6.68090913e-01 -7.44078369e-01 -1.38335628e-03 1.19640860e+02] [-2.05514488e-03 -1.38825938e-05 9.99997888e-01 -6.26957685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.64, Z:-0.63 [[-7.43850751e-01 6.68344034e-01 -1.52051504e-03 1.73507039e+02] [-6.68342604e-01 -7.43852305e-01 -1.38269534e-03 1.19637316e+02] [-2.05515480e-03 -1.22939891e-05 9.99997888e-01 -6.27209252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.63, Z:-0.63 [[-7.38640451e-01 6.74097894e-01 -1.52104936e-03 1.73510081e+02] [-6.74096477e-01 -7.38642017e-01 -1.38210730e-03 1.19632214e+02] [-2.05518659e-03 4.45365219e-06 9.99997888e-01 -6.32661034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.64, Z:-0.63 [[-7.38106314e-01 6.74682731e-01 -1.51059326e-03 1.73517311e+02] [-6.74681292e-01 -7.38107860e-01 -1.39361474e-03 1.19636992e+02] [-2.05522855e-03 -9.46682486e-06 9.99997888e-01 -6.32185867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:119.63, Z:-0.63 [[-7.38913384e-01 6.73798742e-01 -1.50528031e-03 1.73515512e+02] [-6.73797289e-01 -7.38914917e-01 -1.39946428e-03 1.19634473e+02] [-2.05523135e-03 -1.98290939e-05 9.99997888e-01 -6.31871143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:119.63, Z:-0.63 [[-7.40078995e-01 6.72518264e-01 -1.50525712e-03 1.73511933e+02] [-6.72516808e-01 -7.40080525e-01 -1.39948984e-03 1.19630706e+02] [-2.05519396e-03 -2.34223231e-05 9.99997888e-01 -6.31573945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:119.63, Z:-0.63 [[-7.45998190e-01 6.65946263e-01 -1.50854877e-03 1.73502195e+02] [-6.65944801e-01 -7.45999714e-01 -1.39585880e-03 1.19626169e+02] [-2.05494390e-03 -3.66979311e-05 9.99997888e-01 -6.26659509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:119.62, Z:-0.63 [[-7.46360834e-01 6.65539769e-01 -1.52364623e-03 1.73494991e+02] [-6.65538340e-01 -7.46362389e-01 -1.37917991e-03 1.19618934e+02] [-2.05509132e-03 -1.53208917e-05 9.99997888e-01 -6.26558729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:119.62, Z:-0.63 [[-7.40902801e-01 6.71610539e-01 -1.52418080e-03 1.73500771e+02] [-6.71609124e-01 -7.40904369e-01 -1.37858888e-03 1.19617339e+02] [-2.05514704e-03 2.25336939e-06 9.99997888e-01 -6.31874193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:119.62, Z:-0.63 [[-7.46355581e-01 6.65545690e-01 -1.51026439e-03 1.73497631e+02] [-6.65544231e-01 -7.46357108e-01 -1.39397805e-03 1.19618972e+02] [-2.05495265e-03 -3.52555440e-05 9.99997888e-01 -6.27546068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:119.61, Z:-0.63 [[-7.46418641e-01 6.65474932e-01 -1.52542010e-03 1.73493888e+02] [-6.65473507e-01 -7.46420200e-01 -1.37719112e-03 1.19614964e+02] [-2.05509054e-03 -1.28344596e-05 9.99997888e-01 -6.27718571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:119.61, Z:-0.63 [[-7.46433014e-01 6.65458809e-01 -1.52595247e-03 1.73490842e+02] [-6.65457385e-01 -7.46434574e-01 -1.37660099e-03 1.19612027e+02] [-2.05509494e-03 -1.20840824e-05 9.99997888e-01 -6.27618311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:119.61, Z:-0.63 [[-7.46722738e-01 6.65133688e-01 -1.52655145e-03 1.73488537e+02] [-6.65132265e-01 -7.46724298e-01 -1.37593644e-03 1.19609863e+02] [-2.05509474e-03 -1.20844053e-05 9.99997888e-01 -6.27625205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:119.60, Z:-0.63 [[-7.46907144e-01 6.64926602e-01 -1.52715035e-03 1.73479705e+02] [-6.64925180e-01 -7.46908705e-01 -1.37527140e-03 1.19602089e+02] [-2.05509643e-03 -1.17593072e-05 9.99997888e-01 -6.27056477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:119.60, Z:-0.63 [[-7.46545682e-01 6.65332406e-01 -1.52781941e-03 1.73478232e+02] [-6.65330986e-01 -7.46547246e-01 -1.37452772e-03 1.19602108e+02] [-2.05510721e-03 -9.64214072e-06 9.99997888e-01 -6.25633486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:119.61, Z:-0.63 [[-7.46615766e-01 6.65253757e-01 -1.52838802e-03 1.73483090e+02] [-6.65252338e-01 -7.46617331e-01 -1.37389517e-03 1.19607084e+02] [-2.05510991e-03 -9.00808985e-06 9.99997888e-01 -6.25109725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:119.60, Z:-0.63 [[-7.46706124e-01 6.65152333e-01 -1.52898671e-03 1.73478092e+02] [-6.65150915e-01 -7.46707690e-01 -1.37322858e-03 1.19602707e+02] [-2.05511233e-03 -8.39127846e-06 9.99997888e-01 -6.25227942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:119.58, Z:-0.63 [[-7.46694437e-01 6.65165451e-01 -1.52958379e-03 1.73451155e+02] [-6.65164035e-01 -7.46696004e-01 -1.37256320e-03 1.19578689e+02] [-2.05511572e-03 -7.46117805e-06 9.99997888e-01 -6.26079792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:172.99, Y:119.17, Z:-0.63 [[-7.47196593e-01 6.64601319e-01 -1.52906650e-03 1.72991970e+02] [-6.64599901e-01 -7.47198157e-01 -1.37314026e-03 1.19167488e+02] [-2.05510650e-03 -9.78828250e-06 9.99997888e-01 -6.28322265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:119.59, Z:-0.63 [[-7.48487618e-01 6.63147003e-01 -1.52922854e-03 1.73465061e+02] [-6.63145581e-01 -7.48489180e-01 -1.37295955e-03 1.19589756e+02] [-2.05508503e-03 -1.35420714e-05 9.99997888e-01 -6.25118800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:119.59, Z:-0.63 [[-7.48598073e-01 6.63022301e-01 -1.53385573e-03 1.73463298e+02] [-6.63020891e-01 -7.48599645e-01 -1.36777049e-03 1.19588672e+02] [-2.05510619e-03 -6.93195853e-06 9.99997888e-01 -6.25897189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:119.59, Z:-0.63 [[-7.48743733e-01 6.62857804e-01 -1.53445130e-03 1.73463911e+02] [-6.62856394e-01 -7.48745305e-01 -1.36710202e-03 1.19589637e+02] [-2.05510745e-03 -6.48821916e-06 9.99997888e-01 -6.26404199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:119.58, Z:-0.63 [[-7.48577556e-01 6.63045463e-01 -1.53511319e-03 1.73454091e+02] [-6.63044056e-01 -7.48579130e-01 -1.36635838e-03 1.19581407e+02] [-2.05511142e-03 -4.97753518e-06 9.99997888e-01 -6.26667868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:119.58, Z:-0.63 [[-7.47668189e-01 6.64070720e-01 -1.53564253e-03 1.73449859e+02] [-6.64069316e-01 -7.47669766e-01 -1.36576320e-03 1.19579183e+02] [-2.05511684e-03 -1.36461173e-06 9.99997888e-01 -6.27942314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:119.58, Z:-0.63 [[-7.47044089e-01 6.64772720e-01 -1.53623988e-03 1.73448382e+02] [-6.64771319e-01 -7.47045668e-01 -1.36509095e-03 1.19578321e+02] [-2.05511658e-03 1.46508403e-06 9.99997888e-01 -6.28473911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:119.59, Z:-0.63 [[-7.46355879e-01 6.65545295e-01 -1.53677114e-03 1.73455809e+02] [-6.65543897e-01 -7.46357461e-01 -1.36449262e-03 1.19585656e+02] [-2.05511225e-03 4.39156086e-06 9.99997888e-01 -6.28591563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:119.59, Z:-0.63 [[-7.44394550e-01 6.67738265e-01 -1.53729957e-03 1.73454977e+02] [-6.67736873e-01 -7.44396137e-01 -1.36389700e-03 1.19587218e+02] [-2.05508608e-03 1.12341134e-05 9.99997888e-01 -6.28280309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:119.59, Z:-0.63 [[-7.43233870e-01 6.69029932e-01 -1.53788975e-03 1.73453789e+02] [-6.69028543e-01 -7.43235461e-01 -1.36323121e-03 1.19587076e+02] [-2.05505668e-03 1.56925277e-05 9.99997888e-01 -6.28096038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:118.79, Z:0.17 [[-7.01580026e-01 -7.12589012e-01 1.53841364e-03 1.73889042e+02] [-7.12587723e-01 7.01581699e-01 1.36263974e-03 1.18792593e+02] [-2.05032496e-03 -1.40253851e-04 -9.99997888e-01 1.73582176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:119.59, Z:-0.63 [[-6.86414801e-01 7.27208843e-01 -1.42150079e-03 1.73393272e+02] [-7.27207346e-01 -6.86416272e-01 -1.47549618e-03 1.19587956e+02] [-2.04873514e-03 2.09233958e-05 9.99997901e-01 -6.26749327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:119.60, Z:-0.63 [[-6.78431971e-01 7.34661849e-01 -1.42446227e-03 1.73406446e+02] [-7.34660374e-01 -6.78433464e-01 -1.47263156e-03 1.19596393e+02] [-2.04828910e-03 4.74156544e-05 9.99997901e-01 -6.29839196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:119.58, Z:-0.63 [[-6.82828516e-01 7.30577333e-01 -1.40620691e-03 1.73387208e+02] [-7.30575814e-01 -6.82829964e-01 -1.49028937e-03 1.19584784e+02] [-2.04897185e-03 9.72867912e-06 9.99997901e-01 -6.25201448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:119.58, Z:-0.62 [[-6.82373829e-01 7.31002000e-01 -1.42570780e-03 1.73385909e+02] [-7.31000520e-01 -6.82375318e-01 -1.47139397e-03 1.19583783e+02] [-2.04845975e-03 3.81524060e-05 9.99997901e-01 -6.24820550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:119.59, Z:-0.63 [[-6.76839482e-01 7.36129256e-01 -1.42655941e-03 1.73395022e+02] [-7.36127789e-01 -6.76840983e-01 -1.47056785e-03 1.19588250e+02] [-2.04808189e-03 5.47916396e-05 9.99997901e-01 -6.27157557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:119.58, Z:-0.62 [[-6.82531468e-01 7.30854843e-01 -1.41221402e-03 1.73380692e+02] [-7.30853336e-01 -6.82532928e-01 -1.48448629e-03 1.19578454e+02] [-2.04882657e-03 1.89127147e-05 9.99997901e-01 -6.24427931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:119.57, Z:-0.62 [[-6.83907677e-01 7.29567166e-01 -1.42794207e-03 1.73378184e+02] [-7.29565688e-01 -6.83909167e-01 -1.46919991e-03 1.19574075e+02] [-2.04846269e-03 3.69804428e-05 9.99997901e-01 -6.24444101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:119.57, Z:-0.62 [[-6.85213537e-01 7.28340832e-01 -1.42857367e-03 1.73374381e+02] [-7.28339353e-01 -6.85215025e-01 -1.46858552e-03 1.19568688e+02] [-2.04851095e-03 3.41917452e-05 9.99997901e-01 -6.24559995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:119.57, Z:-0.62 [[-6.86778707e-01 7.26865163e-01 -1.42920616e-03 1.73374355e+02] [-7.26863681e-01 -6.86780194e-01 -1.46796973e-03 1.19567147e+02] [-2.04856654e-03 3.06676951e-05 9.99997901e-01 -6.24856002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:119.56, Z:-0.63 [[-6.90266315e-01 7.23553986e-01 -1.42983863e-03 1.73368771e+02] [-7.23552498e-01 -6.90267795e-01 -1.46735343e-03 1.19558178e+02] [-2.04868098e-03 2.16986701e-05 9.99997901e-01 -6.26015304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:119.55, Z:-0.63 [[-6.92498145e-01 7.21418237e-01 -1.43047200e-03 1.73365975e+02] [-7.21416747e-01 -6.92499622e-01 -1.46673573e-03 1.19553710e+02] [-2.04873122e-03 1.62546864e-05 9.99997901e-01 -6.26174842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:119.55, Z:-0.63 [[-6.94498453e-01 7.19492774e-01 -1.43110717e-03 1.73367367e+02] [-7.19491280e-01 -6.94499927e-01 -1.46611572e-03 1.19553518e+02] [-2.04876349e-03 1.14540333e-05 9.99997901e-01 -6.25927002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:119.55, Z:-0.63 [[-6.96701442e-01 7.17359778e-01 -1.43174162e-03 1.73365168e+02] [-7.17358281e-01 -6.96702913e-01 -1.46549588e-03 1.19549775e+02] [-2.04878636e-03 6.05861269e-06 9.99997901e-01 -6.26273610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:119.54, Z:-0.63 [[-6.98786310e-01 7.15329044e-01 -1.43252033e-03 1.73354481e+02] [-7.15327544e-01 -6.98787778e-01 -1.46473430e-03 1.19537168e+02] [-2.04879468e-03 1.18497705e-06 9.99997901e-01 -6.26855247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:119.54, Z:-0.63 [[-7.02377950e-01 7.11802754e-01 -1.43322874e-03 1.73358355e+02] [-7.11801249e-01 -7.02379413e-01 -1.46404080e-03 1.19537839e+02] [-2.04877863e-03 -8.13596941e-06 9.99997901e-01 -6.26781151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:118.73, Z:0.17 [[-6.37282575e-01 -7.70628876e-01 1.43386557e-03 1.73786437e+02] [-7.70627506e-01 6.37284164e-01 1.46341683e-03 1.18730298e+02] [-2.04153109e-03 -1.72366202e-04 -9.99997901e-01 1.73698671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:119.53, Z:-0.63 [[-6.48755851e-01 7.60995485e-01 -1.31098258e-03 1.73295000e+02] [-7.60993873e-01 -6.48757175e-01 -1.56627100e-03 1.19528778e+02] [-2.04243452e-03 -1.84777660e-05 9.99997914e-01 -6.27101352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:119.53, Z:-0.63 [[-6.50530677e-01 7.59478844e-01 -1.31300648e-03 1.73293654e+02] [-7.59477233e-01 -6.50532001e-01 -1.56457252e-03 1.19526152e+02] [-2.04241247e-03 -2.06038905e-05 9.99997914e-01 -6.27204146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:119.52, Z:-0.63 [[-6.43287862e-01 7.65623276e-01 -1.31376438e-03 1.73298011e+02] [-7.65621679e-01 -6.43289203e-01 -1.56393586e-03 1.19520452e+02] [-2.04251614e-03 -2.14463245e-07 9.99997914e-01 -6.32695866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:119.51, Z:-0.63 [[-6.54162782e-01 7.56352702e-01 -1.28298927e-03 1.73283608e+02] [-7.56351034e-01 -6.54164036e-01 -1.58979597e-03 1.19512613e+02] [-2.04173192e-03 -6.95950959e-05 9.99997913e-01 -6.27182991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:119.51, Z:-0.63 [[-6.55476185e-01 7.55214698e-01 -1.31560320e-03 1.73283185e+02] [-7.55213082e-01 -6.55477505e-01 -1.56233255e-03 1.19512009e+02] [-2.04224481e-03 -3.05110309e-05 9.99997914e-01 -6.26142120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:119.51, Z:-0.63 [[-6.56098009e-01 7.54674546e-01 -1.31636337e-03 1.73280601e+02] [-7.54672930e-01 -6.56099329e-01 -1.56169181e-03 1.19509033e+02] [-2.04223417e-03 -3.11990853e-05 9.99997914e-01 -6.25689649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:119.51, Z:-0.62 [[-6.56544603e-01 7.54286053e-01 -1.31704471e-03 1.73278252e+02] [-7.54284438e-01 -6.56545923e-01 -1.56111699e-03 1.19506024e+02] [-2.04222910e-03 -3.15166031e-05 9.99997914e-01 -6.24975848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:119.50, Z:-0.62 [[-6.57079098e-01 7.53820484e-01 -1.31772607e-03 1.73268965e+02] [-7.53818870e-01 -6.57080419e-01 -1.56054164e-03 1.19495422e+02] [-2.04222026e-03 -3.20725140e-05 9.99997914e-01 -6.24962530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:119.49, Z:-0.63 [[-6.57633612e-01 7.53336773e-01 -1.31841022e-03 1.73268214e+02] [-7.53335159e-01 -6.57634933e-01 -1.55996343e-03 1.19494675e+02] [-2.04221043e-03 -3.26796155e-05 9.99997914e-01 -6.25780901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:119.50, Z:-0.63 [[-6.58552173e-01 7.52533917e-01 -1.31917462e-03 1.73271294e+02] [-7.52532302e-01 -6.58553493e-01 -1.55931675e-03 1.19498987e+02] [-2.04218580e-03 -3.41699255e-05 9.99997914e-01 -6.25678200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:119.49, Z:-0.63 [[-6.58959081e-01 7.52177630e-01 -1.31993501e-03 1.73262622e+02] [-7.52176016e-01 -6.58960402e-01 -1.55867283e-03 1.19488976e+02] [-2.04218374e-03 -3.42781514e-05 9.99997914e-01 -6.26453377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:119.49, Z:-0.63 [[-6.59191685e-01 7.51973788e-01 -1.32069510e-03 1.73260538e+02] [-7.51972175e-01 -6.59193007e-01 -1.55802853e-03 1.19486763e+02] [-2.04218959e-03 -3.39134844e-05 9.99997914e-01 -6.26306988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:119.48, Z:-0.63 [[-6.58894940e-01 7.52233815e-01 -1.32137941e-03 1.73258464e+02] [-7.52232203e-01 -6.58896264e-01 -1.55744793e-03 1.19484426e+02] [-2.04221696e-03 -3.22104156e-05 9.99997914e-01 -6.27540694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:119.47, Z:-0.63 [[-6.58609024e-01 7.52484156e-01 -1.32206322e-03 1.73246771e+02] [-7.52482546e-01 -6.58610350e-01 -1.55686725e-03 1.19470808e+02] [-2.04224247e-03 -3.05373221e-05 9.99997914e-01 -6.28182259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:119.48, Z:-0.63 [[-6.58439256e-01 7.52632711e-01 -1.32275062e-03 1.73255944e+02] [-7.52631102e-01 -6.58440584e-01 -1.55628301e-03 1.19482445e+02] [-2.04226219e-03 -2.91745663e-05 9.99997914e-01 -6.29357008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:119.48, Z:-0.63 [[-6.57840472e-01 7.53156134e-01 -1.32351523e-03 1.73251666e+02] [-7.53154528e-01 -6.57841803e-01 -1.55563248e-03 1.19478359e+02] [-2.04229779e-03 -2.65465138e-05 9.99997914e-01 -6.30145023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:119.48, Z:-0.64 [[-6.47916899e-01 7.61709878e-01 -1.32427467e-03 1.73262291e+02] [-7.61708291e-01 -6.47918252e-01 -1.55498573e-03 1.19482512e+02] [-2.04246972e-03 1.20946398e-06 9.99997914e-01 -6.36505493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:119.49, Z:-0.64 [[-6.46896229e-01 7.62576936e-01 -1.29858152e-03 1.73263763e+02] [-7.62575306e-01 -6.46897532e-01 -1.57685404e-03 1.19485841e+02] [-2.04252170e-03 -2.97947312e-05 9.99997914e-01 -6.36617156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:119.49, Z:-0.63 [[-6.53047084e-01 7.57316194e-01 -1.29961997e-03 1.73252209e+02] [-7.57314555e-01 -6.53048375e-01 -1.57596945e-03 1.19485182e+02] [-2.04222190e-03 -4.49611359e-05 9.99997914e-01 -6.29135677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:119.48, Z:-0.63 [[-6.51751817e-01 7.58431151e-01 -1.32579482e-03 1.73247104e+02] [-7.58429560e-01 -6.51753165e-01 -1.55363311e-03 1.19480598e+02] [-2.04241472e-03 -7.06121889e-06 9.99997914e-01 -6.28454736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:119.49, Z:-0.63 [[-6.41023701e-01 7.67519938e-01 -1.32646942e-03 1.73259653e+02] [-7.67518367e-01 -6.41025073e-01 -1.55305694e-03 1.19485966e+02] [-2.04230232e-03 2.25433313e-05 9.99997914e-01 -6.34123586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:119.48, Z:-0.63 [[-6.48390257e-01 7.61307027e-01 -1.29801990e-03 1.73244051e+02] [-7.61305394e-01 -6.48391555e-01 -1.57736709e-03 1.19480523e+02] [-2.04248579e-03 -3.45598986e-05 9.99997914e-01 -6.26890075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:119.48, Z:-0.63 [[-6.40220499e-01 7.68190047e-01 -1.32852399e-03 1.73248055e+02] [-7.68188481e-01 -6.40221877e-01 -1.55124261e-03 1.19478258e+02] [-2.04219925e-03 2.74195084e-05 9.99997914e-01 -6.31785284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:119.48, Z:-0.63 [[-6.46181005e-01 7.63183067e-01 -1.30963162e-03 1.73240807e+02] [-7.63181457e-01 -6.46182332e-01 -1.56742062e-03 1.19477589e+02] [-2.04248969e-03 -1.33508632e-05 9.99997914e-01 -6.26489617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:119.47, Z:-0.63 [[-6.44472450e-01 7.64626374e-01 -1.32991049e-03 1.73237003e+02] [-7.64624803e-01 -6.44473822e-01 -1.55002145e-03 1.19473972e+02] [-2.04227978e-03 1.79364235e-05 9.99997914e-01 -6.26271393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:119.47, Z:-0.63 [[-6.37289082e-01 7.70623680e-01 -1.33073352e-03 1.73241882e+02] [-7.70622123e-01 -6.37290470e-01 -1.54931454e-03 1.19472844e+02] [-2.04200226e-03 3.81314495e-05 9.99997914e-01 -6.30347725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:119.47, Z:-0.63 [[-6.42807794e-01 7.66026380e-01 -1.31366800e-03 1.73230713e+02] [-7.66024783e-01 -6.42809136e-01 -1.56397718e-03 1.19466665e+02] [-2.04248557e-03 9.65527946e-07 9.99997914e-01 -6.26025927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:119.48, Z:-0.63 [[-6.36754021e-01 7.71065848e-01 -1.33214995e-03 1.73244444e+02] [-7.71064295e-01 -6.36755413e-01 -1.54807307e-03 1.19476133e+02] [-2.04191997e-03 4.14315070e-05 9.99997914e-01 -6.29858268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:119.47, Z:-0.63 [[-6.41547199e-01 7.67082429e-01 -1.31865781e-03 1.73233504e+02] [-7.67080843e-01 -6.41548554e-01 -1.55968759e-03 1.19468177e+02] [-2.04239196e-03 1.09039404e-05 9.99997914e-01 -6.26561414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:119.46, Z:-0.63 [[-6.41454710e-01 7.67159747e-01 -1.33346166e-03 1.73228846e+02] [-7.67158188e-01 -6.41456095e-01 -1.54692657e-03 1.19458895e+02] [-2.04209691e-03 3.06926898e-05 9.99997914e-01 -6.27003264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:119.46, Z:-0.63 [[-6.41861989e-01 7.66819018e-01 -1.33428121e-03 1.73225749e+02] [-7.66817460e-01 -6.41863375e-01 -1.54621936e-03 1.19455241e+02] [-2.04209665e-03 3.06906899e-05 9.99997914e-01 -6.27013536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:172.83, Y:118.99, Z:-0.63 [[-6.39780095e-01 7.68556860e-01 -1.33510189e-03 1.72826385e+02] [-7.68555307e-01 -6.39781487e-01 -1.54551041e-03 1.18988680e+02] [-2.04198610e-03 3.73128472e-05 9.99997914e-01 -6.29089546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:119.45, Z:-0.63 [[-6.44264074e-01 7.64801958e-01 -1.32975240e-03 1.73221095e+02] [-7.64800388e-01 -6.44265446e-01 -1.55012697e-03 1.19445280e+02] [-2.04225367e-03 1.83040389e-05 9.99997914e-01 -6.27185595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:119.44, Z:-0.63 [[-6.44861262e-01 7.64298477e-01 -1.33869782e-03 1.73219804e+02] [-7.64296921e-01 -6.44862650e-01 -1.54236278e-03 1.19441705e+02] [-2.04210174e-03 2.85526130e-05 9.99997915e-01 -6.27223162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:172.90, Y:119.07, Z:-0.63 [[-6.42509278e-01 7.66276735e-01 -1.33936116e-03 1.72903819e+02] [-7.66275185e-01 -6.42510673e-01 -1.54178653e-03 1.19072932e+02] [-2.04198898e-03 3.57070713e-05 9.99997915e-01 -6.28517125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:119.43, Z:-0.63 [[-6.47728860e-01 7.61869772e-01 -1.33196566e-03 1.73213466e+02] [-7.61868199e-01 -6.47730229e-01 -1.54820736e-03 1.19427814e+02] [-2.04228681e-03 1.19636880e-05 9.99997914e-01 -6.27075674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:119.42, Z:-0.63 [[-6.48613020e-01 7.61117171e-01 -1.34244120e-03 1.73209493e+02] [-7.61115616e-01 -6.48614409e-01 -1.53907016e-03 1.19421198e+02] [-2.04213943e-03 2.34920135e-05 9.99997915e-01 -6.26822191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:119.43, Z:-0.63 [[-6.51193112e-01 7.58910882e-01 -1.34318069e-03 1.73213306e+02] [-7.58909323e-01 -6.51194497e-01 -1.53842451e-03 1.19425846e+02] [-2.04219898e-03 1.75409019e-05 9.99997915e-01 -6.27638786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:118.78, Z:0.17 [[-6.13879031e-01 -7.89398968e-01 1.34318069e-03 1.73780592e+02] [-7.89397478e-01 6.13880490e-01 1.53842451e-03 1.18778487e+02] [-2.03898315e-03 -1.15896900e-04 -9.99997915e-01 1.71436849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:172.67, Y:118.76, Z:-0.63 [[-5.98386719e-01 8.01206473e-01 -1.23383200e-03 1.72666459e+02] [-8.01204832e-01 -5.98387991e-01 -1.62162381e-03 1.18762775e+02] [-2.03756574e-03 1.81940143e-05 9.99997924e-01 -6.29551350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:119.30, Z:-0.63 [[-6.01724408e-01 7.98702836e-01 -1.23121224e-03 1.73078785e+02] [-7.98701186e-01 -6.01725668e-01 -1.62361549e-03 1.19300951e+02] [-2.03763830e-03 6.40160436e-06 9.99997924e-01 -6.26680670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:119.30, Z:-0.63 [[-6.03232137e-01 7.97564703e-01 -1.23826033e-03 1.73075791e+02] [-7.97563062e-01 -6.03233408e-01 -1.61822230e-03 1.19295631e+02] [-2.03759699e-03 1.14270041e-05 9.99997924e-01 -6.26853681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:119.29, Z:-0.63 [[-6.06133133e-01 7.95362238e-01 -1.23903874e-03 1.73073286e+02] [-7.95360593e-01 -6.06134399e-01 -1.61762607e-03 1.19288356e+02] [-2.03762270e-03 4.98582765e-06 9.99997924e-01 -6.28636657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:119.28, Z:-0.63 [[-6.08015569e-01 7.93924134e-01 -1.23981829e-03 1.73072046e+02] [-7.93922487e-01 -6.08016833e-01 -1.61702837e-03 1.19284399e+02] [-2.03762824e-03 1.14119765e-06 9.99997924e-01 -6.29007722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:119.28, Z:-0.63 [[-6.10154484e-01 7.92281494e-01 -1.24051861e-03 1.73069602e+02] [-7.92279845e-01 -6.10155745e-01 -1.61649093e-03 1.19278941e+02] [-2.03762541e-03 -3.47129587e-06 9.99997924e-01 -6.29788794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:119.27, Z:-0.63 [[-6.12192798e-01 7.90707555e-01 -1.24154337e-03 1.73068246e+02] [-7.90705904e-01 -6.12194057e-01 -1.61570349e-03 1.19274790e+02] [-2.03761443e-03 -7.42636402e-06 9.99997924e-01 -6.30032608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:119.26, Z:-0.63 [[-6.15703973e-01 7.87976569e-01 -1.24232318e-03 1.73063621e+02] [-7.87974914e-01 -6.15705227e-01 -1.61510367e-03 1.19264898e+02] [-2.03756872e-03 -1.55062436e-05 9.99997924e-01 -6.30156399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:119.26, Z:-0.63 [[-6.17491768e-01 7.86576360e-01 -1.24310469e-03 1.73058871e+02] [-7.86574704e-01 -6.17493019e-01 -1.61450193e-03 1.19257511e+02] [-2.03753752e-03 -1.91469518e-05 9.99997924e-01 -6.29509504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:119.25, Z:-0.63 [[-6.19012963e-01 7.85379784e-01 -1.24380884e-03 1.73054505e+02] [-7.85378126e-01 -6.19014212e-01 -1.61395928e-03 1.19250889e+02] [-2.03750634e-03 -2.22014577e-05 9.99997924e-01 -6.28941666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:119.26, Z:-0.63 [[-6.20738914e-01 7.84016360e-01 -1.24451537e-03 1.73058519e+02] [-7.84014700e-01 -6.20740161e-01 -1.61341429e-03 1.19255285e+02] [-2.03746387e-03 -2.57906915e-05 9.99997924e-01 -6.28545857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:119.25, Z:-0.63 [[-6.23024913e-01 7.82201002e-01 -1.24530101e-03 1.73057530e+02] [-7.82199340e-01 -6.23026157e-01 -1.61280767e-03 1.19251150e+02] [-2.03739488e-03 -3.07457276e-05 9.99997924e-01 -6.28824091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:119.24, Z:-0.63 [[-6.24126904e-01 7.81321992e-01 -1.24600338e-03 1.73053889e+02] [-7.81320329e-01 -6.24128147e-01 -1.61226486e-03 1.19244802e+02] [-2.03736377e-03 -3.27301073e-05 9.99997924e-01 -6.29248033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:119.23, Z:-0.63 [[-6.25214089e-01 7.80452297e-01 -1.24670681e-03 1.73045202e+02] [-7.80450634e-01 -6.25215331e-01 -1.61172074e-03 1.19232351e+02] [-2.03733136e-03 -3.46773977e-05 9.99997924e-01 -6.30146271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:119.24, Z:-0.64 [[-6.09028501e-01 7.93147357e-01 -1.24749486e-03 1.73066047e+02] [-7.93145720e-01 -6.09029778e-01 -1.61111055e-03 1.19240593e+02] [-2.03760959e-03 8.23296843e-06 9.99997924e-01 -6.39783406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.05, Y:119.24, Z:-0.63 [[-6.27244226e-01 7.78821709e-01 -1.19469706e-03 1.73049496e+02] [-7.78819964e-01 -6.27245354e-01 -1.65192586e-03 1.19235583e+02] [-2.03592390e-03 -1.05707033e-04 9.99997922e-01 -6.31531761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:119.23, Z:-0.63 [[-6.28005638e-01 7.78207786e-01 -1.24867862e-03 1.73046152e+02] [-7.78206122e-01 -6.28006879e-01 -1.61006060e-03 1.19231289e+02] [-2.03714045e-03 -3.93977904e-05 9.99997924e-01 -6.31698064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:119.23, Z:-0.63 [[-6.28357661e-01 7.77923575e-01 -1.24938267e-03 1.73045985e+02] [-7.77921911e-01 -6.28358902e-01 -1.60951408e-03 1.19230894e+02] [-2.03713967e-03 -3.94283497e-05 9.99997924e-01 -6.32067313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:119.22, Z:-0.63 [[-6.28705657e-01 7.77642356e-01 -1.25016671e-03 1.73041419e+02] [-7.77640693e-01 -6.28706899e-01 -1.60890485e-03 1.19224675e+02] [-2.03714100e-03 -3.93470749e-05 9.99997924e-01 -6.32579825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:119.23, Z:-0.63 [[-6.28972041e-01 7.77426914e-01 -1.25087026e-03 1.73041896e+02] [-7.77425251e-01 -6.28973284e-01 -1.60835768e-03 1.19225022e+02] [-2.03714452e-03 -3.91538900e-05 9.99997924e-01 -6.33591393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:119.22, Z:-0.63 [[-6.29361510e-01 7.77111654e-01 -1.25173488e-03 1.73039744e+02] [-7.77109992e-01 -6.29362754e-01 -1.60768449e-03 1.19222553e+02] [-2.03714567e-03 -3.90790512e-05 9.99997924e-01 -6.34394172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:119.22, Z:-0.63 [[-6.29576987e-01 7.76937094e-01 -1.25251628e-03 1.73035765e+02] [-7.76935433e-01 -6.29578232e-01 -1.60707548e-03 1.19217948e+02] [-2.03715354e-03 -3.86534605e-05 9.99997924e-01 -6.34480848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:119.22, Z:-0.63 [[-6.29687421e-01 7.76847592e-01 -1.25321773e-03 1.73033521e+02] [-7.76845932e-01 -6.29688667e-01 -1.60652830e-03 1.19215191e+02] [-2.03716464e-03 -3.80535712e-05 9.99997924e-01 -6.33897390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:119.21, Z:-0.63 [[-6.29416018e-01 7.77067503e-01 -1.25391995e-03 1.73027226e+02] [-7.77065844e-01 -6.29417266e-01 -1.60598002e-03 1.19208389e+02] [-2.03719375e-03 -3.64511841e-05 9.99997924e-01 -6.33858008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:119.21, Z:-0.63 [[-6.29426276e-01 7.77059193e-01 -1.25462352e-03 1.73028495e+02] [-7.77057535e-01 -6.29427525e-01 -1.60543019e-03 1.19210680e+02] [-2.03720886e-03 -3.55852821e-05 9.99997924e-01 -6.33045620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:119.22, Z:-0.64 [[-6.20973793e-01 7.83830321e-01 -1.25540729e-03 1.73044967e+02] [-7.83828678e-01 -6.20975062e-01 -1.60481707e-03 1.19223352e+02] [-2.03748090e-03 -1.25251046e-05 9.99997924e-01 -6.36976448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:119.22, Z:-0.64 [[-6.22115189e-01 7.82924759e-01 -1.23025100e-03 1.73038760e+02] [-7.82923075e-01 -6.22116404e-01 -1.62449483e-03 1.19216964e+02] [-2.03721655e-03 -4.74310152e-05 9.99997924e-01 -6.36106895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:119.21, Z:-0.63 [[-6.29583496e-01 7.76931847e-01 -1.23576075e-03 1.73023592e+02] [-7.76930160e-01 -6.29584706e-01 -1.62018030e-03 1.19205854e+02] [-2.03678574e-03 -5.99389804e-05 9.99997924e-01 -6.31076950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:119.20, Z:-0.63 [[-6.30008886e-01 7.76586906e-01 -1.25759013e-03 1.73015294e+02] [-7.76585252e-01 -6.30010140e-01 -1.60305525e-03 1.19195710e+02] [-2.03720625e-03 -3.33131015e-05 9.99997924e-01 -6.32182645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:119.21, Z:-0.63 [[-6.23911015e-01 7.81494378e-01 -1.25829188e-03 1.73029348e+02] [-7.81492735e-01 -6.23912283e-01 -1.60250423e-03 1.19206984e+02] [-2.03741181e-03 -1.64740751e-05 9.99997924e-01 -6.34931514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:119.20, Z:-0.64 [[-6.23970768e-01 7.81446700e-01 -1.23953316e-03 1.73024944e+02] [-7.81445027e-01 -6.23971998e-01 -1.61723267e-03 1.19202311e+02] [-2.03721511e-03 -4.04788902e-05 9.99997924e-01 -6.36660293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:119.20, Z:-0.63 [[-6.30901407e-01 7.75862022e-01 -1.23984493e-03 1.73014633e+02] [-7.75860339e-01 -6.30902623e-01 -1.61698763e-03 1.19197767e+02] [-2.03678071e-03 -5.82132594e-05 9.99997924e-01 -6.32172293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:119.19, Z:-0.64 [[-6.24421595e-01 7.81086476e-01 -1.26016903e-03 1.73016775e+02] [-7.81084836e-01 -6.24422867e-01 -1.60099015e-03 1.19193800e+02] [-2.03739012e-03 -1.53939022e-05 9.99997924e-01 -6.37175336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:119.19, Z:-0.64 [[-6.24992891e-01 7.80629455e-01 -1.24157453e-03 1.73014979e+02] [-7.80627784e-01 -6.24994122e-01 -1.61563398e-03 1.19193251e+02] [-2.03718826e-03 -4.05521709e-05 9.99997924e-01 -6.37017385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:119.20, Z:-0.64 [[-6.24649421e-01 7.80904319e-01 -1.24321516e-03 1.73017656e+02] [-7.80902651e-01 -6.24650657e-01 -1.61434110e-03 1.19198766e+02] [-2.03722110e-03 -3.75672169e-05 9.99997924e-01 -6.37769875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:119.18, Z:-0.64 [[-6.25627555e-01 7.80120898e-01 -1.24396338e-03 1.73002436e+02] [-7.80119230e-01 -6.25628790e-01 -1.61375085e-03 1.19182239e+02] [-2.03718007e-03 -3.91672403e-05 9.99997924e-01 -6.37663736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:119.19, Z:-0.64 [[-6.26692578e-01 7.79265588e-01 -1.24740878e-03 1.73009569e+02] [-7.79263924e-01 -6.26693818e-01 -1.61102978e-03 1.19194623e+02] [-2.03716344e-03 -3.75597401e-05 9.99997924e-01 -6.36305093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:119.19, Z:-0.63 [[-6.31287990e-01 7.75547489e-01 -1.25146841e-03 1.72999680e+02] [-7.75545824e-01 -6.31289229e-01 -1.60782019e-03 1.19188760e+02] [-2.03697944e-03 -4.44264802e-05 9.99997924e-01 -6.34445251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:119.18, Z:-0.64 [[-6.32111816e-01 7.74876153e-01 -1.26450394e-03 1.72992553e+02] [-7.74874507e-01 -6.32113080e-01 -1.59750191e-03 1.19182727e+02] [-2.03717561e-03 -2.99679661e-05 9.99997925e-01 -6.35012394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:119.18, Z:-0.64 [[-6.32916022e-01 7.74219418e-01 -1.26544147e-03 1.72989964e+02] [-7.74217772e-01 -6.32917287e-01 -1.59675890e-03 1.19180411e+02] [-2.03716153e-03 -3.08870141e-05 9.99997925e-01 -6.35492011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:119.18, Z:-0.64 [[-6.34032514e-01 7.73305352e-01 -1.26621811e-03 1.72985721e+02] [-7.73303706e-01 -6.34033778e-01 -1.59614280e-03 1.19176247e+02] [-2.03713082e-03 -3.28352763e-05 9.99997925e-01 -6.35105479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:119.18, Z:-0.64 [[-6.35185344e-01 7.72358708e-01 -1.26691528e-03 1.72985385e+02] [-7.72357061e-01 -6.35186606e-01 -1.59558924e-03 1.19176599e+02] [-2.03709486e-03 -3.49839341e-05 9.99997925e-01 -6.35240979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:119.17, Z:-0.64 [[-6.37476342e-01 7.70468887e-01 -1.26769164e-03 1.72978003e+02] [-7.70467237e-01 -6.37477602e-01 -1.59497218e-03 1.19169801e+02] [-2.03700147e-03 -4.00421535e-05 9.99997925e-01 -6.35581925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:119.16, Z:-0.63 [[-6.38905459e-01 7.69284217e-01 -1.26846800e-03 1.72973274e+02] [-7.69282566e-01 -6.38906716e-01 -1.59435451e-03 1.19164682e+02] [-2.03694449e-03 -4.28314798e-05 9.99997925e-01 -6.34798375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:119.16, Z:-0.63 [[-6.40312610e-01 7.68113371e-01 -1.26924666e-03 1.72972085e+02] [-7.68111719e-01 -6.40313867e-01 -1.59373439e-03 1.19163486e+02] [-2.03688493e-03 -4.55649970e-05 9.99997925e-01 -6.34207484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:119.18, Z:-0.63 [[-6.37418915e-01 7.70516394e-01 -1.26994562e-03 1.72988303e+02] [-7.70514748e-01 -6.37420179e-01 -1.59317723e-03 1.19179817e+02] [-2.03705814e-03 -3.70094738e-05 9.99997925e-01 -6.33013837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:119.16, Z:-0.63 [[-6.43405436e-01 7.65524570e-01 -1.25620213e-03 1.72969221e+02] [-7.65522892e-01 -6.43406659e-01 -1.60413679e-03 1.19160329e+02] [-2.03625494e-03 -7.04588445e-05 9.99997924e-01 -6.32946023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:119.15, Z:-0.63 [[-6.44103849e-01 7.64937001e-01 -1.27135214e-03 1.72963882e+02] [-7.64935346e-01 -6.44105102e-01 -1.59203847e-03 1.19153696e+02] [-2.03669353e-03 -5.29359138e-05 9.99997925e-01 -6.32901357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:119.15, Z:-0.63 [[-6.40082618e-01 7.68305033e-01 -1.27205037e-03 1.72962465e+02] [-7.68303386e-01 -6.40083881e-01 -1.59148039e-03 1.19146876e+02] [-2.03696133e-03 -4.13583320e-05 9.99997925e-01 -6.34702320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:119.15, Z:-0.63 [[-6.44839162e-01 7.64317257e-01 -1.25898780e-03 1.72961625e+02] [-7.64315582e-01 -6.44840388e-01 -1.60192414e-03 1.19150737e+02] [-2.03622445e-03 -7.07194245e-05 9.99997924e-01 -6.33161202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:119.16, Z:-0.64 [[-6.36633231e-01 7.71165681e-01 -1.27346568e-03 1.72976857e+02] [-7.71164042e-01 -6.36634504e-01 -1.59033090e-03 1.19161493e+02] [-2.03714081e-03 -3.04065575e-05 9.99997925e-01 -6.37530426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:119.16, Z:-0.63 [[-6.38428923e-01 7.69679775e-01 -1.24693416e-03 1.72970706e+02] [-7.69678090e-01 -6.38430137e-01 -1.61157024e-03 1.19155176e+02] [-2.03647337e-03 -6.91351543e-05 9.99997924e-01 -6.34679027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:119.14, Z:-0.63 [[-6.45496201e-01 7.63762453e-01 -1.25285940e-03 1.72956040e+02] [-7.63760767e-01 -6.45497412e-01 -1.60682192e-03 1.19143372e+02] [-2.03594775e-03 -8.03125903e-05 9.99997924e-01 -6.32925237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:119.15, Z:-0.63 [[-6.39888545e-01 7.68466671e-01 -1.27545264e-03 1.72966849e+02] [-7.68465029e-01 -6.39889815e-01 -1.58868324e-03 1.19149102e+02] [-2.03699927e-03 -3.64394603e-05 9.99997925e-01 -6.33230771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.44852010e-01 7.64306419e-01 -1.25800827e-03 1.72941526e+02] [-7.64304742e-01 -6.44853233e-01 -1.60269496e-03 1.19122379e+02] [-2.03618075e-03 -7.19993829e-05 9.99997924e-01 -6.34009164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.45191819e-01 7.64019559e-01 -1.27698581e-03 1.72939602e+02] [-7.64017911e-01 -6.45193081e-01 -1.58742873e-03 1.19119871e+02] [-2.03672901e-03 -4.85560031e-05 9.99997925e-01 -6.34026236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:119.13, Z:-0.63 [[-6.44641128e-01 7.64484260e-01 -1.27769146e-03 1.72946767e+02] [-7.64482615e-01 -6.44642392e-01 -1.58686057e-03 1.19128494e+02] [-2.03678400e-03 -4.61826790e-05 9.99997925e-01 -6.33710915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:119.13, Z:-0.63 [[-6.43967280e-01 7.65051964e-01 -1.27847318e-03 1.72947499e+02] [-7.65050321e-01 -6.43968548e-01 -1.58623051e-03 1.19129477e+02] [-2.03684529e-03 -4.33842287e-05 9.99997925e-01 -6.33491614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.42833620e-01 7.66004765e-01 -1.27924846e-03 1.72941851e+02] [-7.66003125e-01 -6.42834892e-01 -1.58560502e-03 1.19122739e+02] [-2.03692655e-03 -3.93718982e-05 9.99997925e-01 -6.33146111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.39803815e-01 7.68537208e-01 -1.27994411e-03 1.72938609e+02] [-7.68535574e-01 -6.39805094e-01 -1.58504328e-03 1.19119645e+02] [-2.03707950e-03 -3.04341510e-05 9.99997925e-01 -6.33856244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.13, Z:-0.63 [[-6.38429440e-01 7.69679291e-01 -1.28064135e-03 1.72944796e+02] [-7.69677660e-01 -6.38430724e-01 -1.58447974e-03 1.19127706e+02] [-2.03714203e-03 -2.58974750e-05 9.99997925e-01 -6.33484803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.37118357e-01 7.70764917e-01 -1.28141433e-03 1.72938475e+02] [-7.70763290e-01 -6.37119646e-01 -1.58385436e-03 1.19119992e+02] [-2.03719362e-03 -2.14355659e-05 9.99997925e-01 -6.33274819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:119.14, Z:-0.64 [[-6.27229953e-01 7.78833064e-01 -1.28218468e-03 1.72960020e+02] [-7.78831455e-01 -6.27231264e-01 -1.58323049e-03 1.19138624e+02] [-2.03729857e-03 5.55617436e-06 9.99997925e-01 -6.35497626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:119.13, Z:-0.63 [[-6.26615674e-01 7.79327409e-01 -1.25966570e-03 1.72952806e+02] [-7.79325764e-01 -6.26616940e-01 -1.60145910e-03 1.19129635e+02] [-2.03738884e-03 -2.18094384e-05 9.99997924e-01 -6.34736680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.11, Z:-0.63 [[-6.33363174e-01 7.73853671e-01 -1.25969995e-03 1.72933172e+02] [-7.73852015e-01 -6.33364425e-01 -1.60143134e-03 1.19113278e+02] [-2.03712265e-03 -3.94662899e-05 9.99997924e-01 -6.31519673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.32505271e-01 7.74554990e-01 -1.28441041e-03 1.72939055e+02] [-7.74553376e-01 -6.32506575e-01 -1.58136105e-03 1.19120221e+02] [-2.03724912e-03 -5.37478186e-06 9.99997925e-01 -6.31429392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.30440217e-01 7.76236743e-01 -1.28517758e-03 1.72937830e+02] [-7.76235133e-01 -6.30441527e-01 -1.58073733e-03 1.19118064e+02] [-2.03725571e-03 1.03960435e-06 9.99997925e-01 -6.30708934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:119.12, Z:-0.63 [[-6.29771889e-01 7.76779064e-01 -1.28586217e-03 1.72936694e+02] [-7.76777457e-01 -6.29773202e-01 -1.58018024e-03 1.19116284e+02] [-2.03725247e-03 3.67564686e-06 9.99997925e-01 -6.30473190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.11, Z:-0.63 [[-6.28991201e-01 7.77411354e-01 -1.28662395e-03 1.72931391e+02] [-7.77409749e-01 -6.28992517e-01 -1.57955974e-03 1.19109043e+02] [-2.03724451e-03 6.70481908e-06 9.99997925e-01 -6.30792263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.11, Z:-0.63 [[-6.28272595e-01 7.77992217e-01 -1.28738629e-03 1.72932471e+02] [-7.77990614e-01 -6.28273914e-01 -1.57893816e-03 1.19110068e+02] [-2.03723283e-03 9.57087533e-06 9.99997925e-01 -6.30865288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.10, Z:-0.63 [[-6.26132664e-01 7.79715479e-01 -1.28814834e-03 1.72926574e+02] [-7.79713882e-01 -6.26133989e-01 -1.57831622e-03 1.19102101e+02] [-2.03719104e-03 1.61518037e-05 9.99997925e-01 -6.31298892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.11, Z:-0.63 [[-6.25218645e-01 7.80448579e-01 -1.28883215e-03 1.72932217e+02] [-7.80446984e-01 -6.25219974e-01 -1.57775763e-03 1.19108289e+02] [-2.03716230e-03 1.94216795e-05 9.99997925e-01 -6.31052079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.10, Z:-0.63 [[-6.24486643e-01 7.81034423e-01 -1.28959247e-03 1.72927746e+02] [-7.81032831e-01 -6.24487974e-01 -1.57713593e-03 1.19101897e+02] [-2.03713244e-03 2.23137380e-05 9.99997925e-01 -6.30561283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.10, Z:-0.63 [[-6.23605196e-01 7.81738380e-01 -1.29027251e-03 1.72930056e+02] [-7.81736791e-01 -6.23606530e-01 -1.57657938e-03 1.19103911e+02] [-2.03709498e-03 2.54903965e-05 9.99997925e-01 -6.30199267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.10, Z:-0.63 [[-6.21456113e-01 7.83447913e-01 -1.29102948e-03 1.72928745e+02] [-7.83446329e-01 -6.21457453e-01 -1.57595927e-03 1.19099914e+02] [-2.03700190e-03 3.20627789e-05 9.99997925e-01 -6.29119264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.10, Z:-0.63 [[-6.20565251e-01 7.84153748e-01 -1.29178395e-03 1.72928473e+02] [-7.84152166e-01 -6.20566595e-01 -1.57534061e-03 1.19098083e+02] [-2.03694721e-03 3.53535414e-05 9.99997925e-01 -6.29000437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.10, Z:-0.63 [[-6.19986355e-01 7.84611528e-01 -1.29246049e-03 1.72927331e+02] [-7.84609948e-01 -6.19987701e-01 -1.57478535e-03 1.19095573e+02] [-2.03690435e-03 3.77319319e-05 9.99997925e-01 -6.28758490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:119.09, Z:-0.63 [[-6.19829643e-01 7.84735332e-01 -1.29313629e-03 1.72923678e+02] [-7.84733754e-01 -6.19830991e-01 -1.57423022e-03 1.19090266e+02] [-2.03688002e-03 3.90131416e-05 9.99997925e-01 -6.28375593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:119.09, Z:-0.63 [[-6.20258091e-01 7.84396727e-01 -1.29381236e-03 1.72923570e+02] [-7.84395150e-01 -6.20259440e-01 -1.57367438e-03 1.19087404e+02] [-2.03688437e-03 3.87758714e-05 9.99997925e-01 -6.28286667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:119.09, Z:-0.63 [[-6.21932794e-01 7.83069552e-01 -1.29456602e-03 1.72927824e+02] [-7.83067973e-01 -6.21934140e-01 -1.57305415e-03 1.19092377e+02] [-2.03694561e-03 3.53992283e-05 9.99997925e-01 -6.28740833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:118.48, Z:0.17 [[-5.97224530e-01 -8.02073054e-01 1.29456602e-03 1.73496340e+02] [-8.02071518e-01 5.97225925e-01 1.57305415e-03 1.18482403e+02] [-2.03485274e-03 -9.88680086e-05 -9.99997925e-01 1.70680397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:118.97, Z:-0.63 [[-5.67605203e-01 8.23300027e-01 -1.18302820e-03 1.72798635e+02] [-8.23298368e-01 -5.67606435e-01 -1.65288570e-03 1.18972938e+02] [-2.03231526e-03 3.57986692e-05 9.99997934e-01 -6.27440763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:118.97, Z:-0.63 [[-5.69324657e-01 8.22111935e-01 -1.18390143e-03 1.72800081e+02] [-8.22110275e-01 -5.69325887e-01 -1.65226000e-03 1.18970562e+02] [-2.03236840e-03 3.26251755e-05 9.99997934e-01 -6.27547435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:118.96, Z:-0.63 [[-5.70389987e-01 8.21373154e-01 -1.18469277e-03 1.72795928e+02] [-8.21371494e-01 -5.70391217e-01 -1.65169241e-03 1.18963025e+02] [-2.03239415e-03 3.09640587e-05 9.99997934e-01 -6.28160187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:118.96, Z:-0.63 [[-5.71792051e-01 8.20397736e-01 -1.18540318e-03 1.72792897e+02] [-8.20396075e-01 -5.71793279e-01 -1.65118239e-03 1.18957471e+02] [-2.03243187e-03 2.83671457e-05 9.99997934e-01 -6.27251984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:118.96, Z:-0.63 [[-5.73220571e-01 8.19400250e-01 -1.18611569e-03 1.72794937e+02] [-8.19398588e-01 -5.73221798e-01 -1.65067041e-03 1.18958712e+02] [-2.03246711e-03 2.57032835e-05 9.99997934e-01 -6.26712784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:118.65, Z:-0.63 [[-5.81150656e-01 8.13795125e-01 -1.18690856e-03 1.72573722e+02] [-8.13793452e-01 -5.81151868e-01 -1.65010010e-03 1.18654140e+02] [-2.03261754e-03 6.94166245e-06 9.99997934e-01 -6.33188426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:118.21, Z:0.17 [[-5.30704600e-01 -8.47556027e-01 1.18690856e-03 1.73257561e+02] [-8.47554430e-01 5.30705912e-01 1.65010010e-03 1.18210885e+02] [-2.02845167e-03 -1.30253898e-04 -9.99997934e-01 1.72768863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:118.84, Z:-0.63 [[-5.22226837e-01 8.52805959e-01 -1.06146209e-03 1.72666957e+02] [-8.52804209e-01 -5.22227916e-01 -1.72780517e-03 1.18842475e+02] [-2.02780768e-03 2.91310806e-06 9.99997944e-01 -6.27542113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:118.59, Z:-0.63 [[-5.28696764e-01 8.48810100e-01 -1.07013252e-03 1.72513461e+02] [-8.48808353e-01 -5.28697847e-01 -1.72241827e-03 1.18594900e+02] [-2.02778278e-03 -2.29954711e-06 9.99997944e-01 -6.28180434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:118.32, Z:0.17 [[-4.68335116e-01 -8.83550267e-01 1.07013252e-03 1.73276359e+02] [-8.83548599e-01 4.68336318e-01 1.72241827e-03 1.18323388e+02] [-2.02302504e-03 -1.38845125e-04 -9.99997944e-01 1.68148708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:118.70, Z:-0.63 [[-4.72767890e-01 8.81186485e-01 -9.49144155e-04 1.72545995e+02] [-8.81184674e-01 -4.72768842e-01 -1.78669096e-03 1.18703876e+02] [-2.02313371e-03 -8.31883166e-06 9.99997953e-01 -6.26081254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:118.69, Z:-0.63 [[-4.75570308e-01 8.79677202e-01 -9.50007523e-04 1.72541657e+02] [-8.79675389e-01 -4.75571256e-01 -1.78623178e-03 1.18693359e+02] [-2.02310364e-03 -1.37805580e-05 9.99997953e-01 -6.25944748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:118.69, Z:-0.63 [[-4.80696687e-01 8.76886419e-01 -9.50874198e-04 1.72544499e+02] [-8.76884601e-01 -4.80697627e-01 -1.78577030e-03 1.18693915e+02] [-2.02300069e-03 -2.46069234e-05 9.99997953e-01 -6.26259130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:118.68, Z:-0.63 [[-4.83209408e-01 8.75504290e-01 -9.51741263e-04 1.72540913e+02] [-8.75502471e-01 -4.83210344e-01 -1.78530807e-03 1.18684697e+02] [-2.02293610e-03 -2.94258270e-05 9.99997953e-01 -6.25911035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:118.68, Z:-0.63 [[-4.85404100e-01 8.74289398e-01 -9.52608103e-04 1.72537521e+02] [-8.74287577e-01 -4.85405034e-01 -1.78484542e-03 1.18676157e+02] [-2.02287219e-03 -3.35178535e-05 9.99997953e-01 -6.25904898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:118.67, Z:-0.63 [[-4.87181757e-01 8.73300078e-01 -9.53478278e-04 1.72537044e+02] [-8.73298256e-01 -4.87182689e-01 -1.78438044e-03 1.18673492e+02] [-2.02281769e-03 -3.66466819e-05 9.99997953e-01 -6.25746695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:118.67, Z:-0.63 [[-4.89470492e-01 8.72019338e-01 -9.54349228e-04 1.72536905e+02] [-8.72017515e-01 -4.89471421e-01 -1.78391451e-03 1.18671066e+02] [-2.02273462e-03 -4.09642692e-05 9.99997953e-01 -6.25760117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:118.67, Z:-0.63 [[-4.90796695e-01 8.71273603e-01 -9.55218949e-04 1.72534395e+02] [-8.71271779e-01 -4.90797623e-01 -1.78344868e-03 1.18665443e+02] [-2.02269095e-03 -4.30554062e-05 9.99997953e-01 -6.26221051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:118.66, Z:-0.63 [[-4.91682268e-01 8.70774158e-01 -9.56088775e-04 1.72532001e+02] [-8.70772333e-01 -4.91683195e-01 -1.78298225e-03 1.18659792e+02] [-2.02266765e-03 -4.41251036e-05 9.99997953e-01 -6.26249607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:118.66, Z:-0.63 [[-4.92726176e-01 8.70183889e-01 -9.56959663e-04 1.72533102e+02] [-8.70182064e-01 -4.92727103e-01 -1.78251471e-03 1.18660182e+02] [-2.02263554e-03 -4.55625213e-05 9.99997953e-01 -6.26819985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:118.66, Z:-0.63 [[-4.92937556e-01 8.70064164e-01 -9.57829367e-04 1.72531558e+02] [-8.70062340e-01 -4.92938484e-01 -1.78204725e-03 1.18656901e+02] [-2.02264641e-03 -4.50667573e-05 9.99997953e-01 -6.26937628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:118.65, Z:-0.63 [[-4.92536653e-01 8.70291173e-01 -9.58697226e-04 1.72529625e+02] [-8.70289351e-01 -4.92537584e-01 -1.78158024e-03 1.18653023e+02] [-2.02268798e-03 -4.31495842e-05 9.99997953e-01 -6.27869094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:118.65, Z:-0.63 [[-4.90183356e-01 8.71618814e-01 -9.59564857e-04 1.72528453e+02] [-8.71616995e-01 -4.90184294e-01 -1.78111281e-03 1.18651488e+02] [-2.02281506e-03 -3.66988195e-05 9.99997953e-01 -6.28661549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:118.65, Z:-0.63 [[-4.88813766e-01 8.72387632e-01 -9.60431596e-04 1.72527017e+02] [-8.72385815e-01 -4.88814708e-01 -1.78064532e-03 1.18649950e+02] [-2.02288604e-03 -3.25370427e-05 9.99997953e-01 -6.28164217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:118.65, Z:-0.63 [[-4.87222307e-01 8.73277447e-01 -9.61296831e-04 1.72523985e+02] [-8.73275633e-01 -4.87223255e-01 -1.78017809e-03 1.18645869e+02] [-2.02295555e-03 -2.78653783e-05 9.99997953e-01 -6.26922840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:118.64, Z:-0.63 [[-4.85467463e-01 8.74254206e-01 -9.62161507e-04 1.72521976e+02] [-8.74252395e-01 -4.85468416e-01 -1.77971062e-03 1.18643549e+02] [-2.02301852e-03 -2.28195992e-05 9.99997953e-01 -6.27157336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:118.65, Z:-0.63 [[-4.81262690e-01 8.76575893e-01 -9.63025957e-04 1.72521792e+02] [-8.76574087e-01 -4.81263654e-01 -1.77924273e-03 1.18646364e+02] [-2.02311068e-03 -1.21195465e-05 9.99997953e-01 -6.26835914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:118.64, Z:-0.63 [[-4.79829427e-01 8.77361266e-01 -9.63976865e-04 1.72516612e+02] [-8.77359463e-01 -4.79830396e-01 -1.77872739e-03 1.18638222e+02] [-2.02313192e-03 -7.73152041e-06 9.99997953e-01 -6.27179800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:118.64, Z:-0.63 [[-4.78617411e-01 8.78023031e-01 -9.64837642e-04 1.72518015e+02] [-8.78021230e-01 -4.78618383e-01 -1.77826036e-03 1.18641637e+02] [-2.02314258e-03 -3.95843344e-06 9.99997953e-01 -6.26554939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:118.64, Z:-0.63 [[-4.77663412e-01 8.78542391e-01 -9.65697586e-04 1.72515148e+02] [-8.78540592e-01 -4.77664388e-01 -1.77779323e-03 1.18636817e+02] [-2.02314607e-03 -7.82252412e-07 9.99997953e-01 -6.27115258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:118.64, Z:-0.63 [[-4.76255022e-01 8.79306670e-01 -9.66555393e-04 1.72514607e+02] [-8.79304874e-01 -4.76256002e-01 -1.77732674e-03 1.18636021e+02] [-2.02314306e-03 3.43608414e-06 9.99997953e-01 -6.26491056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:118.63, Z:-0.63 [[-4.76503073e-01 8.79172273e-01 -9.67412649e-04 1.72512172e+02] [-8.79170477e-01 -4.76504056e-01 -1.77686000e-03 1.18631434e+02] [-2.02314210e-03 3.84138693e-06 9.99997953e-01 -6.26358293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:118.63, Z:-0.63 [[-4.77196434e-01 8.78796123e-01 -9.68269029e-04 1.72510207e+02] [-8.78794328e-01 -4.77197416e-01 -1.77639321e-03 1.18627284e+02] [-2.02314295e-03 3.22082530e-06 9.99997953e-01 -6.26601183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:117.92, Z:0.17 [[-4.09815346e-01 -9.12167991e-01 9.69125834e-04 1.73036634e+02] [-9.12166275e-01 4.09816462e-01 1.77592565e-03 1.17922492e+02] [-2.01710625e-03 -1.56202317e-04 -9.99997953e-01 1.70427806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:117.93, Z:0.17 [[-3.48251577e-01 -9.37400608e-01 9.69125834e-04 1.73010725e+02] [-9.37398971e-01 3.48252804e-01 1.77592565e-03 1.17933263e+02] [-2.00225458e-03 -2.89988652e-04 -9.99997953e-01 1.69655852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:118.13, Z:0.17 [[-2.79080277e-01 -9.60267286e-01 9.69125834e-04 1.73044641e+02] [-9.60265742e-01 2.79081621e-01 1.77592565e-03 1.18127449e+02] [-1.97582851e-03 -4.34992515e-04 -9.99997953e-01 1.67978667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.35, Z:-0.63 [[-2.85449612e-01 9.58393557e-01 -5.56327426e-04 1.72263291e+02] [-9.58391679e-01 -2.85450154e-01 -1.89698682e-03 1.18347916e+02] [-1.97686369e-03 -8.31457646e-06 9.99998046e-01 -6.27619318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.34, Z:-0.63 [[-2.85962269e-01 9.58240716e-01 -5.57340191e-04 1.72261975e+02] [-9.58238839e-01 -2.85962812e-01 -1.89668922e-03 1.18343286e+02] [-1.97686340e-03 -8.31653586e-06 9.99998046e-01 -6.27629260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.34, Z:-0.63 [[-2.89025715e-01 9.57321171e-01 -5.58354677e-04 1.72261069e+02] [-9.57319293e-01 -2.89026254e-01 -1.89639052e-03 1.18335949e+02] [-1.97683396e-03 -1.35819234e-05 9.99998046e-01 -6.27274598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.33, Z:-0.63 [[-2.90819337e-01 9.56777821e-01 -5.60309297e-04 1.72260680e+02] [-9.56775943e-01 -2.90819876e-01 -1.89581283e-03 1.18333168e+02] [-1.97682075e-03 -1.52485746e-05 9.99998046e-01 -6.27348484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.32, Z:-0.63 [[-2.92291720e-01 9.56329041e-01 -5.61321434e-04 1.72258844e+02] [-9.56327163e-01 -2.92292259e-01 -1.89551311e-03 1.18324993e+02] [-1.97680414e-03 -1.72358532e-05 9.99998046e-01 -6.27980492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.32, Z:-0.63 [[-2.93897893e-01 9.55836656e-01 -5.62333812e-04 1.72257461e+02] [-9.55834777e-01 -2.93898430e-01 -1.89521272e-03 1.18319570e+02] [-1.97678281e-03 -1.95008117e-05 9.99998046e-01 -6.27430180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.32, Z:-0.63 [[-2.95280127e-01 9.55410555e-01 -5.63347910e-04 1.72256703e+02] [-9.55408677e-01 -2.95280663e-01 -1.89491124e-03 1.18315160e+02] [-1.97676394e-03 -2.13021493e-05 9.99998046e-01 -6.27848581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:118.31, Z:-0.63 [[-2.95859980e-01 9.55231152e-01 -5.64457328e-04 1.72255713e+02] [-9.55229273e-01 -2.95860517e-01 -1.89458070e-03 1.18311473e+02] [-1.97676315e-03 -2.13444458e-05 9.99998046e-01 -6.27943822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:118.30, Z:-0.63 [[-2.96268898e-01 9.55104403e-01 -5.65470010e-04 1.72252965e+02] [-9.55102524e-01 -2.96269437e-01 -1.89427840e-03 1.18302218e+02] [-1.97676512e-03 -2.11339419e-05 9.99998046e-01 -6.26894783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:118.30, Z:-0.63 [[-2.95432654e-01 9.55363400e-01 -5.66484010e-04 1.72251705e+02] [-9.55361523e-01 -2.95433197e-01 -1.89397512e-03 1.18298120e+02] [-1.97679269e-03 -1.83450700e-05 9.99998046e-01 -6.26442861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:118.30, Z:-0.63 [[-2.95133686e-01 9.55455800e-01 -5.67594948e-04 1.72251198e+02] [-9.55453923e-01 -2.95134231e-01 -1.89364213e-03 1.18296948e+02] [-1.97680805e-03 -1.65667604e-05 9.99998046e-01 -6.25852119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:118.29, Z:-0.63 [[-2.95477886e-01 9.55349410e-01 -5.68607802e-04 1.72248240e+02] [-9.55347534e-01 -2.95478433e-01 -1.89333795e-03 1.18288007e+02] [-1.97681063e-03 -1.62214330e-05 9.99998046e-01 -6.25025720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:118.28, Z:-0.62 [[-2.95406403e-01 9.55371515e-01 -5.70558509e-04 1.72246993e+02] [-9.55369640e-01 -2.95406953e-01 -1.89274992e-03 1.18284892e+02] [-1.97682631e-03 -1.40361673e-05 9.99998046e-01 -6.24937143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:118.28, Z:-0.63 [[-2.95413308e-01 9.55369379e-01 -5.71569809e-04 1.72245382e+02] [-9.55367505e-01 -2.95413860e-01 -1.89244448e-03 1.18280695e+02] [-1.97683315e-03 -1.29940601e-05 9.99998046e-01 -6.25070004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:118.27, Z:-0.63 [[-2.95274383e-01 9.55412325e-01 -5.72675474e-04 1.72242414e+02] [-9.55410451e-01 -2.95274938e-01 -1.89210983e-03 1.18270830e+02] [-1.97684177e-03 -1.15514306e-05 9.99998046e-01 -6.25695716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:118.27, Z:-0.63 [[-2.95420611e-01 9.55367120e-01 -5.73782548e-04 1.72241956e+02] [-9.55365247e-01 -2.95421168e-01 -1.89177405e-03 1.18268990e+02] [-1.97684624e-03 -1.06971419e-05 9.99998046e-01 -6.25908962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:118.26, Z:-0.63 [[-2.95670466e-01 9.55289823e-01 -5.74889424e-04 1.72240148e+02] [-9.55287950e-01 -2.95671025e-01 -1.89143763e-03 1.18262940e+02] [-1.97684926e-03 -1.00573044e-05 9.99998046e-01 -6.26521971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:118.27, Z:-0.63 [[-2.86645743e-01 9.58036474e-01 -5.76639531e-04 1.72246116e+02] [-9.58034608e-01 -2.86646323e-01 -1.89090392e-03 1.18265794e+02] [-1.97684653e-03 1.04210670e-05 9.99998046e-01 -6.33219197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:118.25, Z:-0.63 [[-2.92907649e-01 9.56140576e-01 -5.55143728e-04 1.72236954e+02] [-9.56138693e-01 -2.92908174e-01 -1.89746761e-03 1.18252777e+02] [-1.97685191e-03 -2.49883786e-05 9.99998046e-01 -6.28585853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:118.25, Z:-0.63 [[-2.83703027e-01 9.58912017e-01 -5.79300311e-04 1.72239554e+02] [-9.58910155e-01 -2.83703618e-01 -1.89006367e-03 1.18247058e+02] [-1.97675436e-03 1.92801651e-05 9.99998046e-01 -6.34876110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:118.25, Z:-0.63 [[-2.90341859e-01 9.56922823e-01 -5.61274211e-04 1.72234407e+02] [-9.56920946e-01 -2.90342402e-01 -1.89560135e-03 1.18247562e+02] [-1.97690589e-03 -1.32773707e-05 9.99998046e-01 -6.28089457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:118.24, Z:-0.63 [[-2.88879283e-01 9.57365354e-01 -5.82274730e-04 1.72231275e+02] [-9.57363490e-01 -2.88879870e-01 -1.88912848e-03 1.18239124e+02] [-1.97679361e-03 1.17184865e-05 9.99998046e-01 -6.27689285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:118.25, Z:-0.63 [[-2.74124695e-01 9.61693980e-01 -5.83468226e-04 1.72239695e+02] [-9.61692126e-01 -2.74125313e-01 -1.88875979e-03 1.18246080e+02] [-1.97635233e-03 4.33610962e-05 9.99998046e-01 -6.33869616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:118.24, Z:-0.63 [[-2.85181139e-01 9.58473481e-01 -5.51894444e-04 1.72230284e+02] [-9.58471601e-01 -2.85181673e-01 -1.89851116e-03 1.18236694e+02] [-1.97706278e-03 -1.24444231e-05 9.99998046e-01 -6.26527873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:118.25, Z:-0.63 [[-2.73870419e-01 9.61766422e-01 -5.85431601e-04 1.72240143e+02] [-9.61764570e-01 -2.73871041e-01 -1.88811257e-03 1.18247464e+02] [-1.97625603e-03 4.59491913e-05 9.99998046e-01 -6.33299043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:118.23, Z:-0.63 [[-2.80102681e-01 9.59969884e-01 -5.56097674e-04 1.72231194e+02] [-9.59968010e-01 -2.80103233e-01 -1.89721317e-03 1.18226467e+02] [-1.97703226e-03 2.42148176e-06 9.99998046e-01 -6.30796206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:118.00, Z:-0.63 [[-2.89636463e-01 9.57136557e-01 -5.74225925e-04 1.72157424e+02] [-9.57134688e-01 -2.89637032e-01 -1.89155471e-03 1.18002020e+02] [-1.97679326e-03 1.74833570e-06 9.99998046e-01 -6.25998930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:117.89, Z:0.17 [[-2.50090973e-01 -9.68222173e-01 5.74225925e-04 1.72930326e+02] [-9.68220328e-01 2.50091618e-01 1.89155471e-03 1.17885320e+02] [-1.97505430e-03 -8.29164563e-05 -9.99998046e-01 1.71221654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:117.78, Z:0.17 [[-1.69726363e-01 -9.85491061e-01 5.74225925e-04 1.72878597e+02] [-9.85489276e-01 1.69727158e-01 1.89155471e-03 1.17775132e+02] [-1.96157199e-03 -2.44846790e-04 -9.99998046e-01 1.65351357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:117.90, Z:-0.63 [[-1.66493308e-01 9.86042530e-01 -3.26514669e-04 1.72076408e+02] [-9.86040635e-01 -1.66493629e-01 -1.93338876e-03 1.17897537e+02] [-1.96076616e-03 6.04410669e-08 9.99998078e-01 -6.27952193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:117.85, Z:-0.63 [[-1.75826969e-01 9.84421033e-01 -3.27645057e-04 1.72070119e+02] [-9.84419135e-01 -1.75827273e-01 -1.93319718e-03 1.17854083e+02] [-1.96068890e-03 -1.73681355e-05 9.99998078e-01 -6.27472257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:117.85, Z:-0.63 [[-1.79148051e-01 9.83822067e-01 -3.40386982e-04 1.72068946e+02] [-9.83820172e-01 -1.79148374e-01 -1.93095104e-03 1.17848292e+02] [-1.96069202e-03 -1.10465351e-05 9.99998078e-01 -6.28863930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:117.60, Z:0.17 [[-9.65285877e-02 -9.95330095e-01 4.82910441e-04 1.72819044e+02] [-9.95328315e-01 9.65293396e-02 1.90574121e-03 1.17595855e+02] [-1.94345661e-03 -2.96695928e-04 -9.99998067e-01 1.66186403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:117.68, Z:-0.63 [[-1.20654185e-01 9.92694578e-01 -2.08324685e-04 1.72009733e+02] [-9.92692691e-01 -1.20654362e-01 -1.93529899e-03 1.17678773e+02] [-1.94629610e-03 -2.66995295e-05 9.99998106e-01 -6.27831641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:117.67, Z:-0.63 [[-1.23496066e-01 9.92345040e-01 -2.09362265e-04 1.72008285e+02] [-9.92343153e-01 -1.23496240e-01 -1.93518674e-03 1.17670123e+02] [-1.94622841e-03 -3.12287390e-05 9.99998106e-01 -6.27925722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:117.67, Z:-0.63 [[-1.25952167e-01 9.92036293e-01 -2.10401719e-04 1.72007487e+02] [-9.92034407e-01 -1.25952338e-01 -1.93507372e-03 1.17667766e+02] [-1.94616395e-03 -3.50009825e-05 9.99998106e-01 -6.27339985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:117.66, Z:-0.63 [[-1.29680840e-01 9.91555765e-01 -2.11539952e-04 1.72004748e+02] [-9.91553878e-01 -1.29681006e-01 -1.93494928e-03 1.17659773e+02] [-1.94604283e-03 -4.11725883e-05 9.99998106e-01 -6.26513789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:117.65, Z:-0.63 [[-1.31532953e-01 9.91311776e-01 -2.12579693e-04 1.72003117e+02] [-9.91309889e-01 -1.31533117e-01 -1.93483504e-03 1.17653473e+02] [-1.94598603e-03 -4.37622145e-05 9.99998106e-01 -6.26156803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:117.63, Z:-0.63 [[-1.34833929e-01 9.90868188e-01 -2.13621315e-04 1.72000279e+02] [-9.90866300e-01 -1.34834090e-01 -1.93472003e-03 1.17633800e+02] [-1.94585597e-03 -4.91957421e-05 9.99998106e-01 -6.25568774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:117.63, Z:-0.63 [[-1.37990315e-01 9.90433554e-01 -2.17737878e-04 1.71998393e+02] [-9.90431667e-01 -1.37990478e-01 -1.93425663e-03 1.17628799e+02] [-1.94579843e-03 -5.12541936e-05 9.99998106e-01 -6.25116359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:117.44, Z:0.17 [[-2.69430008e-02 -9.99636915e-01 3.36801227e-04 1.72772537e+02] [-9.99635110e-01 2.69435993e-02 1.92078252e-03 1.17437237e+02] [-1.92915975e-03 -2.84926686e-04 -9.99998099e-01 1.67570110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:117.32, Z:0.16 [[ 5.27666092e-02 -9.98606815e-01 3.36801227e-04 1.72745160e+02] [-9.98605064e-01 -5.27658689e-02 1.92078252e-03 1.17316425e+02] [-1.90033490e-03 -4.37684591e-04 -9.99998099e-01 1.62612483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:117.32, Z:0.16 [[ 1.31721117e-01 -9.91286813e-01 -4.71792615e-05 1.72736903e+02] [-9.91284991e-01 -1.31720966e-01 1.91130436e-03 1.17321034e+02] [-1.90086530e-03 -2.04991052e-04 -9.99998172e-01 1.63034207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:117.32, Z:0.16 [[ 2.10643031e-01 -9.77563029e-01 -1.96074598e-04 1.72728867e+02] [-9.77561212e-01 -2.10643020e-01 1.89590562e-03 1.17324358e+02] [-1.89466899e-03 -2.07684385e-04 -9.99998184e-01 1.64397221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:117.15, Z:-0.64 [[ 1.56029833e-01 9.87752284e-01 3.42783962e-04 1.71919838e+02] [-9.87750516e-01 1.56030203e-01 -1.86899839e-03 1.17154956e+02] [-1.89959208e-03 -4.69655295e-05 9.99998195e-01 -6.35643263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:117.11, Z:-0.63 [[ 1.48245212e-01 9.88950557e-01 3.91698510e-04 1.71917447e+02] [-9.88948814e-01 1.48245688e-01 -1.86000938e-03 1.17113872e+02] [-1.89752493e-03 -1.11632292e-04 9.99998193e-01 -6.29787817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:117.27, Z:0.17 [[ 2.87041236e-01 -9.57918166e-01 -3.41430539e-04 1.72735116e+02] [-9.57916365e-01 -2.87041363e-01 1.86919144e-03 1.17266324e+02] [-1.88853712e-03 -2.09473122e-04 -9.99998195e-01 1.66439864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:117.27, Z:0.17 [[ 3.61096536e-01 -9.32528314e-01 -4.85215517e-04 1.72728174e+02] [-9.32526539e-01 -3.61096802e-01 1.83109028e-03 1.17269425e+02] [-1.88275330e-03 -2.08724011e-04 -9.99998206e-01 1.66689589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:117.27, Z:0.17 [[ 4.32260774e-01 -9.01748431e-01 -6.25178747e-04 1.72723389e+02] [-9.01746694e-01 -4.32261177e-01 1.78198666e-03 1.17268496e+02] [-1.87714418e-03 -2.06530065e-04 -9.99998217e-01 1.67177532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:117.24, Z:0.17 [[ 4.92011275e-01 -8.70588495e-01 -7.60204463e-04 1.72713125e+02] [-8.70586811e-01 -4.92011827e-01 1.72239095e-03 1.17235224e+02] [-1.87352333e-03 -1.85611788e-04 -9.99998228e-01 1.74543146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:117.23, Z:0.17 [[ 5.64142456e-01 -8.25677084e-01 -8.01588315e-04 1.72717752e+02] [-8.25675386e-01 -5.64142947e-01 1.70060613e-03 1.17226675e+02] [-1.85636190e-03 -2.97532376e-04 -9.99998233e-01 1.65573134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:116.76, Z:-0.64 [[ 5.27205124e-01 8.49737455e-01 1.00732659e-03 1.72016446e+02] [-8.49736008e-01 5.27206086e-01 -1.56847419e-03 1.16759793e+02] [-1.86385998e-03 -2.90540453e-05 9.99998263e-01 -6.38823812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:116.73, Z:-0.64 [[ 5.27372258e-01 8.49633656e-01 1.07361824e-03 1.72031942e+02] [-8.49632293e-01 5.27373340e-01 -1.52589008e-03 1.16732263e+02] [-1.86264520e-03 -1.07468635e-04 9.99998260e-01 -6.38665341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:116.70, Z:-0.64 [[ 5.27227315e-01 8.49723604e-01 1.07475515e-03 1.72046711e+02] [-8.49722242e-01 5.27228399e-01 -1.52516216e-03 1.16703956e+02] [-1.86260773e-03 -1.09136200e-04 9.99998259e-01 -6.37560173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:116.68, Z:-0.64 [[ 5.27803098e-01 8.49366079e-01 1.07390632e-03 1.72063021e+02] [-8.49364716e-01 5.27804180e-01 -1.52570513e-03 1.16676967e+02] [-1.86269443e-03 -1.06866246e-04 9.99998259e-01 -6.37352722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:116.63, Z:-0.63 [[ 5.16520296e-01 8.56274269e-01 1.07708804e-03 1.72075158e+02] [-8.56272924e-01 5.16521401e-01 -1.52366867e-03 1.16628453e+02] [-1.86101730e-03 -1.35275530e-04 9.99998259e-01 -6.27092773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:116.60, Z:-0.63 [[ 5.16055949e-01 8.56554291e-01 1.00194721e-03 1.72091766e+02] [-8.56552850e-01 5.16056920e-01 -1.57157424e-03 1.16600964e+02] [-1.86320045e-03 -4.72005048e-05 9.99998263e-01 -6.27346638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.11, Y:116.59, Z:-0.64 [[ 5.26096171e-01 8.50424492e-01 1.00165976e-03 1.72112053e+02] [-8.50423039e-01 5.26097124e-01 -1.57175743e-03 1.16592989e+02] [-1.86363133e-03 -2.49389764e-05 9.99998263e-01 -6.37462036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:172.13, Y:116.55, Z:-0.63 [[ 5.21210988e-01 8.53427207e-01 1.05304220e-03 1.72129004e+02] [-8.53425825e-01 5.21212043e-01 -1.53855207e-03 1.16553879e+02] [-1.86190047e-03 -9.67831640e-05 9.99998262e-01 -6.31802591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:117.04, Z:0.16 [[ 6.25917973e-01 -7.79888249e-01 -1.00475158e-03 1.72880134e+02] [-7.79886695e-01 -6.25918748e-01 1.56960620e-03 1.17044164e+02] [-1.85301029e-03 -1.98852343e-04 -9.99998263e-01 1.63102616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:116.51, Z:-0.64 [[ 5.97595365e-01 8.01797052e-01 1.12567310e-03 1.72205270e+02] [-8.01795691e-01 5.97596424e-01 -1.47747752e-03 1.16513645e+02] [-1.85733534e-03 -1.96261190e-05 9.99998275e-01 -6.39116886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:116.47, Z:-0.63 [[ 5.87186843e-01 8.09450540e-01 1.19786412e-03 1.72222201e+02] [-8.09449302e-01 5.87188049e-01 -1.42236587e-03 1.16465311e+02] [-1.85470632e-03 -1.34415747e-04 9.99998271e-01 -6.29835116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:116.46, Z:-0.64 [[ 5.99563761e-01 8.00326205e-01 1.12403869e-03 1.72242136e+02] [-8.00324839e-01 5.99564814e-01 -1.47849240e-03 1.16462601e+02] [-1.85721026e-03 -1.31456196e-05 9.99998275e-01 -6.40509229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:116.41, Z:-0.63 [[ 5.90382106e-01 8.07123003e-01 1.19402939e-03 1.72258788e+02] [-8.07121754e-01 5.90383301e-01 -1.42520799e-03 1.16413727e+02] [-1.85525316e-03 -1.22309796e-04 9.99998272e-01 -6.31521237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:116.40, Z:-0.63 [[ 6.02040029e-01 7.98465118e-01 1.12205988e-03 1.72278001e+02] [-7.98463747e-01 6.02041074e-01 -1.47977970e-03 1.16397768e+02] [-1.85707861e-03 -5.03751794e-06 9.99998276e-01 -6.34420343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:116.37, Z:-0.63 [[ 6.01563113e-01 7.98824447e-01 1.15117602e-03 1.72297874e+02] [-7.98823118e-01 6.01564213e-01 -1.45770232e-03 1.16371106e+02] [-1.85695455e-03 -4.26860756e-05 9.99998275e-01 -6.34466325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:116.34, Z:-0.63 [[ 6.05645440e-01 7.95733798e-01 1.15075643e-03 1.72316749e+02] [-7.95732463e-01 6.05646532e-01 -1.45802004e-03 1.16344377e+02] [-1.85714746e-03 -3.26510635e-05 9.99998275e-01 -6.33712957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:116.32, Z:-0.63 [[ 6.10053929e-01 7.92359063e-01 1.14878591e-03 1.72334919e+02] [-7.92357719e-01 6.10055010e-01 -1.45950929e-03 1.16317632e+02] [-1.85727801e-03 -1.98700064e-05 9.99998275e-01 -6.32872322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:116.29, Z:-0.63 [[ 6.15907957e-01 7.87817284e-01 1.14698365e-03 1.72352841e+02] [-7.87815930e-01 6.15909025e-01 -1.46086950e-03 1.16292868e+02] [-1.85733582e-03 -3.85084813e-06 9.99998275e-01 -6.33544635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:116.27, Z:-0.63 [[ 6.27801352e-01 7.78372748e-01 1.15207299e-03 1.72369652e+02] [-7.78371385e-01 6.27802409e-01 -1.45703061e-03 1.16266703e+02] [-1.85738712e-03 1.79851372e-05 9.99998275e-01 -6.32723368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:116.23, Z:-0.63 [[ 6.27581924e-01 7.78549676e-01 1.15382445e-03 1.72386089e+02] [-7.78548315e-01 6.27582984e-01 -1.45570758e-03 1.16227547e+02] [-1.85746126e-03 1.52676810e-05 9.99998275e-01 -6.25555084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:116.22, Z:-0.63 [[ 6.42623763e-01 7.66181082e-01 1.11783248e-03 1.72406399e+02] [-7.66179653e-01 6.42624728e-01 -1.48283997e-03 1.16222854e+02] [-1.85447073e-03 9.64477013e-05 9.99998276e-01 -6.34087523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:116.19, Z:-0.63 [[ 6.47833567e-01 7.61780992e-01 1.17898837e-03 1.72424047e+02] [-7.61779638e-01 6.47834639e-01 -1.43670989e-03 1.16191236e+02] [-1.85824779e-03 3.26195546e-05 9.99998273e-01 -6.31973650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:116.16, Z:-0.63 [[ 6.49278432e-01 7.60549907e-01 1.16481692e-03 1.72442121e+02] [-7.60548532e-01 6.49279474e-01 -1.44736883e-03 1.16162987e+02] [-1.85708794e-03 5.38455684e-05 9.99998274e-01 -6.30691637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:116.13, Z:-0.63 [[ 6.49562501e-01 7.60307321e-01 1.15572654e-03 1.72460053e+02] [-7.60305933e-01 6.49563526e-01 -1.45419896e-03 1.16133615e+02] [-1.85635592e-03 6.58873668e-05 9.99998275e-01 -6.28819187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:116.11, Z:-0.63 [[ 6.52241434e-01 7.58010429e-01 1.14040292e-03 1.72479172e+02] [-7.58009018e-01 6.52242425e-01 -1.46569557e-03 1.16110955e+02] [-1.85483170e-03 9.15516854e-05 9.99998276e-01 -6.29500283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:116.08, Z:-0.63 [[ 6.51897620e-01 7.58306123e-01 1.14795946e-03 1.72498472e+02] [-7.58304722e-01 6.51898625e-01 -1.46002897e-03 1.16081691e+02] [-1.85550210e-03 8.12863273e-05 9.99998275e-01 -6.29295551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:116.06, Z:-0.63 [[ 6.51619615e-01 7.58545055e-01 1.13033090e-03 1.72518217e+02] [-7.58543631e-01 6.51620587e-01 -1.47322510e-03 1.16056384e+02] [-1.85405450e-03 1.02577069e-04 9.99998276e-01 -6.30294088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:116.02, Z:-0.63 [[ 6.47433009e-01 7.62121527e-01 1.13018053e-03 1.72536834e+02] [-7.62120109e-01 6.47433988e-01 -1.47333761e-03 1.16024949e+02] [-1.85457960e-03 9.25540948e-05 9.99998276e-01 -6.25678259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:116.01, Z:-0.63 [[ 6.50091712e-01 7.59854940e-01 1.11140817e-03 1.72560427e+02] [-7.59853494e-01 6.50092651e-01 -1.48736494e-03 1.16013234e+02] [-1.85269988e-03 1.22416241e-04 9.99998276e-01 -6.33368945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:115.99, Z:-0.63 [[ 6.46640910e-01 7.62793694e-01 1.14582847e-03 1.72581741e+02] [-7.62792297e-01 6.46641922e-01 -1.46163737e-03 1.15987952e+02] [-1.85586850e-03 7.11253904e-05 9.99998275e-01 -6.33941536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:115.96, Z:-0.63 [[ 6.38633470e-01 7.69510223e-01 1.14345344e-03 1.72604184e+02] [-7.69508833e-01 6.38634492e-01 -1.46341100e-03 1.15964687e+02] [-1.85635853e-03 5.46857235e-05 9.99998275e-01 -6.33618684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:115.94, Z:-0.63 [[ 6.34639921e-01 7.72807143e-01 1.13594187e-03 1.72626081e+02] [-7.72805749e-01 6.34640936e-01 -1.46901515e-03 1.15939867e+02] [-1.85618061e-03 5.44332494e-05 9.99998276e-01 -6.33618642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:115.91, Z:-0.63 [[ 6.26386086e-01 7.79512145e-01 1.13417884e-03 1.72644845e+02] [-7.79510759e-01 6.26387112e-01 -1.47032966e-03 1.15907981e+02] [-1.85657484e-03 3.68894349e-05 9.99998276e-01 -6.26496109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:115.89, Z:-0.63 [[ 6.26474001e-01 7.79441529e-01 1.10883520e-03 1.72667431e+02] [-7.79440109e-01 6.26474979e-01 -1.48920014e-03 1.15889274e+02] [-1.85540194e-03 6.86745384e-05 9.99998276e-01 -6.31417237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:115.87, Z:-0.63 [[ 6.24330759e-01 7.81159293e-01 1.12342788e-03 1.72688569e+02] [-7.81157896e-01 6.24331768e-01 -1.47833657e-03 1.15867452e+02] [-1.85620806e-03 4.53964342e-05 9.99998276e-01 -6.31372996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:115.85, Z:-0.63 [[ 6.20342015e-01 7.84330610e-01 1.13075445e-03 1.72711713e+02] [-7.84329227e-01 6.20343045e-01 -1.47288482e-03 1.15846348e+02] [-1.85668431e-03 2.68085770e-05 9.99998276e-01 -6.30965135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:115.81, Z:-0.63 [[ 6.13758274e-01 7.89493188e-01 1.13481822e-03 1.72731178e+02] [-7.89491819e-01 6.13759323e-01 -1.46986106e-03 1.15813967e+02] [-1.85695055e-03 6.20968466e-06 9.99998276e-01 -6.25031167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:115.79, Z:-0.63 [[ 6.12128982e-01 7.90757158e-01 1.10716535e-03 1.72752347e+02] [-7.90755755e-01 6.12129982e-01 -1.49040335e-03 1.15790447e+02] [-1.85627622e-03 3.68217110e-05 9.99998276e-01 -6.25396114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:115.77, Z:-0.63 [[ 6.13459337e-01 7.89725532e-01 1.10676841e-03 1.72777177e+02] [-7.89724126e-01 6.13460334e-01 -1.49069806e-03 1.15771441e+02] [-1.85620084e-03 4.04409288e-05 9.99998276e-01 -6.29457181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:115.75, Z:-0.63 [[ 6.13388486e-01 7.89780551e-01 1.11704783e-03 1.72798160e+02] [-7.89779159e-01 6.13389502e-01 -1.48306766e-03 1.15747341e+02] [-1.85648340e-03 2.74755363e-05 9.99998276e-01 -6.29344754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:115.72, Z:-0.63 [[ 6.10716131e-01 7.91848819e-01 1.12002805e-03 1.72817892e+02] [-7.91847435e-01 6.10717158e-01 -1.48085720e-03 1.15718418e+02] [-1.85663537e-03 1.74920454e-05 9.99998276e-01 -6.26839861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:115.70, Z:-0.63 [[ 6.15640066e-01 7.88026705e-01 1.10528494e-03 1.72839470e+02] [-7.88025294e-01 6.15641056e-01 -1.49178062e-03 1.15702141e+02] [-1.85602175e-03 4.74074303e-05 9.99998276e-01 -6.31971300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:115.68, Z:-0.63 [[ 6.15568156e-01 7.88082844e-01 1.12956692e-03 1.72860135e+02] [-7.88081466e-01 6.15569192e-01 -1.47378253e-03 1.15677602e+02] [-1.85678933e-03 1.70228358e-05 9.99998276e-01 -6.33216111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:115.66, Z:-0.64 [[ 6.17779538e-01 7.86350544e-01 1.12494413e-03 1.72880828e+02] [-7.86349157e-01 6.17780561e-01 -1.47720495e-03 1.15655280e+02] [-1.85656954e-03 2.79881221e-05 9.99998276e-01 -6.35006056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:115.63, Z:-0.63 [[ 6.15752969e-01 7.87938453e-01 1.12882362e-03 1.72900495e+02] [-7.87937074e-01 6.15754004e-01 -1.47433608e-03 1.15625039e+02] [-1.85676376e-03 1.83848423e-05 9.99998276e-01 -6.31532612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:115.60, Z:-0.63 [[ 6.13853657e-01 7.89419059e-01 1.11217089e-03 1.72919112e+02] [-7.89417660e-01 6.13854663e-01 -1.48663441e-03 1.15597224e+02] [-1.85628882e-03 3.46086271e-05 9.99998276e-01 -6.30169539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:115.57, Z:-0.63 [[ 6.15871465e-01 7.87845876e-01 1.10243075e-03 1.72940642e+02] [-7.87844461e-01 6.15872449e-01 -1.49382256e-03 1.15574245e+02] [-1.85585867e-03 5.14587252e-05 9.99998277e-01 -6.30085642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:115.55, Z:-0.63 [[ 6.14440588e-01 7.88962318e-01 1.10712133e-03 1.72959401e+02] [-7.88960911e-01 6.14441584e-01 -1.49036225e-03 1.15547669e+02] [-1.85610104e-03 4.22636028e-05 9.99998277e-01 -6.30541395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.52, Z:-0.63 [[ 6.14334218e-01 7.89045154e-01 1.10186265e-03 1.72979456e+02] [-7.89043741e-01 6.14335204e-01 -1.49424004e-03 1.15521869e+02] [-1.85593588e-03 4.85449621e-05 9.99998277e-01 -6.30057696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:115.50, Z:-0.63 [[ 6.13641237e-01 7.89584207e-01 1.10143659e-03 1.72999469e+02] [-7.89582794e-01 6.13642223e-01 -1.49455403e-03 1.15497094e+02] [-1.85596426e-03 4.74446068e-05 9.99998277e-01 -6.30232229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:115.47, Z:-0.63 [[ 6.12794676e-01 7.90241401e-01 1.10103997e-03 1.73019437e+02] [-7.90239989e-01 6.12795664e-01 -1.49484617e-03 1.15471160e+02] [-1.85600185e-03 4.59479635e-05 9.99998277e-01 -6.30020996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:115.45, Z:-0.63 [[ 6.13592860e-01 7.89621802e-01 1.10061594e-03 1.73039915e+02] [-7.89620388e-01 6.13593846e-01 -1.49515831e-03 1.15447679e+02] [-1.85594076e-03 4.83496771e-05 9.99998277e-01 -6.33531440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:115.42, Z:-0.63 [[ 6.10310647e-01 7.92161404e-01 1.10696013e-03 1.73059201e+02] [-7.92160002e-01 6.10311650e-01 -1.49048883e-03 1.15420382e+02] [-1.85629838e-03 3.27716638e-05 9.99998277e-01 -6.30114008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:115.40, Z:-0.64 [[ 6.11985383e-01 7.90868308e-01 1.10001744e-03 1.73078158e+02] [-7.90866895e-01 6.11986370e-01 -1.49559520e-03 1.15403794e+02] [-1.85601453e-03 4.53150225e-05 9.99998277e-01 -6.35375902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.38, Z:-0.63 [[ 6.11574403e-01 7.91186130e-01 1.12147163e-03 1.73097753e+02] [-7.91184746e-01 6.11575431e-01 -1.47983102e-03 1.15378998e+02] [-1.85668627e-03 1.77355219e-05 9.99998276e-01 -6.34735858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.35, Z:-0.63 [[ 6.05850076e-01 7.95578047e-01 1.12093588e-03 1.73115420e+02] [-7.95576670e-01 6.05851113e-01 -1.48022448e-03 1.15347522e+02] [-1.85675436e-03 5.00367984e-06 9.99998276e-01 -6.28448635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:115.32, Z:-0.63 [[ 6.05149059e-01 7.96111432e-01 1.09785580e-03 1.73134623e+02] [-7.96110024e-01 6.05150054e-01 -1.49714905e-03 1.15322222e+02] [-1.85626497e-03 3.19843321e-05 9.99998277e-01 -6.28770515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:115.30, Z:-0.63 [[ 6.04640624e-01 7.96497653e-01 1.09758758e-03 1.73154380e+02] [-7.96496246e-01 6.04641619e-01 -1.49734567e-03 1.15295914e+02] [-1.85627944e-03 3.11316285e-05 9.99998277e-01 -6.28817396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:115.27, Z:-0.63 [[ 6.04763544e-01 7.96404327e-01 1.09716042e-03 1.73174482e+02] [-7.96402920e-01 6.04764538e-01 -1.49765859e-03 1.15269532e+02] [-1.85626550e-03 3.19475531e-05 9.99998277e-01 -6.29977447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:115.25, Z:-0.64 [[ 6.09411143e-01 7.92853616e-01 1.09673664e-03 1.73194919e+02] [-7.92852202e-01 6.09412128e-01 -1.49796887e-03 1.15252228e+02] [-1.85603464e-03 4.33288578e-05 9.99998277e-01 -6.36928831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:115.22, Z:-0.63 [[ 6.06139356e-01 7.95357671e-01 1.12062954e-03 1.73212320e+02] [-7.95356293e-01 6.06140392e-01 -1.48043006e-03 1.15219981e+02] [-1.85673024e-03 6.04716527e-06 9.99998276e-01 -6.31252268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:115.66, Z:0.17 [[ 6.35070952e-01 -7.72453029e-01 -1.09726190e-03 1.73817962e+02] [-7.72451584e-01 -6.35071892e-01 1.49755577e-03 1.15661458e+02] [-1.85363169e-03 -1.03472474e-04 -9.99998277e-01 1.65379714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:115.65, Z:0.16 [[ 6.94489784e-01 -7.19501601e-01 -1.17700758e-03 1.73814908e+02] [-7.19500197e-01 -6.94490766e-01 1.42913448e-03 1.15651101e+02] [-1.84568544e-03 -1.45662113e-04 -9.99998286e-01 1.59095402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:115.64, Z:0.16 [[ 7.47647866e-01 -6.64094087e-01 -1.30835630e-03 1.73809427e+02] [-6.64092829e-01 -7.47649004e-01 1.29659428e-03 1.15641525e+02] [-1.83925188e-03 -1.00525907e-04 -9.99998304e-01 1.58963792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:115.63, Z:0.16 [[ 7.96297910e-01 -6.04903029e-01 -1.40136029e-03 1.73804777e+02] [-6.04901872e-01 -7.96299138e-01 1.18677379e-03 1.15633883e+02] [-1.83378505e-03 -9.73400247e-05 -9.99998314e-01 1.58643518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:115.62, Z:0.16 [[ 8.38355669e-01 -5.45121607e-01 -1.48527156e-03 1.73794696e+02] [-5.45120563e-01 -8.38356980e-01 1.07033242e-03 1.15620001e+02] [-1.82864910e-03 -8.76671853e-05 -9.99998324e-01 1.63721211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:115.61, Z:0.16 [[ 8.78794569e-01 -4.77197800e-01 -1.53819066e-03 1.73794776e+02] [-4.77196804e-01 -8.78795905e-01 9.83802777e-04 1.15614066e+02] [-1.82122418e-03 -1.30540868e-04 -9.99998333e-01 1.56747262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:115.60, Z:0.16 [[ 9.12953695e-01 -4.08059950e-01 -1.62130612e-03 1.73792109e+02] [-4.08059137e-01 -9.12955130e-01 8.19332970e-04 1.15602643e+02] [-1.81451671e-03 -8.64242870e-05 -9.99998350e-01 1.56428253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:115.59, Z:0.16 [[ 9.41698509e-01 -3.36453730e-01 -1.67524734e-03 1.73789837e+02] [-3.36453037e-01 -9.41699995e-01 6.87986024e-04 1.15591784e+02] [-1.80905588e-03 -8.42333557e-05 -9.99998360e-01 1.56067987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:115.57, Z:0.16 [[ 9.63900078e-01 -2.66258681e-01 -1.71862476e-03 1.73784274e+02] [-2.66258117e-01 -9.63901608e-01 5.53233845e-04 1.15571100e+02] [-1.80388848e-03 -7.56643546e-05 -9.99998370e-01 1.60416200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:115.56, Z:0.16 [[ 9.82175875e-01 -1.87956121e-01 -1.74553940e-03 1.73780521e+02] [-1.87955633e-01 -9.82177421e-01 4.40646057e-04 1.15558290e+02] [-1.79725151e-03 -1.04707963e-04 -9.99998379e-01 1.56360813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:115.54, Z:0.16 [[ 9.93377404e-01 -1.14883402e-01 -1.77118136e-03 1.73774066e+02] [-1.14883092e-01 -9.93378981e-01 2.76231118e-04 1.15539184e+02] [-1.79118870e-03 -7.09229598e-05 -9.99998393e-01 1.61114995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:115.53, Z:0.16 [[ 9.99432623e-01 -3.36343321e-02 -1.77895609e-03 1.73773971e+02] [-3.36340679e-02 -9.99434199e-01 1.78236369e-04 1.15530831e+02] [-1.78394442e-03 -1.18301712e-04 -9.99998402e-01 1.55483935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:115.51, Z:0.16 [[ 9.99099399e-01 4.23937102e-02 -1.77859283e-03 1.73773457e+02] [ 4.23937709e-02 -9.99100980e-01 -3.55436796e-06 1.15512487e+02] [-1.77714452e-03 -7.18500899e-05 -9.99998418e-01 1.55765717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:115.50, Z:0.16 [[ 9.92668383e-01 1.20856750e-01 -1.76829368e-03 1.73774369e+02] [ 1.20856706e-01 -9.92669955e-01 -1.32321463e-04 1.15496926e+02] [-1.77132395e-03 -8.23588176e-05 -9.99998428e-01 1.55379770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:115.49, Z:0.16 [[ 9.80441256e-01 1.96804217e-01 -1.74475274e-03 1.73775949e+02] [ 1.96804031e-01 -9.80442806e-01 -2.79351745e-04 1.15486675e+02] [-1.76560787e-03 -6.94863957e-05 -9.99998439e-01 1.55325755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:115.47, Z:0.16 [[ 9.63139053e-01 2.68998574e-01 -1.71223527e-03 1.73780261e+02] [ 2.68998263e-01 -9.63140573e-01 -4.13878224e-04 1.15471185e+02] [-1.76045591e-03 -6.19660332e-05 -9.99998448e-01 1.55321451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:115.46, Z:0.16 [[ 9.39112110e-01 3.43606837e-01 -1.66944051e-03 1.73785246e+02] [ 3.43606410e-01 -9.39113592e-01 -5.44973338e-04 1.15459551e+02] [-1.75505084e-03 -6.18393987e-05 -9.99998458e-01 1.55270228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:115.45, Z:0.16 [[ 9.10361581e-01 4.13810559e-01 -1.61664776e-03 1.73790525e+02] [ 4.13810018e-01 -9.10363014e-01 -6.71981718e-04 1.15446944e+02] [-1.74980946e-03 -5.72386986e-05 -9.99998467e-01 1.55506311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:115.44, Z:0.16 [[ 8.76388178e-01 4.81602892e-01 -1.55427076e-03 1.73797269e+02] [ 4.81602240e-01 -8.76389555e-01 -7.94074503e-04 1.15435237e+02] [-1.74457524e-03 -5.26227751e-05 -9.99998477e-01 1.55091415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:115.42, Z:0.16 [[ 8.38825495e-01 5.44398375e-01 -1.48276142e-03 1.73805365e+02] [ 5.44397616e-01 -8.38826804e-01 -9.10525226e-04 1.15421922e+02] [-1.73946848e-03 -4.34400113e-05 -9.99998486e-01 1.55232121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:115.40, Z:0.16 [[ 7.96288391e-01 6.04915556e-01 -1.40262842e-03 1.73818547e+02] [ 6.04914696e-01 -7.96289626e-01 -1.02064823e-03 1.15403247e+02] [-1.73430446e-03 -3.57402047e-05 -9.99998495e-01 1.56448674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:115.39, Z:0.15 [[ 7.46384755e-01 6.65513359e-01 -1.32912912e-03 1.73829371e+02] [ 6.65512441e-01 -7.46385936e-01 -1.10684629e-03 1.15392443e+02] [-1.72866427e-03 -5.84187742e-05 -9.99998504e-01 1.54448710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:115.38, Z:0.15 [[ 6.93286553e-01 7.20660997e-01 -1.21732961e-03 1.73840146e+02] [ 7.20659968e-01 -6.93287621e-01 -1.21853522e-03 1.15382518e+02] [-1.72211035e-03 -3.24866324e-05 -9.99998517e-01 1.54481040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:115.37, Z:0.16 [[ 6.35924860e-01 7.71750173e-01 -1.11470891e-03 1.73853065e+02] [ 7.71749069e-01 -6.35925836e-01 -1.30611713e-03 1.15372065e+02] [-1.71686831e-03 -2.96832131e-05 -9.99998526e-01 1.55043539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:115.36, Z:0.16 [[ 5.73442307e-01 8.19245329e-01 -1.00588751e-03 1.73867578e+02] [ 8.19244158e-01 -5.73443189e-01 -1.38514299e-03 1.15364793e+02] [-1.71159126e-03 -2.97678752e-05 -9.99998535e-01 1.55113630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:115.36, Z:0.16 [[ 5.07192336e-01 8.61832431e-01 -8.91619900e-04 1.73884418e+02] [ 8.61831203e-01 -5.07193119e-01 -1.45515826e-03 1.15357573e+02] [-1.70632606e-03 -3.03807356e-05 -9.99998544e-01 1.55135312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:115.35, Z:0.16 [[ 4.37237796e-01 8.99345603e-01 -7.72520030e-04 1.73900899e+02] [ 8.99344326e-01 -4.37238477e-01 -1.51585475e-03 1.15350855e+02] [-1.70105278e-03 -3.19725167e-05 -9.99998553e-01 1.55538999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:115.35, Z:0.16 [[ 3.63474008e-01 9.31604113e-01 -6.49465614e-04 1.73921528e+02] [ 9.31602796e-01 -3.63474587e-01 -1.56686096e-03 1.15345429e+02] [-1.69575836e-03 -3.55307508e-05 -9.99998562e-01 1.56160194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:115.34, Z:0.16 [[ 2.88571087e-01 9.57458330e-01 -5.23239859e-04 1.73937846e+02] [ 9.57456981e-01 -2.88571559e-01 -1.60793620e-03 1.15342598e+02] [-1.69052405e-03 -3.69757584e-05 -9.99998570e-01 1.56437399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:115.34, Z:0.16 [[ 2.11010875e-01 9.77483634e-01 -3.94491933e-04 1.73957915e+02] [ 9.77482261e-01 -2.11011240e-01 -1.63892603e-03 1.15340683e+02] [-1.68526561e-03 -3.97776499e-05 -9.99998579e-01 1.57532851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:115.34, Z:0.16 [[ 1.32967184e-01 9.91120406e-01 -2.64119593e-04 1.73974363e+02] [ 9.91119017e-01 -1.32967440e-01 -1.65967343e-03 1.15342687e+02] [-1.68005551e-03 -4.10918480e-05 -9.99998588e-01 1.57182613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:115.35, Z:0.16 [[ 5.41173280e-02 9.98534575e-01 -1.32955862e-04 1.73991111e+02] [ 9.98533179e-01 -5.41174747e-02 -1.67011524e-03 1.15346425e+02] [-1.67486304e-03 -4.23786655e-05 -9.99998597e-01 1.57175351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:115.35, Z:0.16 [[-2.51110993e-02 9.99684667e-01 -1.75149809e-06 1.74006835e+02] [ 9.99683272e-01 2.51110614e-02 -1.67025284e-03 1.15351693e+02] [-1.66968217e-03 -4.36928282e-05 -9.99998605e-01 1.57359502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:115.33, Z:0.16 [[-1.04671798e-01 9.94506812e-01 1.28712201e-04 1.74052992e+02] [ 9.94505427e-01 1.04671867e-01 -1.66013787e-03 1.15334971e+02] [-1.66449096e-03 -4.57646328e-05 -9.99998614e-01 1.57897473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:115.32, Z:0.16 [[-1.82231371e-01 9.83255644e-01 2.57502344e-04 1.74097078e+02] [ 9.83254277e-01 1.82231547e-01 -1.63991503e-03 1.15318916e+02] [-1.65938075e-03 -4.56536812e-05 -9.99998622e-01 1.58346020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:115.31, Z:0.16 [[-2.58465555e-01 9.66020398e-01 3.83961707e-04 1.74142460e+02] [ 9.66019058e-01 2.58465836e-01 -1.60975166e-03 1.15306246e+02] [-1.65429392e-03 -4.51510287e-05 -9.99998631e-01 1.58832802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:115.29, Z:0.16 [[-3.31882734e-01 9.43320515e-01 5.07311704e-04 1.74192043e+02] [ 9.43319209e-01 3.31883119e-01 -1.56989101e-03 1.15288847e+02] [-1.64927859e-03 -4.24628449e-05 -9.99998639e-01 1.59588666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:115.28, Z:0.16 [[-4.03030627e-01 9.15186278e-01 6.23975560e-04 1.74242662e+02] [ 9.15185014e-01 4.03031108e-01 -1.52183050e-03 1.15283978e+02] [-1.64423995e-03 -4.22912201e-05 -9.99998647e-01 1.58869755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:115.29, Z:0.16 [[-4.71996345e-01 8.81600193e-01 7.41906952e-04 1.74284746e+02] [ 8.81598981e-01 4.71996926e-01 -1.46201062e-03 1.15291944e+02] [-1.63908665e-03 -3.59992574e-05 -9.99998656e-01 1.57051017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:115.29, Z:0.16 [[-5.35882595e-01 8.44292082e-01 8.51203207e-04 1.74336686e+02] [ 8.44290929e-01 5.35883270e-01 -1.39533615e-03 1.15294419e+02] [-1.63421682e-03 -2.90732121e-05 -9.99998664e-01 1.56669997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:115.30, Z:0.16 [[-5.98506590e-01 8.01117314e-01 9.54955643e-04 1.74380379e+02] [ 8.01116226e-01 5.98507351e-01 -1.32029300e-03 1.15304114e+02] [-1.62925755e-03 -2.51735987e-05 -9.99998672e-01 1.56700616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:115.31, Z:0.16 [[-6.57973908e-01 7.53039992e-01 1.05213626e-03 1.74427862e+02] [ 7.53038975e-01 6.57974749e-01 -1.23768106e-03 1.15312413e+02] [-1.62430243e-03 -2.20622332e-05 -9.99998681e-01 1.56661942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:115.35, Z:0.15 [[-7.16531791e-01 6.97553501e-01 1.14233899e-03 1.74447126e+02] [ 6.97552557e-01 7.16532702e-01 -1.14791663e-03 1.15349785e+02] [-1.61925651e-03 -2.56772757e-05 -9.99998689e-01 1.53141777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:115.35, Z:0.16 [[-7.63925942e-01 6.45302711e-01 1.25146986e-03 1.74518312e+02] [ 6.45301905e-01 7.63926967e-01 -1.02024245e-03 1.15351332e+02] [-1.61439680e-03 2.81862082e-05 -9.99998696e-01 1.56619555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:115.37, Z:0.16 [[-8.11289327e-01 5.84643424e-01 1.30194800e-03 1.74562205e+02] [ 5.84642651e-01 8.11290371e-01 -9.51147026e-04 1.15371526e+02] [-1.61233973e-03 -1.04810980e-05 -9.99998700e-01 1.56537043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:115.40, Z:0.16 [[-8.54018019e-01 5.20241628e-01 1.36822294e-03 1.74598375e+02] [ 5.20240944e-01 8.54019115e-01 -8.43664944e-04 1.15398646e+02] [-1.60739817e-03 -8.69946973e-06 -9.99998708e-01 1.56394519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:115.48, Z:0.16 [[-8.91797930e-01 4.52431675e-01 1.42570600e-03 1.74511316e+02] [ 4.52431083e-01 8.91799069e-01 -7.31652927e-04 1.15483139e+02] [-1.60246624e-03 -7.45285739e-06 -9.99998716e-01 1.56661259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:115.50, Z:0.16 [[-9.24090454e-01 3.82170982e-01 1.47441878e-03 1.74594818e+02] [ 3.82170487e-01 9.24091630e-01 -6.15047635e-04 1.15498863e+02] [-1.59755141e-03 -4.88030589e-06 -9.99998724e-01 1.56410738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:115.85, Z:-0.63 [[-9.70821144e-01 -2.39799953e-01 -1.51329040e-03 1.74796786e+02] [ 2.39799468e-01 -9.70822316e-01 4.96711378e-04 1.15848358e+02] [-1.58824746e-03 1.19331674e-04 9.99998732e-01 -6.32153273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:115.84, Z:-0.63 [[-9.71249991e-01 -2.38057065e-01 -1.51300121e-03 1.74798155e+02] [ 2.38056577e-01 -9.71251162e-01 4.97590724e-04 1.15837121e+02] [-1.58795917e-03 1.23105098e-04 9.99998732e-01 -6.32257563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:115.86, Z:-0.63 [[-9.71534616e-01 -2.36892802e-01 -1.51318303e-03 1.74721510e+02] [ 2.36892313e-01 -9.71535787e-01 4.97037181e-04 1.15856802e+02] [-1.58785600e-03 1.24427399e-04 9.99998732e-01 -6.32420744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:115.83, Z:-0.63 [[-9.71616950e-01 -2.36554880e-01 -1.51364727e-03 1.74789384e+02] [ 2.36554394e-01 -9.71618121e-01 4.95622329e-04 1.15828524e+02] [-1.58792900e-03 1.23495143e-04 9.99998732e-01 -6.32263765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:115.82, Z:-0.63 [[-9.71886286e-01 -2.35445870e-01 -1.51318105e-03 1.74788650e+02] [ 2.35445380e-01 -9.71887456e-01 4.97041679e-04 1.15823050e+02] [-1.58766809e-03 1.26796504e-04 9.99998732e-01 -6.31839853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:115.81, Z:-0.63 [[-9.72221017e-01 -2.34059831e-01 -1.51336331e-03 1.74794027e+02] [ 2.34059340e-01 -9.72222186e-01 4.96486129e-04 1.15809869e+02] [-1.58753284e-03 1.28477432e-04 9.99998732e-01 -6.30368742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:115.80, Z:-0.63 [[-9.72380073e-01 -2.33398163e-01 -1.51354504e-03 1.74796185e+02] [ 2.33397671e-01 -9.72381243e-01 4.95931485e-04 1.15803358e+02] [-1.58749231e-03 1.28976004e-04 9.99998732e-01 -6.30225744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:115.80, Z:-0.63 [[-9.72526485e-01 -2.32787340e-01 -1.51372606e-03 1.74799577e+02] [ 2.32786849e-01 -9.72527654e-01 4.95378355e-04 1.15796304e+02] [-1.58745826e-03 1.29393051e-04 9.99998732e-01 -6.30021765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.75, Y:115.80, Z:-0.63 [[-9.72852773e-01 -2.31419942e-01 -1.51390656e-03 1.74754510e+02] [ 2.31419450e-01 -9.72853942e-01 4.94826124e-04 1.15798682e+02] [-1.58732260e-03 1.31045543e-04 9.99998732e-01 -6.30473463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:115.80, Z:-0.63 [[-9.73155706e-01 -2.30142737e-01 -1.51408961e-03 1.74732807e+02] [ 2.30142244e-01 -9.73156875e-01 4.94265393e-04 1.15799372e+02] [-1.58719830e-03 1.32541207e-04 9.99998732e-01 -6.30878855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:115.78, Z:-0.63 [[-9.73361441e-01 -2.29271043e-01 -1.51427708e-03 1.74769929e+02] [ 2.29270551e-01 -9.73362610e-01 4.93690357e-04 1.15781020e+02] [-1.58712960e-03 1.33360017e-04 9.99998732e-01 -6.30571995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:115.78, Z:-0.63 [[-9.73616821e-01 -2.28184122e-01 -1.51434677e-03 1.74767926e+02] [ 2.28183628e-01 -9.73617989e-01 4.93476494e-04 1.15775167e+02] [-1.58699876e-03 1.34907875e-04 9.99998732e-01 -6.30661134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:115.75, Z:-0.63 [[-9.73809266e-01 -2.27361430e-01 -1.51453047e-03 1.74797814e+02] [ 2.27360936e-01 -9.73810434e-01 4.92912058e-04 1.15751569e+02] [-1.58693477e-03 1.35657263e-04 9.99998732e-01 -6.28705540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:115.75, Z:-0.63 [[-9.73830697e-01 -2.27269617e-01 -1.51459843e-03 1.74784160e+02] [ 2.27269124e-01 -9.73831866e-01 4.92703159e-04 1.15749125e+02] [-1.58694067e-03 1.35588003e-04 9.99998732e-01 -6.28337692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:115.74, Z:-0.63 [[-9.73755302e-01 -2.27592436e-01 -1.51477869e-03 1.74791209e+02] [ 2.27591944e-01 -9.73756471e-01 4.92148322e-04 1.15739594e+02] [-1.58703479e-03 1.34480611e-04 9.99998732e-01 -6.28095908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:115.73, Z:-0.63 [[-9.73092294e-01 -2.30410704e-01 -1.51495927e-03 1.74771929e+02] [ 2.30410215e-01 -9.73093465e-01 4.91591830e-04 1.15731188e+02] [-1.58746498e-03 1.29302130e-04 9.99998732e-01 -6.27642822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:115.72, Z:-0.63 [[-9.72588809e-01 -2.32526802e-01 -1.51514033e-03 1.74790792e+02] [ 2.32526317e-01 -9.72589981e-01 4.91033131e-04 1.15717691e+02] [-1.58778867e-03 1.25263326e-04 9.99998732e-01 -6.27763674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:115.76, Z:-0.63 [[-9.71984223e-01 -2.35041220e-01 -1.51520799e-03 1.74651389e+02] [ 2.35040738e-01 -9.71985396e-01 4.90824262e-04 1.15755587e+02] [-1.58812398e-03 1.20937832e-04 9.99998732e-01 -6.28250765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.65, Y:115.75, Z:-0.63 [[-9.71321564e-01 -2.37764847e-01 -1.51539715e-03 1.74654201e+02] [ 2.37764369e-01 -9.71322740e-01 4.90239542e-04 1.15747365e+02] [-1.58850145e-03 1.15872790e-04 9.99998732e-01 -6.28822145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:115.73, Z:-0.63 [[-9.69768516e-01 -2.44021982e-01 -1.51559667e-03 1.74661149e+02] [ 2.44021513e-01 -9.69769695e-01 4.89621955e-04 1.15731044e+02] [-1.58925824e-03 1.04981764e-04 9.99998732e-01 -6.28791528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:115.72, Z:-0.63 [[-9.68985052e-01 -2.47114692e-01 -1.51579502e-03 1.74663773e+02] [ 2.47114228e-01 -9.68986233e-01 4.89007119e-04 1.15723871e+02] [-1.58962535e-03 9.92660725e-05 9.99998732e-01 -6.29499236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:115.72, Z:-0.63 [[-9.68266209e-01 -2.49916487e-01 -1.51599229e-03 1.74666518e+02] [ 2.49916027e-01 -9.68267391e-01 4.88394791e-04 1.15716600e+02] [-1.58994381e-03 9.40254025e-05 9.99998732e-01 -6.29623297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:115.70, Z:-0.63 [[-9.66936370e-01 -2.55013250e-01 -1.51618893e-03 1.74673122e+02] [ 2.55012797e-01 -9.66937555e-01 4.87783563e-04 1.15702455e+02] [-1.59045129e-03 8.50080870e-05 9.99998732e-01 -6.29685018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:115.70, Z:-0.63 [[-9.66471122e-01 -2.56770852e-01 -1.51638457e-03 1.74673439e+02] [ 2.56770402e-01 -9.66472309e-01 4.87174600e-04 1.15697377e+02] [-1.59063594e-03 8.14775051e-05 9.99998732e-01 -6.29579385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:115.69, Z:-0.63 [[-9.66147365e-01 -2.57986374e-01 -1.51657936e-03 1.74679823e+02] [ 2.57985928e-01 -9.66148552e-01 4.86567462e-04 1.15690500e+02] [-1.59076873e-03 7.88397368e-05 9.99998732e-01 -6.29796486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:115.68, Z:-0.63 [[-9.65616755e-01 -2.59965346e-01 -1.51677354e-03 1.74679209e+02] [ 2.59964902e-01 -9.65617944e-01 4.85961404e-04 1.15681394e+02] [-1.59095687e-03 7.49445889e-05 9.99998732e-01 -6.29474585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:173.99, Y:115.90, Z:-0.63 [[-9.65532554e-01 -2.60277902e-01 -1.51696711e-03 1.73994766e+02] [ 2.60277459e-01 -9.65533743e-01 4.85356423e-04 1.15896296e+02] [-1.59101048e-03 7.37950824e-05 9.99998732e-01 -6.30641074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:115.68, Z:-0.63 [[-9.64685803e-01 -2.63398933e-01 -1.51784521e-03 1.74661079e+02] [ 2.63398499e-01 -9.64686995e-01 4.82608178e-04 1.15678555e+02] [-1.59136401e-03 6.57671063e-05 9.99998732e-01 -6.29537180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:115.67, Z:-0.63 [[-9.64552357e-01 -2.63887196e-01 -1.51601369e-03 1.74662158e+02] [ 2.63886754e-01 -9.64553546e-01 4.88294520e-04 1.15670951e+02] [-1.59113105e-03 7.09296975e-05 9.99998732e-01 -6.32117171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:115.67, Z:-0.63 [[-9.64346910e-01 -2.64636994e-01 -1.51620856e-03 1.74669818e+02] [ 2.64636554e-01 -9.64348099e-01 4.87688688e-04 1.15666005e+02] [-1.59121331e-03 6.90568712e-05 9.99998732e-01 -6.31845063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.67, Y:115.66, Z:-0.64 [[-9.63801125e-01 -2.66617877e-01 -1.51640268e-03 1.74666205e+02] [ 2.66617440e-01 -9.63802315e-01 4.87084353e-04 1.15664878e+02] [-1.59137781e-03 6.51530471e-05 9.99998732e-01 -6.35660724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:115.66, Z:-0.63 [[-9.64154311e-01 -2.65337838e-01 -1.51547871e-03 1.74673219e+02] [ 2.65337395e-01 -9.64155499e-01 4.89963744e-04 1.15658943e+02] [-1.59116305e-03 7.02874828e-05 9.99998732e-01 -6.33252545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:115.66, Z:-0.63 [[-9.64259615e-01 -2.64954890e-01 -1.51676195e-03 1.74675647e+02] [ 2.64954452e-01 -9.64260806e-01 4.85958526e-04 1.15658245e+02] [-1.59131118e-03 6.67173509e-05 9.99998732e-01 -6.33248624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:115.68, Z:-0.63 [[-9.63900367e-01 -2.66258863e-01 -1.51695471e-03 1.74586811e+02] [ 2.66258428e-01 -9.63901558e-01 4.85356055e-04 1.15682373e+02] [-1.59142536e-03 6.39329024e-05 9.99998732e-01 -6.33194696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:115.65, Z:-0.63 [[-9.63535706e-01 -2.67575480e-01 -1.51859575e-03 1.74681057e+02] [ 2.67575055e-01 -9.63536901e-01 4.80219840e-04 1.15650111e+02] [-1.59171810e-03 5.63706208e-05 9.99998732e-01 -6.34196100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78999999999996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:174.59, Y:115.68, Z:-0.63 [[-9.63465393e-01 -2.67828555e-01 -1.51695819e-03 1.74591000e+02] [ 2.67828122e-01 -9.63466586e-01 4.85338144e-04 1.15677551e+02] [-1.59152594e-03 6.13224407e-05 9.99998732e-01 -6.34396627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:174.59, Y:115.68, Z:-0.63 [[-9.63188435e-01 -2.68822865e-01 -1.51874846e-03 1.74589024e+02] [ 2.68822443e-01 -9.63189630e-01 4.79738931e-04 1.15676687e+02] [-1.59180757e-03 5.38053179e-05 9.99998732e-01 -6.34151863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84999999999997 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:174.67, Y:115.65, Z:-0.63 [[-9.62328113e-01 -2.71886552e-01 -1.51831035e-03 1.74672348e+02] [ 2.71886131e-01 -9.62329310e-01 4.81110624e-04 1.15647368e+02] [-1.59192206e-03 5.01787529e-05 9.99998732e-01 -6.34159890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:174.67, Y:115.65, Z:-0.63 [[-9.62113740e-01 -2.72644183e-01 -1.51697311e-03 1.74671395e+02] [ 2.72643757e-01 -9.62114934e-01 4.85290693e-04 1.15647095e+02] [-1.59181417e-03 5.33115954e-05 9.99998732e-01 -6.33732730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90999999999997 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:174.69, Y:115.64, Z:-0.63 [[-9.61917908e-01 -2.73334294e-01 -1.51716611e-03 1.74686479e+02] [ 2.73333869e-01 -9.61919103e-01 4.84686573e-04 1.15641521e+02] [-1.59187253e-03 5.15358107e-05 9.99998732e-01 -6.33199614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:174.69, Y:115.64, Z:-0.63 [[-9.61824103e-01 -2.73664198e-01 -1.51725001e-03 1.74689911e+02] [ 2.73663774e-01 -9.61825298e-01 4.84423805e-04 1.15639256e+02] [-1.59189889e-03 5.07141281e-05 9.99998732e-01 -6.31587146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96999999999997 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:174.69, Y:115.64, Z:-0.63 [[-9.61982387e-01 -2.73107278e-01 -1.51744101e-03 1.74693508e+02] [ 2.73106854e-01 -9.61983582e-01 4.83824757e-04 1.15637839e+02] [-1.59188940e-03 5.10073540e-05 9.99998732e-01 -6.31982854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:174.69, Y:115.64, Z:-0.63 [[-9.62244445e-01 -2.72182523e-01 -1.51763155e-03 1.74693279e+02] [ 2.72182099e-01 -9.62245640e-01 4.83226348e-04 1.15638173e+02] [-1.59186011e-03 5.19097288e-05 9.99998732e-01 -6.31310294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:174.70, Y:115.64, Z:-0.63 [[-9.62735725e-01 -2.70439679e-01 -1.51782192e-03 1.74696958e+02] [ 2.70439254e-01 -9.62736920e-01 4.82627658e-04 1.15637104e+02] [-1.59178486e-03 5.41642613e-05 9.99998732e-01 -6.30406582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:115.64, Z:-0.63 [[-9.63792975e-01 -2.66647327e-01 -1.51801221e-03 1.74686646e+02] [ 2.66646898e-01 -9.63794169e-01 4.82028384e-04 1.15641684e+02] [-1.59158289e-03 5.98023234e-05 9.99998732e-01 -6.29100691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:174.70, Y:115.64, Z:-0.63 [[-9.64495751e-01 -2.64094002e-01 -1.51820312e-03 1.74696655e+02] [ 2.64093571e-01 -9.64496944e-01 4.81426349e-04 1.15639312e+02] [-1.59144408e-03 6.33859865e-05 9.99998732e-01 -6.28655080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:174.01, Y:115.86, Z:-0.63 [[-9.65101211e-01 -2.61872770e-01 -1.51839421e-03 1.74011047e+02] [ 2.61872337e-01 -9.65102403e-01 4.80822887e-04 1.15857002e+02] [-1.59132032e-03 6.64173093e-05 9.99998732e-01 -6.28983794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:174.60, Y:115.79, Z:0.15 [[-9.59899652e-01 2.80339708e-01 1.51839421e-03 1.74601239e+02] [ 2.80339298e-01 9.59900853e-01 -4.80822887e-04 1.15790552e+02] [-1.59230165e-03 -3.58761551e-05 -9.99998732e-01 1.52533107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:115.82, Z:0.15 [[-9.78543099e-01 2.06036450e-01 1.54403187e-03 1.74606831e+02] [ 2.06036114e-01 9.78544316e-01 -3.75364431e-04 1.15823510e+02] [-1.58824237e-03 -4.91839473e-05 -9.99998738e-01 1.52201498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:174.61, Y:115.86, Z:0.15 [[-9.91471680e-01 1.30312943e-01 1.56338291e-03 1.74613111e+02] [ 1.30312701e-01 9.91472912e-01 -2.55650758e-04 1.15856636e+02] [-1.58336641e-03 -4.97418365e-05 -9.99998745e-01 1.53381769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:174.61, Y:115.89, Z:0.16 [[-9.98543822e-01 5.39236351e-02 1.57376476e-03 1.74611206e+02] [ 5.39234992e-02 9.98545061e-01 -1.28697590e-04 1.15889920e+02] [-1.57841487e-03 -4.36472805e-05 -9.99998753e-01 1.55236605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.61, Y:115.92, Z:0.16 [[-9.99713165e-01 -2.38978878e-02 1.57415565e-03 1.74611373e+02] [-2.38979252e-02 9.99714404e-01 -4.97320107e-06 1.15923665e+02] [-1.57358723e-03 -4.25908287e-05 -9.99998761e-01 1.56019118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:174.61, Y:115.85, Z:-0.63 [[-9.91805908e-01 1.27744243e-01 -1.56488099e-03 1.74611150e+02] [-1.27744215e-01 -9.91807139e-01 -1.18012152e-04 1.15853692e+02] [-1.56713551e-03 8.28593443e-05 9.99998769e-01 -6.33611976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:174.62, Y:115.85, Z:-0.63 [[-9.91844667e-01 1.27442965e-01 -1.56466475e-03 1.74621395e+02] [-1.27442933e-01 -9.91845897e-01 -1.20869590e-04 1.15853648e+02] [-1.56731029e-03 7.95216054e-05 9.99998769e-01 -6.33430677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.62, Y:115.85, Z:-0.63 [[-9.91732706e-01 1.28311308e-01 -1.56482201e-03 1.74623630e+02] [-1.28311280e-01 -9.91733937e-01 -1.18798091e-04 1.15853348e+02] [-1.56713023e-03 8.29683621e-05 9.99998769e-01 -6.34049802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:174.62, Y:115.85, Z:-0.63 [[-9.91556383e-01 1.29666842e-01 -1.56477426e-03 1.74618834e+02] [-1.29666815e-01 -9.91557614e-01 -1.19423766e-04 1.15852344e+02] [-1.56704913e-03 8.44838972e-05 9.99998769e-01 -6.34136299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.63, Y:115.85, Z:-0.63 [[-9.91369639e-01 1.31086954e-01 -1.56472611e-03 1.74626535e+02] [-1.31086928e-01 -9.91370871e-01 -1.20051379e-04 1.15852451e+02] [-1.56696105e-03 8.60998460e-05 9.99998769e-01 -6.34017052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:174.63, Y:115.85, Z:-0.63 [[-9.90751618e-01 1.35678973e-01 -1.56467767e-03 1.74627337e+02] [-1.35678951e-01 -9.90752849e-01 -1.20679413e-04 1.15851269e+02] [-1.56658252e-03 9.27305005e-05 9.99998769e-01 -6.34117173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47999999999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.63, Y:115.85, Z:-0.63 [[-9.90254236e-01 1.39262699e-01 -1.56462905e-03 1.74625157e+02] [-1.39262681e-01 -9.90255468e-01 -1.21306547e-04 1.15850516e+02] [-1.56627595e-03 9.77701128e-05 9.99998769e-01 -6.34852545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:174.62, Y:115.85, Z:-0.63 [[-9.89646190e-01 1.43519934e-01 -1.56458004e-03 1.74623968e+02] [-1.43519920e-01 -9.89647421e-01 -1.21935306e-04 1.15850173e+02] [-1.56588275e-03 1.03875592e-04 9.99998769e-01 -6.34677271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53999999999996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:174.62, Y:115.85, Z:-0.64 [[-9.89001472e-01 1.47897402e-01 -1.56453062e-03 1.74622880e+02] [-1.47897392e-01 -9.89002703e-01 -1.22566245e-04 1.15849865e+02] [-1.56545224e-03 1.10171801e-04 9.99998769e-01 -6.35021275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:174.62, Y:115.85, Z:-0.63 [[-9.88318387e-01 1.52395268e-01 -1.56448080e-03 1.74621077e+02] [-1.52395263e-01 -9.88319619e-01 -1.23198827e-04 1.15849093e+02] [-1.56498199e-03 1.16659797e-04 9.99998769e-01 -6.34817572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59999999999997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.62, Y:115.85, Z:-0.63 [[-9.87051316e-01 1.60397168e-01 -1.56443057e-03 1.74617867e+02] [-1.60397171e-01 -9.87052548e-01 -1.23833391e-04 1.15846244e+02] [-1.56403771e-03 1.28700327e-04 9.99998769e-01 -6.34739315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:174.61, Y:115.84, Z:-0.63 [[-9.86443199e-01 1.64095607e-01 -1.56437989e-03 1.74614522e+02] [-1.64095614e-01 -9.86444430e-01 -1.24470402e-04 1.15844493e+02] [-1.56359887e-03 1.33924897e-04 9.99998769e-01 -6.32596035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65999999999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.61, Y:115.84, Z:-0.63 [[-9.86126791e-01 1.65986464e-01 -1.56390064e-03 1.74613862e+02] [-1.65986464e-01 -9.86128022e-01 -1.30467840e-04 1.15842270e+02] [-1.56386214e-03 1.30928506e-04 9.99998769e-01 -6.33829968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:174.62, Y:115.84, Z:-0.63 [[-9.85852585e-01 1.67607379e-01 -1.56431798e-03 1.74620316e+02] [-1.67607390e-01 -9.85853816e-01 -1.25255727e-04 1.15837818e+02] [-1.56318263e-03 1.38707571e-04 9.99998769e-01 -6.32381614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71999999999997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:174.63, Y:115.84, Z:-0.63 [[-9.85969382e-01 1.66918934e-01 -1.56426631e-03 1.74625164e+02] [-1.66918943e-01 -9.85970614e-01 -1.25897684e-04 1.15835110e+02] [-1.56333532e-03 1.36974417e-04 9.99998769e-01 -6.31959938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:174.62, Y:115.83, Z:-0.63 [[-9.86233308e-01 1.65352401e-01 -1.56421450e-03 1.74622819e+02] [-1.65352407e-01 -9.86234539e-01 -1.26538136e-04 1.15831361e+02] [-1.56360575e-03 1.33850508e-04 9.99998769e-01 -6.31705017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:174.64, Y:115.83, Z:-0.63 [[-9.86661317e-01 1.62778990e-01 -1.56416237e-03 1.74636426e+02] [-1.62778992e-01 -9.86662548e-01 -1.27179254e-04 1.15828694e+02] [-1.56400254e-03 1.29129924e-04 9.99998769e-01 -6.31104407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:174.65, Y:115.82, Z:-0.63 [[-9.87872057e-01 1.55262203e-01 -1.56411009e-03 1.74645995e+02] [-1.55262194e-01 -9.87873289e-01 -1.27819099e-04 1.15821258e+02] [-1.56498805e-03 1.16578248e-04 9.99998769e-01 -6.31234130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:174.66, Y:115.82, Z:-0.63 [[-9.89116732e-01 1.47124591e-01 -1.56405790e-03 1.74656956e+02] [-1.47124571e-01 -9.89117963e-01 -1.28454518e-04 1.15819933e+02] [-1.56593658e-03 1.03054834e-04 9.99998769e-01 -6.34047703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:174.66, Y:115.81, Z:-0.63 [[-9.89225345e-01 1.46392518e-01 -1.56463043e-03 1.74659779e+02] [-1.46392508e-01 -9.89226576e-01 -1.21498983e-04 1.15813674e+02] [-1.56556055e-03 1.08860301e-04 9.99998769e-01 -6.30962659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:174.67, Y:115.81, Z:-0.63 [[-9.89934538e-01 1.41517364e-01 -1.56395963e-03 1.74667933e+02] [-1.41517335e-01 -9.89935769e-01 -1.29594269e-04 1.15810032e+02] [-1.56655942e-03 9.30375567e-05 9.99998769e-01 -6.30783911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:174.68, Y:115.80, Z:-0.63 [[-9.91256397e-01 1.31940554e-01 -1.56390732e-03 1.74677598e+02] [-1.31940513e-01 -9.91257628e-01 -1.30222536e-04 1.15802205e+02] [-1.56741669e-03 7.72588116e-05 9.99998769e-01 -6.30707737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:174.69, Y:115.80, Z:-0.63 [[-9.91753115e-01 1.28153477e-01 -1.56385500e-03 1.74685293e+02] [-1.28153430e-01 -9.91754345e-01 -1.30847843e-04 1.15798728e+02] [-1.56772860e-03 7.06446261e-05 9.99998769e-01 -6.30322218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:174.69, Y:115.80, Z:-0.63 [[-9.92198196e-01 1.24660719e-01 -1.56380265e-03 1.74693014e+02] [-1.24660666e-01 -9.92199426e-01 -1.31470534e-04 1.15795851e+02] [-1.56799330e-03 6.44998534e-05 9.99998769e-01 -6.30643363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:174.70, Y:115.79, Z:-0.63 [[-9.92959662e-01 1.18442661e-01 -1.56375025e-03 1.74702016e+02] [-1.18442600e-01 -9.92960892e-01 -1.32090845e-04 1.15790247e+02] [-1.56838804e-03 5.40537648e-05 9.99998769e-01 -6.31455429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:174.71, Y:115.79, Z:-0.63 [[-9.93231360e-01 1.16142246e-01 -1.56369781e-03 1.74707975e+02] [-1.16142181e-01 -9.93232589e-01 -1.32708794e-04 1.15787982e+02] [-1.56852872e-03 4.98007381e-05 9.99998769e-01 -6.31577058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:174.70, Y:115.78, Z:-0.63 [[-9.93439735e-01 1.14346178e-01 -1.56364532e-03 1.74704626e+02] [-1.14346109e-01 -9.93440964e-01 -1.33324399e-04 1.15784940e+02] [-1.56863445e-03 4.63470029e-05 9.99998769e-01 -6.31447033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:174.71, Y:115.78, Z:-0.63 [[-9.93648424e-01 1.12518286e-01 -1.56359252e-03 1.74714264e+02] [-1.12518215e-01 -9.93649653e-01 -1.33940718e-04 1.15783438e+02] [-1.56873395e-03 4.28426554e-05 9.99998769e-01 -6.31827460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:174.72, Y:115.78, Z:-0.63 [[-9.93868330e-01 1.10559021e-01 -1.56353949e-03 1.74718103e+02] [-1.10558946e-01 -9.93869560e-01 -1.34557016e-04 1.15782167e+02] [-1.56883079e-03 3.91313211e-05 9.99998769e-01 -6.32025694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:174.73, Y:115.78, Z:-0.63 [[-9.94385762e-01 1.05804120e-01 -1.56348637e-03 1.74729110e+02] [-1.05804038e-01 -9.94386991e-01 -1.35171404e-04 1.15780294e+02] [-1.56901220e-03 3.10106517e-05 9.99998769e-01 -6.32578266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:174.75, Y:115.78, Z:-0.63 [[-9.95049615e-01 9.93670914e-02 -1.56343321e-03 1.74745644e+02] [-9.93670007e-02 -9.95050843e-01 -1.35783474e-04 1.15782788e+02] [-1.56918794e-03 2.02423756e-05 9.99998769e-01 -6.34096128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22999999999996 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:174.74, Y:115.78, Z:-0.63 [[-9.94942508e-01 1.00433850e-01 -1.56426889e-03 1.74738598e+02] [-1.00433776e-01 -9.94943738e-01 -1.26171780e-04 1.15779279e+02] [-1.56903145e-03 3.15717630e-05 9.99998769e-01 -6.33097086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:174.75, Y:115.78, Z:-0.63 [[-9.95259754e-01 9.72397980e-02 -1.56336682e-03 1.74745295e+02] [-9.72397036e-02 -9.95260982e-01 -1.36503137e-04 1.15780145e+02] [-1.56923154e-03 1.61652481e-05 9.99998769e-01 -6.33556757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28999999999996 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:174.75, Y:115.78, Z:-0.63 [[-9.95919076e-01 9.02371923e-02 -1.56331358e-03 1.74754442e+02] [-9.02370883e-02 -9.95920303e-01 -1.37110205e-04 1.15781897e+02] [-1.56930817e-03 4.51819680e-06 9.99998769e-01 -6.33814725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:174.76, Y:115.78, Z:-0.63 [[-9.96224803e-01 8.67968745e-02 -1.56326032e-03 1.74761626e+02] [-8.67967653e-02 -9.96226030e-01 -1.37714805e-04 1.15783510e+02] [-1.56931384e-03 -1.50896609e-06 9.99998769e-01 -6.34214632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34999999999997 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:174.77, Y:115.79, Z:-0.63 [[-9.96495487e-01 8.36319400e-02 -1.56320706e-03 1.74766116e+02] [-8.36318260e-02 -9.96496713e-01 -1.38316661e-04 1.15785439e+02] [-1.56929839e-03 -7.09806739e-06 9.99998769e-01 -6.33650588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:174.77, Y:115.79, Z:-0.63 [[-9.96752694e-01 8.05085270e-02 -1.56315371e-03 1.74768709e+02] [-8.05084081e-02 -9.96753920e-01 -1.38916989e-04 1.15788019e+02] [-1.56926359e-03 -1.26188655e-05 9.99998769e-01 -6.33548402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40999999999997 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:174.68, Y:115.79, Z:-0.63 [[-9.97214859e-01 7.45659534e-02 -1.56310018e-03 1.74678250e+02] [-7.45658263e-02 -9.97216084e-01 -1.39516800e-04 1.15785939e+02] [-1.56915184e-03 -2.25743695e-05 9.99998769e-01 -6.33121963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:174.77, Y:115.80, Z:-0.63 [[-9.97454744e-01 7.12852844e-02 -1.56297676e-03 1.74766695e+02] [-7.12851511e-02 -9.97455968e-01 -1.40894084e-04 1.15797535e+02] [-1.56904417e-03 -2.91184382e-05 9.99998769e-01 -6.32759054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46999999999997 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:174.77, Y:115.80, Z:-0.63 [[-9.97609238e-01 6.90895426e-02 -1.56309981e-03 1.74771647e+02] [-6.90894088e-02 -9.97610462e-01 -1.39515482e-04 1.15802122e+02] [-1.56900378e-03 -3.11882917e-05 9.99998769e-01 -6.33119848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:174.77, Y:115.81, Z:-0.63 [[-9.97733120e-01 6.72768708e-02 -1.56304606e-03 1.74770645e+02] [-6.72767338e-02 -9.97734344e-01 -1.40115071e-04 1.15806655e+02] [-1.56893124e-03 -3.46408130e-05 9.99998769e-01 -6.33619979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:174.79, Y:115.82, Z:-0.63 [[-9.97992529e-01 6.33124669e-02 -1.56299206e-03 1.74794386e+02] [-6.33123241e-02 -9.97993752e-01 -1.40714840e-04 1.15818721e+02] [-1.56876532e-03 -4.14756993e-05 9.99998769e-01 -6.34308713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:174.80, Y:115.82, Z:-0.64 [[-9.98102205e-01 6.15592829e-02 -1.56293821e-03 1.74799219e+02] [-6.15591370e-02 -9.98103428e-01 -1.41310516e-04 1.15824699e+02] [-1.56867296e-03 -4.48292101e-05 9.99998769e-01 -6.35056825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:174.80, Y:115.83, Z:-0.64 [[-9.98078911e-01 6.19358203e-02 -1.56288461e-03 1.74801750e+02] [-6.19356740e-02 -9.98080133e-01 -1.41900799e-04 1.15825004e+02] [-1.56867283e-03 -4.48298833e-05 9.99998769e-01 -6.35052876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:174.00, Y:115.76, Z:-0.64 [[-9.98214080e-01 5.97177393e-02 -1.56283086e-03 1.74003181e+02] [-5.97175893e-02 -9.98215302e-01 -1.42490389e-04 1.15757990e+02] [-1.56855088e-03 -4.89074211e-05 9.99998769e-01 -6.36686437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:174.67, Y:116.01, Z:0.16 [[-9.80414526e-01 -1.96938861e-01 1.56283086e-03 1.74668557e+02] [-1.96938881e-01 9.80415757e-01 1.42490389e-04 1.16007959e+02] [-1.56028589e-03 -1.68082514e-04 -9.99998769e-01 1.57077911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:174.67, Y:115.89, Z:-0.63 [[-9.92245670e-01 1.24282528e-01 -1.54417076e-03 1.74674436e+02] [-1.24282278e-01 -9.92246869e-01 -2.57729468e-04 1.15887870e+02] [-1.56422987e-03 -6.38178893e-05 9.99998775e-01 -6.33329331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:174.60, Y:115.88, Z:-0.63 [[-9.92320987e-01 1.23679713e-01 -1.54539768e-03 1.74596524e+02] [-1.23679473e-01 -9.92322188e-01 -2.50149689e-04 1.15881722e+02] [-1.56447085e-03 -5.70948151e-05 9.99998775e-01 -6.33473713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:174.60, Y:115.89, Z:-0.63 [[-9.92382026e-01 1.23188985e-01 -1.54530052e-03 1.74600712e+02] [-1.23188744e-01 -9.92383228e-01 -2.50748449e-04 1.15889247e+02] [-1.56441977e-03 -5.84746233e-05 9.99998775e-01 -6.32622033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:174.61, Y:115.90, Z:-0.63 [[-9.92439233e-01 1.22727267e-01 -1.54520024e-03 1.74607151e+02] [-1.22727024e-01 -9.92440434e-01 -2.51364904e-04 1.15904731e+02] [-1.56436852e-03 -5.98265651e-05 9.99998775e-01 -6.31844966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:115.91, Z:-0.63 [[-9.92366099e-01 1.23317224e-01 -1.54513174e-03 1.74612127e+02] [-1.23316981e-01 -9.92367300e-01 -2.51785261e-04 1.15913086e+02] [-1.56438767e-03 -5.93221753e-05 9.99998775e-01 -6.31945914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:115.93, Z:-0.63 [[-9.92908158e-01 1.18873898e-01 -1.54503172e-03 1.74621001e+02] [-1.18873649e-01 -9.92909357e-01 -2.52397510e-04 1.15925232e+02] [-1.56407993e-03 -6.69439874e-05 9.99998775e-01 -6.29672724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:173.92, Y:115.82, Z:-0.63 [[-9.91967999e-01 1.26479637e-01 -1.54583179e-03 1.73919025e+02] [-1.26479404e-01 -9.91969203e-01 -2.47551328e-04 1.15815317e+02] [-1.56472773e-03 -5.00471112e-05 9.99998775e-01 -6.34814421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:115.94, Z:-0.63 [[-9.91902450e-01 1.26992692e-01 -1.54431409e-03 1.74592356e+02] [-1.26992446e-01 -9.91903651e-01 -2.56722271e-04 1.15941648e+02] [-1.56441264e-03 -5.85272251e-05 9.99998775e-01 -6.33310957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:115.95, Z:-0.63 [[-9.91670569e-01 1.28790898e-01 -1.54508860e-03 1.74599557e+02] [-1.28790661e-01 -9.91671771e-01 -2.51972987e-04 1.15950718e+02] [-1.56467258e-03 -5.08812122e-05 9.99998775e-01 -6.33079304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:115.97, Z:-0.63 [[-9.91253339e-01 1.31963749e-01 -1.54505131e-03 1.74599054e+02] [-1.31963516e-01 -9.91254542e-01 -2.52201456e-04 1.15966218e+02] [-1.56482058e-03 -4.61051322e-05 9.99998775e-01 -6.31877828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:115.97, Z:-0.63 [[-9.91047875e-01 1.33498025e-01 -1.54502651e-03 1.74599227e+02] [-1.33497794e-01 -9.91049078e-01 -2.52353296e-04 1.15974101e+02] [-1.56488577e-03 -4.38365671e-05 9.99998775e-01 -6.32140483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:115.98, Z:-0.63 [[-9.90860610e-01 1.34880924e-01 -1.54498925e-03 1.74609176e+02] [-1.34880694e-01 -9.90861814e-01 -2.52581195e-04 1.15983316e+02] [-1.56493924e-03 -4.18835336e-05 9.99998775e-01 -6.31301370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:115.99, Z:-0.63 [[-9.90677437e-01 1.36219778e-01 -1.54495210e-03 1.74608167e+02] [-1.36219550e-01 -9.90678641e-01 -2.52808267e-04 1.15990689e+02] [-1.56498853e-03 -3.99987673e-05 9.99998775e-01 -6.31342580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:116.01, Z:-0.63 [[-9.90308743e-01 1.38874790e-01 -1.54491496e-03 1.74614942e+02] [-1.38874564e-01 -9.90309947e-01 -2.53035009e-04 1.16005846e+02] [-1.56508483e-03 -3.60333896e-05 9.99998775e-01 -6.30655651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:116.01, Z:-0.63 [[-9.90167435e-01 1.39878744e-01 -1.54487786e-03 1.74615335e+02] [-1.39878519e-01 -9.90168640e-01 -2.53261322e-04 1.16012322e+02] [-1.56511548e-03 -3.46758864e-05 9.99998775e-01 -6.30800542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:116.02, Z:-0.63 [[-9.90073657e-01 1.40540983e-01 -1.54484079e-03 1.74617570e+02] [-1.40540759e-01 -9.90074861e-01 -2.53487209e-04 1.16019004e+02] [-1.56513337e-03 -3.38579110e-05 9.99998775e-01 -6.30998843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:116.01, Z:-0.63 [[-9.90384429e-01 1.38334005e-01 -1.54480369e-03 1.74499494e+02] [-1.38333777e-01 -9.90385633e-01 -2.53713090e-04 1.16007518e+02] [-1.56504853e-03 -3.75749640e-05 9.99998775e-01 -6.31196312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:116.03, Z:-0.63 [[-9.89922353e-01 1.41602772e-01 -1.54576277e-03 1.74617144e+02] [-1.41602558e-01 -9.89923560e-01 -2.47876200e-04 1.16031022e+02] [-1.56528694e-03 -2.64942286e-05 9.99998775e-01 -6.31095361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:116.04, Z:-0.63 [[-9.89816228e-01 1.42342712e-01 -1.54477145e-03 1.74618814e+02] [-1.42342489e-01 -9.89817433e-01 -2.53907404e-04 1.16043152e+02] [-1.56518358e-03 -3.14350568e-05 9.99998775e-01 -6.31908850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:116.05, Z:-0.63 [[-9.89741848e-01 1.42858980e-01 -1.54474675e-03 1.74620403e+02] [-1.42858758e-01 -9.89743053e-01 -2.54057612e-04 1.16049220e+02] [-1.56519677e-03 -3.07708489e-05 9.99998775e-01 -6.32434239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:116.06, Z:-0.64 [[-9.87881225e-01 1.55204054e-01 -1.54472207e-03 1.74631647e+02] [-1.55203846e-01 -9.87882433e-01 -2.54207559e-04 1.16056311e+02] [-1.56545784e-03 -1.13800674e-05 9.99998775e-01 -6.38022896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:116.07, Z:-0.63 [[-9.89604457e-01 1.43807670e-01 -1.54014020e-03 1.74621717e+02] [-1.43807405e-01 -9.89605654e-01 -2.81947427e-04 1.16066343e+02] [-1.56467765e-03 -5.75328646e-05 9.99998774e-01 -6.33121144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:116.07, Z:-0.63 [[-9.89514476e-01 1.44425466e-01 -1.54468081e-03 1.74619505e+02] [-1.44425245e-01 -9.89515681e-01 -2.54374766e-04 1.16071412e+02] [-1.56522408e-03 -2.86166090e-05 9.99998775e-01 -6.33614251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:116.07, Z:-0.63 [[-9.89349046e-01 1.45554386e-01 -1.54465610e-03 1.74575403e+02] [-1.45554166e-01 -9.89350251e-01 -2.54524686e-04 1.16069891e+02] [-1.56525309e-03 -2.69826247e-05 9.99998775e-01 -6.33649021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:173.90, Y:115.97, Z:-0.64 [[-9.88922494e-01 1.48424783e-01 -1.54443756e-03 1.73895065e+02] [-1.48424565e-01 -9.88923699e-01 -2.55852218e-04 1.15968585e+02] [-1.56530572e-03 -2.37855404e-05 9.99998775e-01 -6.35501003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:116.09, Z:-0.63 [[-9.89211118e-01 1.46488840e-01 -1.54418320e-03 1.74608106e+02] [-1.46488616e-01 -9.89212323e-01 -2.57392959e-04 1.16091229e+02] [-1.56523025e-03 -2.84107156e-05 9.99998775e-01 -6.33831813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:116.10, Z:-0.63 [[-9.89063568e-01 1.47481764e-01 -1.54522593e-03 1.74609134e+02] [-1.47481552e-01 -9.89064775e-01 -2.50972974e-04 1.16096805e+02] [-1.56534247e-03 -2.03359078e-05 9.99998775e-01 -6.33965150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.61, Y:116.10, Z:-0.63 [[-9.88876223e-01 1.48732738e-01 -1.54531077e-03 1.74607821e+02] [-1.48732528e-01 -9.88877430e-01 -2.50449490e-04 1.16102083e+02] [-1.56537298e-03 -1.78255681e-05 9.99998775e-01 -6.34425834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:116.11, Z:-0.63 [[-9.88635514e-01 1.50324426e-01 -1.54532286e-03 1.74607251e+02] [-1.50324218e-01 -9.88636721e-01 -2.50374857e-04 1.16112595e+02] [-1.56540038e-03 -1.52300243e-05 9.99998775e-01 -6.34274712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:116.12, Z:-0.63 [[-9.88640362e-01 1.50292539e-01 -1.54541947e-03 1.74604577e+02] [-1.50292332e-01 -9.88641569e-01 -2.49777114e-04 1.16117138e+02] [-1.56540557e-03 -1.46750405e-05 9.99998775e-01 -6.34899788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:116.12, Z:-0.64 [[-9.88609428e-01 1.50495884e-01 -1.54550352e-03 1.74599040e+02] [-1.50495678e-01 -9.88610636e-01 -2.49255976e-04 1.16121130e+02] [-1.56541321e-03 -1.38252079e-05 9.99998775e-01 -6.35214331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:116.13, Z:-0.63 [[-9.88814699e-01 1.49141217e-01 -1.54551555e-03 1.74598781e+02] [-1.49141009e-01 -9.88815907e-01 -2.49181387e-04 1.16131011e+02] [-1.56539357e-03 -1.58944694e-05 9.99998775e-01 -6.34301456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:116.13, Z:-0.63 [[-9.89036344e-01 1.47664221e-01 -1.54561173e-03 1.74593950e+02] [-1.47664013e-01 -9.89037551e-01 -2.48583367e-04 1.16134885e+02] [-1.56537491e-03 -1.76267548e-05 9.99998775e-01 -6.33139095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.59, Y:116.14, Z:-0.63 [[-9.89276543e-01 1.46046334e-01 -1.54569550e-03 1.74590301e+02] [-1.46046125e-01 -9.89277751e-01 -2.48061363e-04 1.16138771e+02] [-1.56535062e-03 -1.96584493e-05 9.99998775e-01 -6.32892113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:116.14, Z:-0.63 [[-9.89548149e-01 1.44194560e-01 -1.54579133e-03 1.74587956e+02] [-1.44194349e-01 -9.89549356e-01 -2.47462775e-04 1.16142617e+02] [-1.56531960e-03 -2.19819564e-05 9.99998775e-01 -6.32146325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:116.15, Z:-0.63 [[-9.89945600e-01 1.41440165e-01 -1.54588692e-03 1.74582336e+02] [-1.41439952e-01 -9.89946806e-01 -2.46864150e-04 1.16149855e+02] [-1.56526233e-03 -2.57319066e-05 9.99998775e-01 -6.32325990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:116.15, Z:-0.63 [[-9.90103688e-01 1.40329247e-01 -1.54597027e-03 1.74578809e+02] [-1.40329033e-01 -9.90104894e-01 -2.46341088e-04 1.16153099e+02] [-1.56524159e-03 -2.69587074e-05 9.99998775e-01 -6.32440648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:116.16, Z:-0.63 [[-9.90236252e-01 1.39390730e-01 -1.54606560e-03 1.74572802e+02] [-1.39390516e-01 -9.90237458e-01 -2.45741285e-04 1.16156409e+02] [-1.56522613e-03 -2.78350460e-05 9.99998775e-01 -6.32616481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:116.16, Z:-0.63 [[-9.90247634e-01 1.39309846e-01 -1.54616085e-03 1.74570279e+02] [-1.39309633e-01 -9.90248841e-01 -2.45140535e-04 1.16164920e+02] [-1.56523448e-03 -2.73547346e-05 9.99998775e-01 -6.32924944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:116.17, Z:-0.63 [[-9.90247800e-01 1.39308662e-01 -1.54625590e-03 1.74568634e+02] [-1.39308450e-01 -9.90249007e-01 -2.44539545e-04 1.16169326e+02] [-1.56524484e-03 -2.67482342e-05 9.99998775e-01 -6.33122176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:116.17, Z:-0.63 [[-9.90159093e-01 1.39937772e-01 -1.54635063e-03 1.74565871e+02] [-1.39937562e-01 -9.90160300e-01 -2.43939021e-04 1.16173416e+02] [-1.56527129e-03 -2.51459019e-05 9.99998775e-01 -6.32702643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:116.18, Z:-0.63 [[-9.90033482e-01 1.40823695e-01 -1.54644507e-03 1.74564065e+02] [-1.40823487e-01 -9.90034689e-01 -2.43338867e-04 1.16177542e+02] [-1.56530214e-03 -2.31378388e-05 9.99998775e-01 -6.32839382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:116.18, Z:-0.63 [[-9.89894563e-01 1.41796907e-01 -1.54653921e-03 1.74562509e+02] [-1.41796701e-01 -9.89895771e-01 -2.42739083e-04 1.16182047e+02] [-1.56533227e-03 -2.09919408e-05 9.99998775e-01 -6.33079202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:116.19, Z:-0.63 [[-9.89259001e-01 1.46165103e-01 -1.54663301e-03 1.74569292e+02] [-1.46164903e-01 -9.89260210e-01 -2.42139966e-04 1.16186248e+02] [-1.56541490e-03 -1.34756780e-05 9.99998775e-01 -6.34262816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:116.20, Z:-0.63 [[-9.89058724e-01 1.47514245e-01 -1.54531548e-03 1.74561626e+02] [-1.47514034e-01 -9.89059931e-01 -2.50558971e-04 1.16196195e+02] [-1.56537064e-03 -1.98618166e-05 9.99998775e-01 -6.32066612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:115.70, Z:0.16 [[-9.71863715e-01 -2.35538800e-01 1.54674569e-03 1.74655923e+02] [-2.35538712e-01 9.71864938e-01 2.41394859e-04 1.15701400e+02] [-1.56008576e-03 -1.29715583e-04 -9.99998775e-01 1.55943906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.55, Y:115.70, Z:0.15 [[-9.51087402e-01 -3.08918191e-01 1.51850704e-03 1.74553999e+02] [-3.08918006e-01 9.51088606e-01 3.60381556e-04 1.15702742e+02] [-1.55556316e-03 -1.26339808e-04 -9.99998782e-01 1.54976523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:116.27, Z:-0.63 [[-9.51996476e-01 3.06105401e-01 -1.48093145e-03 1.74509089e+02] [-3.06105029e-01 -9.51997628e-01 -4.77099743e-04 1.16273723e+02] [-1.55588603e-03 -8.76710507e-07 9.99998790e-01 -6.32285722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:115.77, Z:0.16 [[-9.26680468e-01 -3.75847197e-01 1.48154833e-03 1.74686739e+02] [-3.75846915e-01 9.26681645e-01 4.75180055e-04 1.15770626e+02] [-1.55151873e-03 -1.16495293e-04 -9.99998790e-01 1.56362901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:116.31, Z:-0.63 [[-9.23059048e-01 3.84655605e-01 -1.43496890e-03 1.74462171e+02] [-3.84655154e-01 -9.23060164e-01 -5.88715471e-04 1.16305369e+02] [-1.55101533e-03 8.54903953e-06 9.99998797e-01 -6.32451567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:116.31, Z:-0.63 [[-9.22474622e-01 3.86055065e-01 -1.43519472e-03 1.74463950e+02] [-3.86054617e-01 -9.22475738e-01 -5.88164432e-04 1.16309728e+02] [-1.55099617e-03 1.14967860e-05 9.99998797e-01 -6.32705541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:116.32, Z:-0.63 [[-9.20962109e-01 3.89649500e-01 -1.43542018e-03 1.74462711e+02] [-3.89649057e-01 -9.20963228e-01 -5.87613675e-04 1.16316391e+02] [-1.55093258e-03 1.81401904e-05 9.99998797e-01 -6.32225333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:116.32, Z:-0.63 [[-9.20353603e-01 3.91084625e-01 -1.43564461e-03 1.74461312e+02] [-3.91084185e-01 -9.20354723e-01 -5.87064844e-04 1.16318993e+02] [-1.55089433e-03 2.11506574e-05 9.99998797e-01 -6.32693048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:116.32, Z:-0.63 [[-9.19716311e-01 3.92581006e-01 -1.43586835e-03 1.74458195e+02] [-3.92580568e-01 -9.19717431e-01 -5.86517109e-04 1.16320405e+02] [-1.55084862e-03 2.42646592e-05 9.99998797e-01 -6.32960789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:116.32, Z:-0.63 [[-9.19235692e-01 3.93705068e-01 -1.43609169e-03 1.74457198e+02] [-3.93704633e-01 -9.19236813e-01 -5.85969740e-04 1.16322459e+02] [-1.55080760e-03 2.67516529e-05 9.99998797e-01 -6.33263848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:116.33, Z:-0.63 [[-9.18095005e-01 3.96357792e-01 -1.43631468e-03 1.74453719e+02] [-3.96357361e-01 -9.18096128e-01 -5.85422649e-04 1.16325941e+02] [-1.55071177e-03 3.18202847e-05 9.99998797e-01 -6.33607075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:115.78, Z:0.16 [[-9.03995783e-01 -4.27538958e-01 1.43653720e-03 1.74694898e+02] [-4.27538566e-01 9.03996921e-01 5.84876104e-04 1.15781903e+02] [-1.54868252e-03 -8.54495217e-05 -9.99998797e-01 1.57601298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:116.35, Z:-0.63 [[-8.82768926e-01 4.69805399e-01 -1.38235389e-03 1.74411272e+02] [-4.69804890e-01 -8.82770007e-01 -6.92963384e-04 1.16349916e+02] [-1.54585849e-03 3.77100739e-05 9.99998804e-01 -6.32714044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:116.35, Z:-0.63 [[-8.81136553e-01 4.72859878e-01 -1.38261647e-03 1.74410263e+02] [-4.72859373e-01 -8.81137636e-01 -6.92439084e-04 1.16352781e+02] [-1.54570207e-03 4.36497680e-05 9.99998804e-01 -6.31654933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:116.35, Z:-0.63 [[-8.80665979e-01 4.73735708e-01 -1.38287837e-03 1.74408917e+02] [-4.73735205e-01 -8.80667063e-01 -6.91915633e-04 1.16353077e+02] [-1.54564058e-03 4.57716112e-05 9.99998804e-01 -6.31492416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:116.35, Z:-0.63 [[-8.80333602e-01 4.74353071e-01 -1.38313973e-03 1.74405936e+02] [-4.74352570e-01 -8.80334687e-01 -6.91392775e-04 1.16352264e+02] [-1.54559017e-03 4.74395959e-05 9.99998804e-01 -6.31406902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:116.35, Z:-0.63 [[-8.80512855e-01 4.74020251e-01 -1.38340077e-03 1.74403826e+02] [-4.74019750e-01 -8.80513940e-01 -6.90870071e-04 1.16351127e+02] [-1.54559007e-03 4.74393099e-05 9.99998804e-01 -6.31410797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:116.35, Z:-0.63 [[-8.80458739e-01 4.74120760e-01 -1.38366174e-03 1.74400529e+02] [-4.74120260e-01 -8.80459825e-01 -6.90347015e-04 1.16349785e+02] [-1.54556642e-03 4.82000011e-05 9.99998804e-01 -6.31417075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:115.80, Z:0.15 [[-8.73597069e-01 -4.86647969e-01 1.38392259e-03 1.74664970e+02] [-4.86647486e-01 8.73598162e-01 6.89823688e-04 1.15797115e+02] [-1.54469353e-03 -7.08544992e-05 -9.99998804e-01 1.54847961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:116.35, Z:-0.63 [[-8.42974761e-01 5.37951486e-01 -1.32330488e-03 1.74332691e+02] [-5.37950906e-01 -8.42975799e-01 -7.91207621e-04 1.16352606e+02] [-1.54114530e-03 4.49050009e-05 9.99998811e-01 -6.30526672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:116.35, Z:-0.63 [[-8.44010319e-01 5.36325302e-01 -1.32360398e-03 1.74329077e+02] [-5.36324721e-01 -8.44011356e-01 -7.90706938e-04 1.16349530e+02] [-1.54121293e-03 4.25167190e-05 9.99998811e-01 -6.30176235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:116.34, Z:-0.63 [[-8.46215882e-01 5.32838557e-01 -1.32390299e-03 1.74323641e+02] [-5.32837973e-01 -8.46216917e-01 -7.90205976e-04 1.16344147e+02] [-1.54136132e-03 3.67409383e-05 9.99998811e-01 -6.29406077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:116.34, Z:-0.63 [[-8.47544949e-01 5.30721966e-01 -1.32420260e-03 1.74321711e+02] [-5.30721380e-01 -8.47545983e-01 -7.89703584e-04 1.16341674e+02] [-1.54143563e-03 3.34733463e-05 9.99998811e-01 -6.29661404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:116.34, Z:-0.63 [[-8.48872371e-01 5.28596202e-01 -1.32450266e-03 1.74320712e+02] [-5.28595613e-01 -8.48873403e-01 -7.89199998e-04 1.16339628e+02] [-1.54150320e-03 3.01962211e-05 9.99998811e-01 -6.30177804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:116.33, Z:-0.63 [[-8.51441174e-01 5.24448446e-01 -1.32480253e-03 1.74313769e+02] [-5.24447853e-01 -8.51442204e-01 -7.88696299e-04 1.16332762e+02] [-1.54162333e-03 2.32613378e-05 9.99998811e-01 -6.30856307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:116.33, Z:-0.63 [[-8.52804656e-01 5.22228362e-01 -1.32510295e-03 1.74311566e+02] [-5.22227768e-01 -8.52805686e-01 -7.88191233e-04 1.16329987e+02] [-1.54167114e-03 1.98324006e-05 9.99998811e-01 -6.31286898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:116.33, Z:-0.63 [[-8.53953241e-01 5.20348062e-01 -1.32540407e-03 1.74309937e+02] [-5.20347466e-01 -8.53954269e-01 -7.87684545e-04 1.16327811e+02] [-1.54170459e-03 1.70248788e-05 9.99998811e-01 -6.32098468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:116.33, Z:-0.63 [[-8.54925486e-01 5.18749127e-01 -1.32570510e-03 1.74309064e+02] [-5.18748530e-01 -8.54926513e-01 -7.87177573e-04 1.16326381e+02] [-1.54172812e-03 1.47294023e-05 9.99998811e-01 -6.32400671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:116.32, Z:-0.63 [[-8.55833362e-01 5.17249939e-01 -1.32600584e-03 1.74305091e+02] [-5.17249341e-01 -8.55834389e-01 -7.86670655e-04 1.16323494e+02] [-1.54174674e-03 1.26166528e-05 9.99998811e-01 -6.32684337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:116.32, Z:-0.63 [[-8.56167898e-01 5.16696015e-01 -1.32630648e-03 1.74303407e+02] [-5.16695417e-01 -8.56168925e-01 -7.86163453e-04 1.16322216e+02] [-1.54174991e-03 1.22085680e-05 9.99998811e-01 -6.32538673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:116.30, Z:-0.63 [[-8.57314124e-01 5.14791932e-01 -1.32660727e-03 1.74266045e+02] [-5.14791333e-01 -8.57315150e-01 -7.85655548e-04 1.16301351e+02] [-1.54176965e-03 9.37232900e-06 9.99998811e-01 -6.32672133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:115.77, Z:0.15 [[-8.25512058e-01 -5.64382917e-01 1.32876031e-03 1.74540584e+02] [-5.64382385e-01 8.25513121e-01 7.82013161e-04 1.15774659e+02] [-1.53826394e-03 -1.04367616e-04 -9.99998811e-01 1.54848121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:174.49, Y:115.78, Z:0.16 [[-7.83394430e-01 -6.21523566e-01 1.27437442e-03 1.74489068e+02] [-6.21522982e-01 7.83395458e-01 8.60226766e-04 1.15778877e+02] [-1.53299034e-03 -1.18156132e-04 -9.99998818e-01 1.55170267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.42, Y:115.76, Z:0.16 [[-7.33584138e-01 -6.79597569e-01 1.20737259e-03 1.74422518e+02] [-6.79596926e-01 7.33585120e-01 9.43451483e-04 1.15764836e+02] [-1.52687790e-03 -1.28425654e-04 -9.99998826e-01 1.56906584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:116.22, Z:-0.63 [[-7.30320940e-01 6.83103271e-01 -1.11644355e-03 1.74001855e+02] [-6.83102478e-01 -7.30321793e-01 -1.04097291e-03 1.16222149e+02] [-1.52645505e-03 2.40104032e-06 9.99998835e-01 -6.34405406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:116.20, Z:-0.64 [[-7.31961603e-01 6.81344967e-01 -1.11684352e-03 1.73981242e+02] [-6.81344173e-01 -7.31962455e-01 -1.04054360e-03 1.16203785e+02] [-1.52645667e-03 -6.83133747e-07 9.99998835e-01 -6.35242901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:174.34, Y:115.73, Z:0.16 [[-6.82914311e-01 -7.30497635e-01 1.11783828e-03 1.74339844e+02] [-7.30496903e-01 6.82915218e-01 1.03947498e-03 1.15729385e+02] [-1.52272278e-03 -1.06705066e-04 -9.99998835e-01 1.57620405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:116.15, Z:-0.63 [[-6.83665605e-01 7.29794669e-01 -1.04033193e-03 1.73883814e+02] [-7.29793822e-01 -6.83666396e-01 -1.11198693e-03 1.16153307e+02] [-1.52276211e-03 -9.99401036e-07 9.99998841e-01 -6.34199332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:116.15, Z:-0.63 [[-6.83596865e-01 7.29859057e-01 -1.04075887e-03 1.73881901e+02] [-7.29858210e-01 -6.83597658e-01 -1.11158720e-03 1.16151716e+02] [-1.52276231e-03 -2.71121976e-07 9.99998841e-01 -6.34220559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:116.15, Z:-0.63 [[-6.81901943e-01 7.31442859e-01 -1.04118586e-03 1.73880000e+02] [-7.31442015e-01 -6.81902738e-01 -1.11118711e-03 1.16151213e+02] [-1.52275736e-03 3.84643293e-06 9.99998841e-01 -6.33834185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:116.15, Z:-0.63 [[-6.80557976e-01 7.32693494e-01 -1.04161399e-03 1.73880387e+02] [-7.32692652e-01 -6.80558774e-01 -1.11078563e-03 1.16152389e+02] [-1.52274495e-03 7.22889575e-06 9.99998841e-01 -6.34189796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:116.15, Z:-0.63 [[-6.79083445e-01 7.34060344e-01 -1.04203989e-03 1.73879055e+02] [-7.34059505e-01 -6.79084244e-01 -1.11038595e-03 1.16152469e+02] [-1.52272316e-03 1.08745745e-05 9.99998841e-01 -6.34083134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28999999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.88, Y:116.15, Z:-0.63 [[-6.77193317e-01 7.35804406e-01 -1.04251899e-03 1.73878230e+02] [-7.35803569e-01 -6.77194120e-01 -1.10993594e-03 1.16152971e+02] [-1.52268349e-03 1.54479931e-05 9.99998841e-01 -6.33681348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:116.16, Z:-0.63 [[-6.72567006e-01 7.40035496e-01 -1.04294281e-03 1.73878503e+02] [-7.40034665e-01 -6.72567814e-01 -1.10953757e-03 1.16156167e+02] [-1.52254695e-03 2.55754740e-05 9.99998841e-01 -6.32701014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:116.15, Z:-0.63 [[-6.70331453e-01 7.42061085e-01 -1.04336542e-03 1.73876528e+02] [-7.42060257e-01 -6.70332265e-01 -1.10914002e-03 1.16154794e+02] [-1.52245115e-03 3.07485720e-05 9.99998841e-01 -6.31846106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:116.15, Z:-0.63 [[-6.69074714e-01 7.43194415e-01 -1.04378711e-03 1.73867478e+02] [-7.43193589e-01 -6.69075527e-01 -1.10874303e-03 1.16147605e+02] [-1.52238404e-03 3.39039643e-05 9.99998841e-01 -6.30812372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:115.67, Z:0.15 [[-6.57204276e-01 -7.53711780e-01 1.04528516e-03 1.74257332e+02] [-7.53710969e-01 6.57205105e-01 1.10733136e-03 1.15674485e+02] [-1.52157543e-03 -6.00999859e-05 -9.99998841e-01 1.53886545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.08, Z:-0.63 [[-6.09589103e-01 7.92716971e-01 -9.63584320e-04 1.73764907e+02] [-7.92716103e-01 -6.09589863e-01 -1.17436798e-03 1.16080673e+02] [-1.51833266e-03 4.79668832e-05 9.99998846e-01 -6.31091801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.08, Z:-0.63 [[-6.08736025e-01 7.93372247e-01 -9.64028120e-04 1.73764413e+02] [-7.93371380e-01 -6.08736786e-01 -1.17400355e-03 1.16079276e+02] [-1.51826122e-03 5.01740623e-05 9.99998846e-01 -6.31029721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.08, Z:-0.63 [[-6.08412824e-01 7.93620126e-01 -9.64471275e-04 1.73763364e+02] [-7.93619260e-01 -6.08413587e-01 -1.17363938e-03 1.16076830e+02] [-1.51822126e-03 5.13657299e-05 9.99998846e-01 -6.30997704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.07, Z:-0.63 [[-6.09414863e-01 7.92850927e-01 -9.64914146e-04 1.73764473e+02] [-7.92850061e-01 -6.09415625e-01 -1.17327516e-03 1.16073328e+02] [-1.51826605e-03 5.00209203e-05 9.99998846e-01 -6.31768573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.07, Z:-0.63 [[-6.10879593e-01 7.91722926e-01 -9.65356880e-04 1.73761028e+02] [-7.91722058e-01 -6.10880354e-01 -1.17291077e-03 1.16065828e+02] [-1.51833790e-03 4.77870846e-05 9.99998846e-01 -6.32387924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.07, Z:-0.63 [[-6.12517170e-01 7.90456693e-01 -9.65801823e-04 1.73764033e+02] [-7.90455825e-01 -6.12517930e-01 -1.17254428e-03 1.16065630e+02] [-1.51841640e-03 4.52201733e-05 9.99998846e-01 -6.33427349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.06, Z:-0.63 [[-6.15887173e-01 7.87833775e-01 -9.66246772e-04 1.73762984e+02] [-7.87832904e-01 -6.15887930e-01 -1.17217750e-03 1.16057629e+02] [-1.51858075e-03 3.93119151e-05 9.99998846e-01 -6.34358973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.05, Z:-0.63 [[-6.17963132e-01 7.86206482e-01 -9.66690036e-04 1.73762642e+02] [-7.86205610e-01 -6.17963887e-01 -1.17181183e-03 1.16054374e+02] [-1.51866559e-03 3.58806242e-05 9.99998846e-01 -6.34362091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.05, Z:-0.63 [[-6.19837676e-01 7.84729457e-01 -9.67133964e-04 1.73761026e+02] [-7.84728583e-01 -6.19838430e-01 -1.17144532e-03 1.16049549e+02] [-1.51873445e-03 3.28317184e-05 9.99998846e-01 -6.34264854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.04, Z:-0.63 [[-6.23260820e-01 7.82013436e-01 -9.67578262e-04 1.73761101e+02] [-7.82012560e-01 -6.23261570e-01 -1.17107823e-03 1.16044088e+02] [-1.51885326e-03 2.67711753e-05 9.99998846e-01 -6.34505444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.04, Z:-0.63 [[-6.24787504e-01 7.80794235e-01 -9.68023010e-04 1.73760045e+02] [-7.80793358e-01 -6.24788254e-01 -1.17071048e-03 1.16040135e+02] [-1.51889340e-03 2.43806561e-05 9.99998846e-01 -6.34510001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.04, Z:-0.63 [[-6.26236229e-01 7.79632765e-01 -9.68468131e-04 1.73757806e+02] [-7.79631886e-01 -6.26236978e-01 -1.17034214e-03 1.16035132e+02] [-1.51892763e-03 2.21379859e-05 9.99998846e-01 -6.34641645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.03, Z:-0.63 [[-6.27895053e-01 7.78297413e-01 -9.68913772e-04 1.73756557e+02] [-7.78296534e-01 -6.27895800e-01 -1.16997308e-03 1.16031666e+02] [-1.51896391e-03 1.94819189e-05 9.99998846e-01 -6.34447932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.03, Z:-0.63 [[-6.29739770e-01 7.76805563e-01 -9.69359935e-04 1.73755044e+02] [-7.76804683e-01 -6.29740516e-01 -1.16960331e-03 1.16027634e+02] [-1.51899958e-03 1.64576199e-05 9.99998846e-01 -6.33992064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:116.03, Z:-0.63 [[-6.32719480e-01 7.74380475e-01 -9.69806404e-04 1.73757558e+02] [-7.74379592e-01 -6.32720223e-01 -1.16923299e-03 1.16025590e+02] [-1.51904732e-03 1.12017990e-05 9.99998846e-01 -6.34602860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:116.02, Z:-0.63 [[-6.37828134e-01 7.70178121e-01 -9.66360765e-04 1.73750589e+02] [-7.70177229e-01 -6.37828866e-01 -1.17209181e-03 1.16017401e+02] [-1.51909226e-03 -3.32407614e-06 9.99998846e-01 -6.34776334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:116.01, Z:-0.64 [[-6.41488586e-01 7.67131966e-01 -9.70409094e-04 1.73745584e+02] [-7.67131076e-01 -6.41489320e-01 -1.16873044e-03 1.16009528e+02] [-1.51907755e-03 -5.29626531e-06 9.99998846e-01 -6.35522524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:116.00, Z:-0.63 [[-6.49222439e-01 7.60597976e-01 -9.70858505e-04 1.73742033e+02] [-7.60597079e-01 -6.49223165e-01 -1.16835700e-03 1.16002679e+02] [-1.51895380e-03 -2.00914364e-05 9.99998846e-01 -6.34943241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:116.00, Z:-0.64 [[-6.52982177e-01 7.57372652e-01 -9.71309804e-04 1.73738437e+02] [-7.57371752e-01 -6.52982899e-01 -1.16798169e-03 1.15998036e+02] [-1.51884608e-03 -2.70286190e-05 9.99998846e-01 -6.35057945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:115.99, Z:-0.63 [[-6.56347028e-01 7.54458504e-01 -9.71762251e-04 1.73734165e+02] [-7.54457601e-01 -6.56347746e-01 -1.16760513e-03 1.15993164e+02] [-1.51872359e-03 -3.32007423e-05 9.99998846e-01 -6.33746582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03999999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.73, Y:115.99, Z:-0.63 [[-6.61219355e-01 7.50191989e-01 -9.72215922e-04 1.73730173e+02] [-7.50191082e-01 -6.61220068e-01 -1.16722726e-03 1.15990327e+02] [-1.51849322e-03 -4.24455401e-05 9.99998846e-01 -6.33260790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:115.57, Z:0.15 [[-5.61763260e-01 -8.27297463e-01 9.73835079e-04 1.74100622e+02] [-8.27296655e-01 5.61764084e-01 1.16587621e-03 1.15574504e+02] [-1.51159200e-03 -1.50704085e-04 -9.99998846e-01 1.54380241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:115.91, Z:-0.63 [[-6.09667796e-01 7.92656541e-01 -8.87236333e-04 1.73625382e+02] [-7.92655590e-01 -6.09668439e-01 -1.22842273e-03 1.15914030e+02] [-1.51463730e-03 -4.56569354e-05 9.99998852e-01 -6.32506844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:115.91, Z:-0.63 [[-6.09955337e-01 7.92435296e-01 -8.87715760e-04 1.73620847e+02] [-7.92434346e-01 -6.09955981e-01 -1.22807617e-03 1.15911097e+02] [-1.51463844e-03 -4.56151565e-05 9.99998852e-01 -6.32513557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:115.91, Z:-0.63 [[-6.09817585e-01 7.92541307e-01 -8.88195783e-04 1.73619664e+02] [-7.92540358e-01 -6.09818231e-01 -1.22772890e-03 1.15913244e+02] [-1.51466385e-03 -4.47596702e-05 9.99998852e-01 -6.32339551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:115.92, Z:-0.63 [[-6.08800997e-01 7.93322479e-01 -8.88675506e-04 1.73614411e+02] [-7.93321531e-01 -6.08801644e-01 -1.22738156e-03 1.15915070e+02] [-1.51473649e-03 -4.22257053e-05 9.99998852e-01 -6.32569809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:115.91, Z:-0.63 [[-6.08352454e-01 7.93666493e-01 -8.89154363e-04 1.73609651e+02] [-7.93665545e-01 -6.08353102e-01 -1.22703456e-03 1.15913342e+02] [-1.51477603e-03 -4.07783052e-05 9.99998852e-01 -6.32776982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:115.92, Z:-0.63 [[-6.07998338e-01 7.93937800e-01 -8.89634971e-04 1.73607361e+02] [-7.93936853e-01 -6.07998987e-01 -1.22668601e-03 1.15915542e+02] [-1.51480955e-03 -3.95090661e-05 9.99998852e-01 -6.32626721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:115.92, Z:-0.63 [[-6.07358259e-01 7.94427563e-01 -8.90113556e-04 1.73600912e+02] [-7.94426617e-01 -6.07358910e-01 -1.22633864e-03 1.15917451e+02] [-1.51485562e-03 -3.76969990e-05 9.99998852e-01 -6.32944874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:115.92, Z:-0.63 [[-6.05749078e-01 7.95655240e-01 -8.90591442e-04 1.73603610e+02] [-7.95654296e-01 -6.05749732e-01 -1.22599149e-03 1.15924895e+02] [-1.51494208e-03 -3.40403084e-05 9.99998852e-01 -6.33873444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:115.92, Z:-0.63 [[-6.07198352e-01 7.94549793e-01 -8.88321715e-04 1.73594718e+02] [-7.94548845e-01 -6.07199000e-01 -1.22764129e-03 1.15920112e+02] [-1.51481019e-03 -3.96067719e-05 9.99998852e-01 -6.34278805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:115.92, Z:-0.63 [[-6.07063888e-01 7.94652529e-01 -8.91482254e-04 1.73590135e+02] [-7.94651585e-01 -6.07064541e-01 -1.22534187e-03 1.15920146e+02] [-1.51490828e-03 -3.54430161e-05 9.99998852e-01 -6.34827054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:115.92, Z:-0.63 [[-6.07373172e-01 7.94416160e-01 -8.91960572e-04 1.73588787e+02] [-7.94415216e-01 -6.07373826e-01 -1.22499359e-03 1.15918168e+02] [-1.51490821e-03 -3.54411946e-05 9.99998852e-01 -6.34830872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:115.92, Z:-0.63 [[-6.07143477e-01 7.94591720e-01 -8.92437284e-04 1.73585731e+02] [-7.94590777e-01 -6.07144132e-01 -1.22464620e-03 1.15920388e+02] [-1.51493179e-03 -3.44135169e-05 9.99998852e-01 -6.34968247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:115.92, Z:-0.64 [[-6.05619217e-01 7.95754087e-01 -8.92913299e-04 1.73577286e+02] [-7.95753146e-01 -6.05619874e-01 -1.22429903e-03 1.15922580e+02] [-1.51500700e-03 -3.09204522e-05 9.99998852e-01 -6.35303337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:115.93, Z:-0.64 [[-6.04709173e-01 7.96445867e-01 -8.93390723e-04 1.73574756e+02] [-7.96444927e-01 -6.04709832e-01 -1.22395055e-03 1.15926193e+02] [-1.51505251e-03 -2.85976130e-05 9.99998852e-01 -6.35358469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:115.92, Z:-0.64 [[-6.03607273e-01 7.97281293e-01 -8.93865748e-04 1.73566313e+02] [-7.97280355e-01 -6.03607935e-01 -1.22360353e-03 1.15921439e+02] [-1.51510066e-03 -2.59143910e-05 9.99998852e-01 -6.35633108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:115.92, Z:-0.64 [[-6.02679476e-01 7.97982863e-01 -8.94342739e-04 1.73563562e+02] [-7.97981926e-01 -6.02680139e-01 -1.22325480e-03 1.15924830e+02] [-1.51513897e-03 -2.35612180e-05 9.99998852e-01 -6.35256776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:115.93, Z:-0.63 [[-6.00792189e-01 7.99404744e-01 -8.94940403e-04 1.73557074e+02] [-7.99403809e-01 -6.00792855e-01 -1.22281738e-03 1.15929690e+02] [-1.51519982e-03 -1.92403653e-05 9.99998852e-01 -6.34006670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:115.93, Z:-0.63 [[-6.00350678e-01 7.99736370e-01 -8.95415962e-04 1.73554014e+02] [-7.99735436e-01 -6.00351346e-01 -1.22246905e-03 1.15931838e+02] [-1.51521714e-03 -1.78142510e-05 9.99998852e-01 -6.33205044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:115.93, Z:-0.63 [[-6.00520189e-01 7.99609092e-01 -8.95890504e-04 1.73549326e+02] [-7.99608159e-01 -6.00520857e-01 -1.22212119e-03 1.15931321e+02] [-1.51522014e-03 -1.75470885e-05 9.99998852e-01 -6.32959464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:115.93, Z:-0.63 [[-6.00955064e-01 7.99282308e-01 -8.96423336e-04 1.73542224e+02] [-7.99281374e-01 -6.00955732e-01 -1.22173023e-03 1.15932456e+02] [-1.51521810e-03 -1.77104925e-05 9.99998852e-01 -6.32596554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:115.93, Z:-0.63 [[-6.01650707e-01 7.98758801e-01 -8.96955997e-04 1.73537158e+02] [-7.98757867e-01 -6.01651376e-01 -1.22133904e-03 1.15930515e+02] [-1.51521012e-03 -1.83688390e-05 9.99998852e-01 -6.32441470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:115.93, Z:-0.63 [[-6.02223862e-01 7.98326759e-01 -8.97430100e-04 1.73533650e+02] [-7.98325826e-01 -6.02224530e-01 -1.22099057e-03 1.15930240e+02] [-1.51520387e-03 -1.88680335e-05 9.99998852e-01 -6.32586479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.53, Y:115.93, Z:-0.63 [[-6.02955935e-01 7.97773987e-01 -8.97904466e-04 1.73529598e+02] [-7.97773053e-01 -6.02956603e-01 -1.22064163e-03 1.15929347e+02] [-1.51519357e-03 -1.96691279e-05 9.99998852e-01 -6.32918784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:115.93, Z:-0.63 [[-6.04051478e-01 7.96944794e-01 -8.98559632e-04 1.73522580e+02] [-7.96943860e-01 -6.04052146e-01 -1.22015915e-03 1.15929550e+02] [-1.51517635e-03 -2.09373549e-05 9.99998852e-01 -6.33432593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:115.93, Z:-0.63 [[-6.04600740e-01 7.96528177e-01 -8.99091993e-04 1.73518842e+02] [-7.96527243e-01 -6.04601408e-01 -1.21976674e-03 1.15928683e+02] [-1.51517087e-03 -2.13206094e-05 9.99998852e-01 -6.33955196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:115.93, Z:-0.63 [[-6.05463411e-01 7.95872633e-01 -8.99565724e-04 1.73513742e+02] [-7.95871699e-01 -6.05464079e-01 -1.21941727e-03 1.15926206e+02] [-1.51515557e-03 -2.23736398e-05 9.99998852e-01 -6.34515849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:115.93, Z:-0.64 [[-6.06328735e-01 7.95213591e-01 -9.00159296e-04 1.73510311e+02] [-7.95212657e-01 -6.06329403e-01 -1.21897895e-03 1.15925836e+02] [-1.51514167e-03 -2.32838974e-05 9.99998852e-01 -6.35224129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:115.92, Z:-0.64 [[-6.07215197e-01 7.94536905e-01 -9.00691741e-04 1.73506175e+02] [-7.94535971e-01 -6.07215864e-01 -1.21858540e-03 1.15924734e+02] [-1.51512539e-03 -2.43115866e-05 9.99998852e-01 -6.36477456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:115.92, Z:-0.64 [[-6.08742352e-01 7.93367467e-01 -9.01223822e-04 1.73497027e+02] [-7.93366532e-01 -6.08743018e-01 -1.21819176e-03 1.15921920e+02] [-1.51508742e-03 -2.65641014e-05 9.99998852e-01 -6.37210608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:115.92, Z:-0.64 [[-6.09605038e-01 7.92704790e-01 -9.01756718e-04 1.73495606e+02] [-7.92703856e-01 -6.09605704e-01 -1.21779717e-03 1.15924717e+02] [-1.51506969e-03 -2.75492598e-05 9.99998852e-01 -6.37122022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:115.92, Z:-0.64 [[-6.10615848e-01 7.91926431e-01 -9.02289441e-04 1.73491669e+02] [-7.91925496e-01 -6.10616514e-01 -1.21740233e-03 1.15924539e+02] [-1.51504592e-03 -2.88191450e-05 9.99998852e-01 -6.36732483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:115.92, Z:-0.64 [[-6.12295149e-01 7.90628760e-01 -9.02820811e-04 1.73483284e+02] [-7.90627824e-01 -6.12295814e-01 -1.21700814e-03 1.15923289e+02] [-1.51499504e-03 -3.13729285e-05 9.99998852e-01 -6.35665909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:115.92, Z:-0.63 [[-6.13283018e-01 7.89862724e-01 -9.03352589e-04 1.73476120e+02] [-7.89861788e-01 -6.13283683e-01 -1.21661329e-03 1.15918839e+02] [-1.51496889e-03 -3.26045798e-05 9.99998852e-01 -6.34897003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:115.92, Z:-0.63 [[-6.14216500e-01 7.89137044e-01 -9.03946353e-04 1.73471574e+02] [-7.89136107e-01 -6.14217165e-01 -1.21617196e-03 1.15917935e+02] [-1.51494571e-03 -3.36561804e-05 9.99998852e-01 -6.33729446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:115.90, Z:-0.63 [[-6.15777726e-01 7.87919395e-01 -9.04479743e-04 1.73453097e+02] [-7.87918458e-01 -6.15778390e-01 -1.21577514e-03 1.15903087e+02] [-1.51489190e-03 -3.59909700e-05 9.99998852e-01 -6.33219995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:115.92, Z:-0.63 [[-6.16862899e-01 7.87070102e-01 -9.05140204e-04 1.73461034e+02] [-7.87069164e-01 -6.16863562e-01 -1.21528323e-03 1.15917968e+02] [-1.51486111e-03 -3.72551945e-05 9.99998852e-01 -6.33014765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:115.91, Z:-0.63 [[-6.18197313e-01 7.86022431e-01 -9.05737774e-04 1.73453475e+02] [-7.86021493e-01 -6.18197975e-01 -1.21483771e-03 1.15911673e+02] [-1.51481495e-03 -3.90800489e-05 9.99998852e-01 -6.33766937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:115.91, Z:-0.63 [[-6.19571261e-01 7.84939890e-01 -9.06393046e-04 1.73451226e+02] [-7.84938952e-01 -6.19571922e-01 -1.21434861e-03 1.15912288e+02] [-1.51476635e-03 -4.09122924e-05 9.99998852e-01 -6.34992351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:115.91, Z:-0.64 [[-6.12271087e-01 7.90647389e-01 -9.06926240e-04 1.73455259e+02] [-7.90646458e-01 -6.12271758e-01 -1.21395027e-03 1.15911647e+02] [-1.51509193e-03 -2.62086324e-05 9.99998852e-01 -6.41681409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:115.91, Z:-0.64 [[-6.22644775e-01 7.82504118e-01 -8.88764420e-04 1.73440595e+02] [-7.82503158e-01 -6.22645405e-01 -1.22751744e-03 1.15905055e+02] [-1.51392253e-03 -6.88463541e-05 9.99998852e-01 -6.37842289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:115.90, Z:-0.64 [[-6.25465364e-01 7.80251404e-01 -9.08049514e-04 1.73432209e+02] [-7.80250463e-01 -6.25466021e-01 -1.21308163e-03 1.15899309e+02] [-1.51446276e-03 -5.02344886e-05 9.99998852e-01 -6.39521046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:115.90, Z:-0.64 [[-6.25871104e-01 7.79925981e-01 -9.08646891e-04 1.73433441e+02] [-7.79925040e-01 -6.25871762e-01 -1.21263400e-03 1.15901742e+02] [-1.51446119e-03 -5.02761197e-05 9.99998852e-01 -6.41453242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:115.89, Z:-0.65 [[-6.15850582e-01 7.87862446e-01 -9.09243817e-04 1.73434141e+02] [-7.87861514e-01 -6.15851252e-01 -1.21218626e-03 1.15891271e+02] [-1.51499497e-03 -3.01674018e-05 9.99998852e-01 -6.47137314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:115.91, Z:-0.65 [[-6.16747976e-01 7.87160179e-01 -8.86459869e-04 1.73442607e+02] [-7.87159222e-01 -6.16748611e-01 -1.22926764e-03 1.15905020e+02] [-1.51435343e-03 -6.03632705e-05 9.99998852e-01 -6.47138307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.44, Y:115.91, Z:-0.65 [[-6.16416419e-01 7.87419842e-01 -8.89043549e-04 1.73443106e+02] [-7.87418888e-01 -6.16417057e-01 -1.22732897e-03 1.15905508e+02] [-1.51444480e-03 -5.64960487e-05 9.99998852e-01 -6.46690104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:115.90, Z:-0.65 [[-6.17260038e-01 7.86758705e-01 -8.86782812e-04 1.73437338e+02] [-7.86757747e-01 -6.17260672e-01 -1.22902698e-03 1.15898484e+02] [-1.51432383e-03 -6.09459941e-05 9.99998852e-01 -6.46406186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:115.89, Z:-0.65 [[-6.15844315e-01 7.87867365e-01 -8.91022131e-04 1.73434637e+02] [-7.87866414e-01 -6.15844958e-01 -1.22583928e-03 1.15894004e+02] [-1.51453025e-03 -5.29197401e-05 9.99998852e-01 -6.46593927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:115.88, Z:-0.64 [[-6.26467294e-01 7.79447202e-01 -8.87658907e-04 1.73416067e+02] [-7.79446238e-01 -6.26467918e-01 -1.22837018e-03 1.15882654e+02] [-1.51353953e-03 -7.76513487e-05 9.99998852e-01 -6.40241065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:115.88, Z:-0.64 [[-6.25818286e-01 7.79968359e-01 -9.12461452e-04 1.73416041e+02] [-7.79967422e-01 -6.25818949e-01 -1.20966134e-03 1.15883586e+02] [-1.51453324e-03 -4.53379784e-05 9.99998852e-01 -6.41070268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:115.88, Z:-0.65 [[-6.15472360e-01 7.88157941e-01 -9.13056025e-04 1.73424570e+02] [-7.88157014e-01 -6.15473037e-01 -1.20921239e-03 1.15884512e+02] [-1.51501171e-03 -2.46052919e-05 9.99998852e-01 -6.46725800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:115.88, Z:-0.64 [[-6.25164952e-01 7.80492145e-01 -8.91030214e-04 1.73409893e+02] [-7.80491186e-01 -6.25165583e-01 -1.22584930e-03 1.15877977e+02] [-1.51380717e-03 -7.09167903e-05 9.99998852e-01 -6.41781823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:115.75, Z:-0.65 [[-6.16171705e-01 7.87611322e-01 -9.14395071e-04 1.73317228e+02] [-7.87610396e-01 -6.16172383e-01 -1.20816571e-03 1.15747244e+02] [-1.51498998e-03 -2.42504594e-05 9.99998852e-01 -6.46774245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:115.87, Z:-0.64 [[-6.25175750e-01 7.80483491e-01 -8.95357164e-04 1.73403577e+02] [-7.80482536e-01 -6.25176388e-01 -1.22257093e-03 1.15871026e+02] [-1.51395258e-03 -6.55110666e-05 9.99998852e-01 -6.41210529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:115.87, Z:-0.64 [[-6.25596928e-01 7.80145913e-01 -9.15862399e-04 1.73405660e+02] [-7.80144980e-01 -6.25597597e-01 -1.20701187e-03 1.15873634e+02] [-1.51460669e-03 -4.05974633e-05 9.99998852e-01 -6.41224718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:115.87, Z:-0.64 [[-6.25679077e-01 7.80080030e-01 -9.16453221e-04 1.73402999e+02] [-7.80079098e-01 -6.25679747e-01 -1.20656310e-03 1.15869872e+02] [-1.51462200e-03 -4.00152878e-05 9.99998852e-01 -6.41821537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:115.86, Z:-0.64 [[-6.25407059e-01 7.80298128e-01 -9.17042268e-04 1.73396749e+02] [-7.80297197e-01 -6.25407730e-01 -1.20611524e-03 1.15862816e+02] [-1.51465478e-03 -3.87474705e-05 9.99998852e-01 -6.42011352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:115.85, Z:-0.64 [[-6.25251262e-01 7.80422974e-01 -9.17754699e-04 1.73389446e+02] [-7.80422043e-01 -6.25251934e-01 -1.20557289e-03 1.15853772e+02] [-1.51468468e-03 -3.75499724e-05 9.99998852e-01 -6.42447958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:115.86, Z:-0.64 [[-6.24880394e-01 7.80719956e-01 -9.18286211e-04 1.73395707e+02] [-7.80719026e-01 -6.24881068e-01 -1.20516790e-03 1.15862783e+02] [-1.51471830e-03 -3.61622767e-05 9.99998852e-01 -6.42698479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:115.86, Z:-0.64 [[-6.24192558e-01 7.81269995e-01 -9.18876779e-04 1.73391768e+02] [-7.81269067e-01 -6.24193234e-01 -1.20471746e-03 1.15858857e+02] [-1.51476627e-03 -3.40856664e-05 9.99998852e-01 -6.43003255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:115.85, Z:-0.64 [[-6.23194517e-01 7.82066333e-01 -9.19464281e-04 1.73384534e+02] [-7.82065406e-01 -6.23195194e-01 -1.20426890e-03 1.15851152e+02] [-1.51482388e-03 -3.14125664e-05 9.99998852e-01 -6.43414753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:115.86, Z:-0.64 [[-6.20510568e-01 7.84197545e-01 -9.20053305e-04 1.73388864e+02] [-7.84196621e-01 -6.20511249e-01 -1.20381872e-03 1.15860370e+02] [-1.51493511e-03 -2.54795418e-05 9.99998852e-01 -6.42915112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:115.85, Z:-0.64 [[-6.19453667e-01 7.85032679e-01 -9.20611910e-04 1.73383416e+02] [-7.85031757e-01 -6.19454350e-01 -1.20339138e-03 1.15854823e+02] [-1.51497861e-03 -2.27356145e-05 9.99998852e-01 -6.43192351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:115.85, Z:-0.64 [[-6.18714136e-01 7.85615662e-01 -9.21197034e-04 1.73379315e+02] [-7.85614742e-01 -6.18714822e-01 -1.20294330e-03 1.15850316e+02] [-1.51500935e-03 -2.05720529e-05 9.99998852e-01 -6.42680957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:115.84, Z:-0.64 [[-6.17890342e-01 7.86263744e-01 -9.21783219e-04 1.73371880e+02] [-7.86262825e-01 -6.17891029e-01 -1.20249395e-03 1.15841388e+02] [-1.51503898e-03 -1.82455208e-05 9.99998852e-01 -6.42965752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:115.84, Z:-0.64 [[-6.18196794e-01 7.86022820e-01 -9.22371375e-04 1.73370301e+02] [-7.86021901e-01 -6.18197482e-01 -1.20204264e-03 1.15839242e+02] [-1.51504060e-03 -1.80948030e-05 9.99998852e-01 -6.43594426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:115.83, Z:-0.64 [[-6.18750688e-01 7.85586872e-01 -9.23021392e-04 1.73366440e+02] [-7.85585953e-01 -6.18751377e-01 -1.20154330e-03 1.15833900e+02] [-1.51503740e-03 -1.83431019e-05 9.99998852e-01 -6.43746073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:115.83, Z:-0.64 [[-6.19538312e-01 7.84965876e-01 -9.23610409e-04 1.73365176e+02] [-7.84964957e-01 -6.19539000e-01 -1.20109036e-03 1.15831279e+02] [-1.51502761e-03 -1.91196866e-05 9.99998852e-01 -6.44567318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:115.84, Z:-0.64 [[-6.20816335e-01 7.83955499e-01 -9.24199431e-04 1.73372007e+02] [-7.83954580e-01 -6.20817023e-01 -1.20063695e-03 1.15837847e+02] [-1.51500468e-03 -2.08446555e-05 9.99998852e-01 -6.44399964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:115.83, Z:-0.64 [[-6.21447869e-01 7.83454971e-01 -9.24785165e-04 1.73363820e+02] [-7.83454052e-01 -6.21448557e-01 -1.20018562e-03 1.15826167e+02] [-1.51499780e-03 -2.13261128e-05 9.99998852e-01 -6.44285902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:115.82, Z:-0.64 [[-6.21636075e-01 7.83305645e-01 -9.25370005e-04 1.73359768e+02] [-7.83304727e-01 -6.21636764e-01 -1.19973453e-03 1.15819939e+02] [-1.51500284e-03 -2.09515643e-05 9.99998852e-01 -6.44321273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:115.82, Z:-0.64 [[-6.21723564e-01 7.83236205e-01 -9.25957715e-04 1.73363343e+02] [-7.83235287e-01 -6.21724253e-01 -1.19928076e-03 1.15824210e+02] [-1.51501048e-03 -2.03783528e-05 9.99998852e-01 -6.44410855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:115.82, Z:-0.64 [[-6.20717167e-01 7.84034017e-01 -9.26543879e-04 1.73362125e+02] [-7.84033101e-01 -6.20717858e-01 -1.19882773e-03 1.15822510e+02] [-1.51504405e-03 -1.76918816e-05 9.99998852e-01 -6.43575409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:173.72, Y:114.81, Z:0.17 [[-5.38921942e-01 -8.42355199e-01 9.27127195e-04 1.73720508e+02] [-8.42354357e-01 5.38922723e-01 1.19837645e-03 1.14810667e+02] [-1.50910854e-03 -1.35138270e-04 -9.99998852e-01 1.66662877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:115.26, Z:0.16 [[-4.81934698e-01 -8.76206646e-01 9.27127195e-04 1.73961571e+02] [-8.76205858e-01 4.81935533e-01 1.19837645e-03 1.15259355e+02] [-1.49684095e-03 -2.34815088e-04 -9.99998852e-01 1.63526051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:115.70, Z:-0.64 [[-4.98465349e-01 8.66909313e-01 -7.34426362e-04 1.73169463e+02] [-8.66908328e-01 -4.98465890e-01 -1.30668462e-03 1.15699525e+02] [-1.49886356e-03 -1.46566764e-05 9.99998877e-01 -6.42700287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:115.49, Z:-0.65 [[-4.98239492e-01 8.67039139e-01 -7.35197331e-04 1.73049875e+02] [-8.67038155e-01 -4.98240034e-01 -1.30625070e-03 1.15487868e+02] [-1.49887522e-03 -1.33815452e-05 9.99998877e-01 -6.45115848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:115.70, Z:-0.64 [[-4.98879467e-01 8.66671068e-01 -7.33938893e-04 1.73168283e+02] [-8.66670082e-01 -4.98880006e-01 -1.30695934e-03 1.15697248e+02] [-1.49885129e-03 -1.59322986e-05 9.99998877e-01 -6.42914242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:115.69, Z:-0.64 [[-4.98760481e-01 8.66739545e-01 -7.37359351e-04 1.73163864e+02] [-8.66738563e-01 -4.98761026e-01 -1.30502673e-03 1.15690213e+02] [-1.49888438e-03 -1.17979768e-05 9.99998877e-01 -6.42079451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:115.69, Z:-0.65 [[-4.84263487e-01 8.74921899e-01 -7.38058570e-04 1.73175676e+02] [-8.74920927e-01 -4.84264050e-01 -1.30463117e-03 1.15693125e+02] [-1.49886561e-03 1.39576480e-05 9.99998877e-01 -6.49859052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:115.68, Z:-0.65 [[-4.76201702e-01 8.79335795e-01 -7.06475904e-04 1.73174461e+02] [-8.79334800e-01 -4.76202226e-01 -1.32249675e-03 1.15681645e+02] [-1.49934413e-03 -8.54635683e-06 9.99998876e-01 -6.51898470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:115.69, Z:-0.65 [[-4.84834322e-01 8.74605745e-01 -6.86637998e-04 1.73171071e+02] [-8.74604729e-01 -4.84834806e-01 -1.33372008e-03 1.15685484e+02] [-1.49938525e-03 -4.60964314e-05 9.99998875e-01 -6.49682225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:115.67, Z:-0.65 [[-4.84518579e-01 8.74780686e-01 -7.05425696e-04 1.73165508e+02] [-8.74779686e-01 -4.84519092e-01 -1.32306588e-03 1.15673180e+02] [-1.49918470e-03 -2.39579324e-05 9.99998876e-01 -6.50177537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:115.66, Z:-0.64 [[-5.02037739e-01 8.64845427e-01 -7.04299608e-04 1.73150192e+02] [-8.64844416e-01 -5.02038230e-01 -1.32370540e-03 1.15664522e+02] [-1.49838589e-03 -5.54404844e-05 9.99998876e-01 -6.42327199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:115.67, Z:-0.65 [[-4.89541506e-01 8.71979680e-01 -7.42142352e-04 1.73164021e+02] [-8.71978708e-01 -4.89542068e-01 -1.30213725e-03 1.15671167e+02] [-1.49874712e-03 9.68210094e-06 9.99998877e-01 -6.49305261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:115.67, Z:-0.65 [[-4.92150030e-01 8.70510103e-01 -7.12578761e-04 1.73165837e+02] [-8.70509104e-01 -4.92150545e-01 -1.31897826e-03 1.15673917e+02] [-1.49887992e-03 -2.88288890e-05 9.99998876e-01 -6.48845037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:115.66, Z:-0.65 [[-4.93348277e-01 8.69831575e-01 -7.12948714e-04 1.73159849e+02] [-8.69830576e-01 -4.93348791e-01 -1.31876723e-03 1.15663133e+02] [-1.49883776e-03 -3.04669489e-05 9.99998876e-01 -6.49440818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:115.66, Z:-0.65 [[-4.96237849e-01 8.68186321e-01 -7.13491288e-04 1.73154720e+02] [-8.68185321e-01 -4.96238361e-01 -1.31845723e-03 1.15655713e+02] [-1.49872828e-03 -3.48257169e-05 9.99998876e-01 -6.49246662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:115.66, Z:-0.65 [[-4.98371384e-01 8.66963349e-01 -7.17500993e-04 1.73158419e+02] [-8.66962351e-01 -4.98371900e-01 -1.31616355e-03 1.15662395e+02] [-1.49864789e-03 -3.38919014e-05 9.99998876e-01 -6.49475786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:115.66, Z:-0.65 [[-5.00108131e-01 8.65962664e-01 -7.22415960e-04 1.73159733e+02] [-8.65961668e-01 -5.00108652e-01 -1.31334746e-03 1.15664382e+02] [-1.49859634e-03 -3.12312163e-05 9.99998877e-01 -6.49490963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:115.64, Z:-0.65 [[-5.03669989e-01 8.63895839e-01 -7.22649153e-04 1.73146033e+02] [-8.63894841e-01 -5.03670506e-01 -1.31321362e-03 1.15641185e+02] [-1.49845685e-03 -3.71334139e-05 9.99998877e-01 -6.48880641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:115.64, Z:-0.65 [[-5.13842335e-01 8.57884332e-01 -7.26011953e-04 1.73139136e+02] [-8.57883332e-01 -5.13842845e-01 -1.31128028e-03 1.15640494e+02] [-1.49798285e-03 -5.09577649e-05 9.99998877e-01 -6.45206476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:115.65, Z:-0.65 [[-5.05114468e-01 8.63052034e-01 -7.48262346e-04 1.73152675e+02] [-8.63051058e-01 -5.05115023e-01 -1.29845804e-03 1.15652476e+02] [-1.49859541e-03 -1.00813353e-05 9.99998877e-01 -6.48887853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:115.64, Z:-0.65 [[-5.06400278e-01 8.62298225e-01 -7.27611949e-04 1.73143893e+02] [-8.62297231e-01 -5.06400799e-01 -1.31035755e-03 1.15638757e+02] [-1.49838226e-03 -3.61476579e-05 9.99998877e-01 -6.46812281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:115.64, Z:-0.64 [[-5.05835097e-01 8.62629888e-01 -7.28889639e-04 1.73143595e+02] [-8.62628895e-01 -5.05835621e-01 -1.30962034e-03 1.15639330e+02] [-1.49841599e-03 -3.36906658e-05 9.99998877e-01 -6.44975063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:115.64, Z:-0.64 [[-5.06887276e-01 8.62012040e-01 -7.29058772e-04 1.73141508e+02] [-8.62011046e-01 -5.06887800e-01 -1.30952262e-03 1.15637803e+02] [-1.49837526e-03 -3.53236393e-05 9.99998877e-01 -6.42456557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:115.62, Z:-0.64 [[-5.13180175e-01 8.58280588e-01 -7.34602773e-04 1.73127138e+02] [-8.58279595e-01 -5.13180700e-01 -1.30631355e-03 1.15622068e+02] [-1.49816753e-03 -3.98796464e-05 9.99998877e-01 -6.41531863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:115.62, Z:-0.64 [[-5.05928531e-01 8.62575073e-01 -7.52035125e-04 1.73131353e+02] [-8.62574099e-01 -5.05929090e-01 -1.29619957e-03 1.15622398e+02] [-1.49854588e-03 -7.09832196e-06 9.99998877e-01 -6.41560123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:115.64, Z:-0.64 [[-5.01950660e-01 8.64895943e-01 -7.37346649e-04 1.73138499e+02] [-8.64894959e-01 -5.01951201e-01 -1.30472400e-03 1.15637256e+02] [-1.49856253e-03 -1.71796731e-05 9.99998877e-01 -6.41642754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.61, Z:-0.64 [[-5.00249139e-01 8.65881202e-01 -7.37106881e-04 1.73123037e+02] [-8.65880219e-01 -5.00249682e-01 -1.30486336e-03 1.15612415e+02] [-1.49859413e-03 -1.45105034e-05 9.99998877e-01 -6.41893019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.62, Z:-0.64 [[-5.04132619e-01 8.63625936e-01 -7.38223917e-04 1.73121080e+02] [-8.63624952e-01 -5.04133159e-01 -1.30421328e-03 1.15617563e+02] [-1.49851557e-03 -1.99478637e-05 9.99998877e-01 -6.42521968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.61, Z:-0.64 [[-4.98462163e-01 8.66911127e-01 -7.55095789e-04 1.73118033e+02] [-8.66910161e-01 -4.98462735e-01 -1.29437076e-03 1.15614939e+02] [-1.49849152e-03 9.40536449e-06 9.99998877e-01 -6.42131139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:115.63, Z:-0.64 [[-4.90192050e-01 8.71614125e-01 -7.55784442e-04 1.73129769e+02] [-8.71613165e-01 -4.90192632e-01 -1.29396853e-03 1.15629514e+02] [-1.49832121e-03 2.44585852e-05 9.99998877e-01 -6.42031778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.61, Z:-0.64 [[-4.93558953e-01 8.69712027e-01 -7.41386240e-04 1.73116484e+02] [-8.69711052e-01 -4.93559510e-01 -1.30238410e-03 1.15612329e+02] [-1.49861734e-03 1.98847534e-06 9.99998877e-01 -6.42746353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:115.61, Z:-0.64 [[-4.91570383e-01 8.70837519e-01 -7.57330505e-04 1.73114475e+02] [-8.70836560e-01 -4.91570966e-01 -1.29304562e-03 1.15608287e+02] [-1.49831433e-03 2.38881613e-05 9.99998877e-01 -6.43242638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.62, Z:-0.64 [[-4.83261692e-01 8.75475621e-01 -7.58014392e-04 1.73123326e+02] [-8.75474667e-01 -4.83262285e-01 -1.29264458e-03 1.15615046e+02] [-1.49799859e-03 3.89367883e-05 9.99998877e-01 -6.42187257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.60, Z:-0.64 [[-4.79781602e-01 8.77387633e-01 -7.45257739e-04 1.73119783e+02] [-8.77386670e-01 -4.79782180e-01 -1.30013828e-03 1.15604301e+02] [-1.49828663e-03 3.00967812e-05 9.99998877e-01 -6.43777456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:115.59, Z:-0.64 [[-4.87596324e-01 8.73068882e-01 -7.42485108e-04 1.73107203e+02] [-8.73067912e-01 -4.87596889e-01 -1.30176931e-03 1.15591180e+02] [-1.49856770e-03 1.35019934e-05 9.99998877e-01 -6.42826045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.61, Z:-0.65 [[-4.78472294e-01 8.78102320e-01 -7.60947204e-04 1.73122308e+02] [-8.78101373e-01 -4.78472896e-01 -1.29088634e-03 1.15605144e+02] [-1.49762290e-03 5.05354390e-05 9.99998877e-01 -6.45406588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.59, Z:-0.64 [[-4.82793034e-01 8.75734172e-01 -7.39822042e-04 1.73116482e+02] [-8.75733202e-01 -4.82793600e-01 -1.30333601e-03 1.15594381e+02] [-1.49855723e-03 1.86451800e-05 9.99998877e-01 -6.40715940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:115.58, Z:-0.64 [[-4.91444418e-01 8.70908622e-01 -7.46396063e-04 1.73105984e+02] [-8.70907652e-01 -4.91444984e-01 -1.29945547e-03 1.15581173e+02] [-1.49851958e-03 1.14319052e-05 9.99998877e-01 -6.42662813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:115.58, Z:-0.65 [[-4.83844668e-01 8.75153561e-01 -7.63024553e-04 1.73115542e+02] [-8.75152612e-01 -4.83845267e-01 -1.28961693e-03 1.15581825e+02] [-1.49779867e-03 4.37886534e-05 9.99998877e-01 -6.46731245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.57, Z:-0.64 [[-4.96795351e-01 8.67867404e-01 -7.40666891e-04 1.73102922e+02] [-8.67866426e-01 -4.96795903e-01 -1.30284697e-03 1.15568360e+02] [-1.49865869e-03 -4.44838885e-06 9.99998877e-01 -6.41733354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.56, Z:-0.64 [[-4.99952223e-01 8.66052649e-01 -7.64472289e-04 1.73099322e+02] [-8.66051690e-01 -4.99952807e-01 -1.28872560e-03 1.15558734e+02] [-1.49830429e-03 1.77712895e-05 9.99998877e-01 -6.41408491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.55, Z:-0.65 [[-4.94216585e-01 8.69338474e-01 -7.65154692e-04 1.73104822e+02] [-8.69337520e-01 -4.94217176e-01 -1.28832031e-03 1.15548312e+02] [-1.49813900e-03 2.84684181e-05 9.99998877e-01 -6.46801099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:172.76, Y:114.99, Z:-0.65 [[-5.13145723e-01 8.58301172e-01 -7.52424294e-04 1.72763058e+02] [-8.58300193e-01 -5.13146274e-01 -1.29596983e-03 1.14986506e+02] [-1.49843615e-03 -1.92154575e-05 9.99998877e-01 -6.47976926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.54, Z:-0.64 [[-5.18149581e-01 8.55289670e-01 -7.69908040e-04 1.73097262e+02] [-8.55288704e-01 -5.18150153e-01 -1.28546093e-03 1.15537328e+02] [-1.49836943e-03 -7.56739485e-06 9.99998877e-01 -6.41486726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.53, Z:-0.64 [[-5.21529824e-01 8.53232701e-01 -7.75361533e-04 1.73095324e+02] [-8.53231737e-01 -5.21530400e-01 -1.28216305e-03 1.15531002e+02] [-1.49835805e-03 -7.12320071e-06 9.99998877e-01 -6.42492280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:115.51, Z:-0.64 [[-5.27346007e-01 8.49650273e-01 -7.76108811e-04 1.73084048e+02] [-8.49649306e-01 -5.27346578e-01 -1.28171055e-03 1.15507737e+02] [-1.49828405e-03 -1.64846288e-05 9.99998877e-01 -6.43422429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.52, Z:-0.65 [[-5.13274576e-01 8.58224100e-01 -7.76861719e-04 1.73103653e+02] [-8.58223144e-01 -5.13275164e-01 -1.28125404e-03 1.15519722e+02] [-1.49834692e-03 9.08558169e-06 9.99998877e-01 -6.51541067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.51, Z:-0.65 [[-5.22609451e-01 8.52571882e-01 -7.40119707e-04 1.73096445e+02] [-8.52570887e-01 -5.22609973e-01 -1.30350887e-03 1.15512802e+02] [-1.49812895e-03 -5.02215392e-05 9.99998877e-01 -6.48255668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:115.50, Z:-0.64 [[-5.35584045e-01 8.44481591e-01 -7.57334969e-04 1.73081218e+02] [-8.44480603e-01 -5.35584578e-01 -1.29305825e-03 1.15496068e+02] [-1.49758082e-03 -5.29866773e-05 9.99998877e-01 -6.41686967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:115.51, Z:-0.65 [[-5.26212848e-01 8.50352534e-01 -7.78802442e-04 1.73095007e+02] [-8.50351571e-01 -5.26213424e-01 -1.27999656e-03 1.15506186e+02] [-1.49826462e-03 -1.12947542e-05 9.99998878e-01 -6.47463497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:115.50, Z:-0.64 [[-5.29701190e-01 8.48183987e-01 -7.57210880e-04 1.73088801e+02] [-8.48183003e-01 -5.29701729e-01 -1.29312905e-03 1.15498406e+02] [-1.49790727e-03 -4.27185987e-05 9.99998877e-01 -6.44788594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78999999999996 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:172.78, Y:114.99, Z:-0.64 [[-5.39606549e-01 8.41916966e-01 -7.70873670e-04 1.72775169e+02] [-8.41915987e-01 -5.39607098e-01 -1.28475582e-03 1.14993046e+02] [-1.49762663e-03 -4.42517908e-05 9.99998878e-01 -6.43988741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:115.46, Z:-0.64 [[-5.33520576e-01 8.45786724e-01 -7.82507862e-04 1.73064375e+02] [-8.45785759e-01 -5.33521150e-01 -1.27762344e-03 1.15459622e+02] [-1.49808144e-03 -1.98043888e-05 9.99998878e-01 -6.42393955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:115.48, Z:-0.64 [[-5.33508145e-01 8.45794576e-01 -7.71269006e-04 1.73079068e+02] [-8.45793601e-01 -5.33508701e-01 -1.28451537e-03 1.15484229e+02] [-1.49791485e-03 -3.29650203e-05 9.99998878e-01 -6.41933644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:115.48, Z:-0.64 [[-5.33789266e-01 8.45617184e-01 -7.73275120e-04 1.73077737e+02] [-8.45616211e-01 -5.33789825e-01 -1.28328357e-03 1.15483302e+02] [-1.49793303e-03 -3.11090192e-05 9.99998878e-01 -6.41383687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:115.47, Z:-0.64 [[-5.34428219e-01 8.45213510e-01 -7.74817570e-04 1.73071023e+02] [-8.45212538e-01 -5.34428780e-01 -1.28233550e-03 1.15473450e+02] [-1.49793210e-03 -3.04307517e-05 9.99998878e-01 -6.40916731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:115.48, Z:-0.64 [[-5.34975909e-01 8.44866957e-01 -7.75087593e-04 1.73073709e+02] [-8.44865985e-01 -5.34976470e-01 -1.28216933e-03 1.15479184e+02] [-1.49791613e-03 -3.10845603e-05 9.99998878e-01 -6.41868626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:115.46, Z:-0.64 [[-5.33751829e-01 8.45640811e-01 -7.77607695e-04 1.73061200e+02] [-8.45639842e-01 -5.33752394e-01 -1.28061624e-03 1.15459140e+02] [-1.49799133e-03 -2.59552136e-05 9.99998878e-01 -6.43178551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:115.46, Z:-0.64 [[-5.35903181e-01 8.44279088e-01 -7.76571447e-04 1.73062342e+02] [-8.44278116e-01 -5.35903742e-01 -1.28125538e-03 1.15464783e+02] [-1.49790467e-03 -3.09865552e-05 9.99998878e-01 -6.44250510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:115.46, Z:-0.65 [[-5.38915762e-01 8.42359301e-01 -7.80584313e-04 1.73058642e+02] [-8.42358331e-01 -5.38916326e-01 -1.27877741e-03 1.15463264e+02] [-1.49785967e-03 -3.16216013e-05 9.99998878e-01 -6.46252017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:172.77, Y:114.99, Z:-0.65 [[-5.38285700e-01 8.42762057e-01 -7.87861037e-04 1.72765921e+02] [-8.42761093e-01 -5.38286277e-01 -1.27427835e-03 1.14991836e+02] [-1.49800823e-03 -2.19471880e-05 9.99998878e-01 -6.50440643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:115.46, Z:-0.65 [[-5.32081497e-01 8.46692780e-01 -7.85602014e-04 1.73057969e+02] [-8.46691819e-01 -5.32082076e-01 -1.27567398e-03 1.15462875e+02] [-1.49810870e-03 -1.35997225e-05 9.99998878e-01 -6.45057813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:115.44, Z:-0.64 [[-5.36879099e-01 8.43658836e-01 -7.75387019e-04 1.73039274e+02] [-8.43657863e-01 -5.36879657e-01 -1.28198690e-03 1.15440550e+02] [-1.49784909e-03 -3.41106144e-05 9.99998878e-01 -6.44856234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:115.44, Z:-0.64 [[-5.32557746e-01 8.46393305e-01 -7.88497964e-04 1.73042774e+02] [-8.46392346e-01 -5.32558329e-01 -1.27387152e-03 1.15444819e+02] [-1.49811748e-03 -1.10315017e-05 9.99998878e-01 -6.42206154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:115.45, Z:-0.64 [[-5.28499826e-01 8.48933050e-01 -7.81228445e-04 1.73043031e+02] [-8.48932088e-01 -5.28500403e-01 -1.27837362e-03 1.15447846e+02] [-1.49813316e-03 -1.24103389e-05 9.99998878e-01 -6.44637230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:115.44, Z:-0.64 [[-5.28933269e-01 8.48663062e-01 -7.77730417e-04 1.73040976e+02] [-8.48662096e-01 -5.28933841e-01 -1.28054263e-03 1.15444452e+02] [-1.49811716e-03 -1.72912720e-05 9.99998878e-01 -6.44641363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:115.43, Z:-0.64 [[-5.26280018e-01 8.50310965e-01 -7.78426121e-04 1.73033999e+02] [-8.50310001e-01 -5.26280594e-01 -1.28011071e-03 1.15433561e+02] [-1.49816274e-03 -1.17931727e-05 9.99998878e-01 -6.44788852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:115.43, Z:-0.64 [[-5.32882811e-01 8.46188696e-01 -7.74698342e-04 1.73025716e+02] [-8.46187725e-01 -5.32883373e-01 -1.28242676e-03 1.15430717e+02] [-1.49799889e-03 -2.78429506e-05 9.99998878e-01 -6.40140232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:115.43, Z:-0.64 [[-5.32191626e-01 8.46623556e-01 -7.91896520e-04 1.73025512e+02] [-8.46622601e-01 -5.32192215e-01 -1.27171748e-03 1.15432997e+02] [-1.49810714e-03 -6.35990372e-06 9.99998878e-01 -6.39757281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:115.43, Z:-0.64 [[-5.31010817e-01 8.47364670e-01 -7.92642322e-04 1.73023737e+02] [-8.47363717e-01 -5.31011408e-01 -1.27125247e-03 1.15431650e+02] [-1.49811654e-03 -3.39246623e-06 9.99998878e-01 -6.39262833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:115.43, Z:-0.64 [[-5.29464740e-01 8.48331574e-01 -7.93320899e-04 1.73019310e+02] [-8.48330622e-01 -5.29465335e-01 -1.27082886e-03 1.15428523e+02] [-1.49812016e-03 1.39339117e-07 9.99998878e-01 -6.38941009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:115.43, Z:-0.64 [[-5.29131109e-01 8.48539710e-01 -7.93998531e-04 1.73016719e+02] [-8.48538759e-01 -5.29131705e-01 -1.27040534e-03 1.15425557e+02] [-1.49811918e-03 1.52753935e-06 9.99998878e-01 -6.39093209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:115.42, Z:-0.64 [[-5.20768762e-01 8.53697408e-01 -7.94675937e-04 1.73018448e+02] [-8.53696464e-01 -5.20769368e-01 -1.26998146e-03 1.15419897e+02] [-1.49802277e-03 1.70453627e-05 9.99998878e-01 -6.44514922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:115.42, Z:-0.64 [[-5.29493161e-01 8.48313849e-01 -7.78577325e-04 1.73009802e+02] [-8.48312883e-01 -5.29493733e-01 -1.28005695e-03 1.15416211e+02] [-1.49814186e-03 -1.73042273e-05 9.99998878e-01 -6.40357562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:115.42, Z:-0.65 [[-5.20577264e-01 8.53814194e-01 -7.96004912e-04 1.73016500e+02] [-8.53813251e-01 -5.20577872e-01 -1.26912625e-03 1.15416463e+02] [-1.49798055e-03 1.89612712e-05 9.99998878e-01 -6.46844274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:115.41, Z:-0.65 [[-5.22123717e-01 8.52869404e-01 -7.76518599e-04 1.73010712e+02] [-8.52868442e-01 -5.22124295e-01 -1.28135150e-03 1.15407871e+02] [-1.49826472e-03 -6.75580181e-06 9.99998878e-01 -6.47819326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:115.40, Z:-0.64 [[-5.32423345e-01 8.46477865e-01 -7.78037694e-04 1.73001728e+02] [-8.46476897e-01 -5.32423913e-01 -1.28039737e-03 1.15403911e+02] [-1.49807391e-03 -2.31225178e-05 9.99998878e-01 -6.42531293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:115.40, Z:-0.64 [[-5.33216234e-01 8.45978612e-01 -7.98155355e-04 1.73000653e+02] [-8.45977662e-01 -5.33216831e-01 -1.26773142e-03 1.15402012e+02] [-1.49806354e-03 -7.53373833e-07 9.99998878e-01 -6.42663811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:115.39, Z:-0.64 [[-5.34032174e-01 8.45463778e-01 -7.98833307e-04 1.72991163e+02] [-8.45462828e-01 -5.34032771e-01 -1.26730408e-03 1.15386825e+02] [-1.49806286e-03 -1.39728772e-06 9.99998878e-01 -6.44156544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:115.39, Z:-0.64 [[-5.34842279e-01 8.44951536e-01 -7.99449984e-04 1.72995758e+02] [-8.44950586e-01 -5.34842876e-01 -1.26691495e-03 1.15393943e+02] [-1.49806186e-03 -2.10394472e-06 9.99998878e-01 -6.42663766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:115.39, Z:-0.64 [[-5.34779288e-01 8.44991404e-01 -8.00194662e-04 1.72993349e+02] [-8.44990455e-01 -5.34779887e-01 -1.26644443e-03 1.15390181e+02] [-1.49806267e-03 -1.11139769e-06 9.99998878e-01 -6.41956318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:115.39, Z:-0.65 [[-5.26306888e-01 8.50294313e-01 -8.00934909e-04 1.73000813e+02] [-8.50293370e-01 -5.26307497e-01 -1.26597610e-03 1.15393325e+02] [-1.49799033e-03 1.47377010e-05 9.99998878e-01 -6.46804088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:115.39, Z:-0.64 [[-5.25896228e-01 8.50548377e-01 -7.84252602e-04 1.72996817e+02] [-8.50547419e-01 -5.25896813e-01 -1.27653365e-03 1.15389057e+02] [-1.49818957e-03 -4.28020649e-06 9.99998878e-01 -6.44945097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.38, Z:-0.64 [[-5.33318094e-01 8.45914409e-01 -7.89377773e-04 1.72983512e+02] [-8.45913451e-01 -5.33318679e-01 -1.27328433e-03 1.15377087e+02] [-1.49807947e-03 -1.13202971e-05 9.99998878e-01 -6.38332161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:115.38, Z:-0.64 [[-5.33315915e-01 8.45915770e-01 -8.03296596e-04 1.72985368e+02] [-8.45914825e-01 -5.33316520e-01 -1.26444174e-03 1.15379718e+02] [-1.49802255e-03 5.17359598e-06 9.99998878e-01 -6.38633422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.37, Z:-0.64 [[-5.33386563e-01 8.45871225e-01 -8.03971085e-04 1.72982918e+02] [-8.45870280e-01 -5.33387168e-01 -1.26401273e-03 1.15374896e+02] [-1.49801986e-03 5.84784100e-06 9.99998878e-01 -6.39189836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:115.38, Z:-0.65 [[-5.25037850e-01 8.51078497e-01 -8.04643301e-04 1.72991414e+02] [-8.51077559e-01 -5.25038467e-01 -1.26358467e-03 1.15375805e+02] [-1.49787843e-03 2.13840792e-05 9.99998878e-01 -6.46127702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:115.37, Z:-0.65 [[-5.25614994e-01 8.50722197e-01 -7.88761807e-04 1.72987635e+02] [-8.50721243e-01 -5.25615586e-01 -1.27369905e-03 1.15369607e+02] [-1.49814955e-03 1.54110697e-06 9.99998878e-01 -6.46129900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.36, Z:-0.64 [[-5.33968319e-01 8.45504117e-01 -7.89043622e-04 1.72976076e+02] [-8.45503158e-01 -5.33968902e-01 -1.27351935e-03 1.15359605e+02] [-1.49809061e-03 -1.28801118e-05 9.99998878e-01 -6.40788075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.36, Z:-0.65 [[-5.25465962e-01 8.50814241e-01 -8.06612406e-04 1.72982131e+02] [-8.50813305e-01 -5.25466580e-01 -1.26229279e-03 1.15358286e+02] [-1.49782455e-03 2.29846693e-05 9.99998878e-01 -6.46747483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.36, Z:-0.64 [[-5.32841496e-01 8.46214698e-01 -7.90329324e-04 1.72975619e+02] [-8.46213741e-01 -5.32842082e-01 -1.27270146e-03 1.15355500e+02] [-1.49809940e-03 -9.36061688e-06 9.99998878e-01 -6.40854145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:115.35, Z:-0.64 [[-5.32129670e-01 8.46662484e-01 -8.07982662e-04 1.72971354e+02] [-8.46661544e-01 -5.32130283e-01 -1.26139366e-03 1.15348227e+02] [-1.49792673e-03 1.28628578e-05 9.99998878e-01 -6.41087837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:115.35, Z:-0.64 [[-5.30786460e-01 8.47505209e-01 -8.08717820e-04 1.72972917e+02] [-8.47504271e-01 -5.30787076e-01 -1.26092215e-03 1.15349712e+02] [-1.49789506e-03 1.61114029e-05 9.99998878e-01 -6.41720571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.35, Z:-0.65 [[-5.23745786e-01 8.51874226e-01 -8.09388212e-04 1.72978672e+02] [-8.51873294e-01 -5.23746410e-01 -1.26049168e-03 1.15351132e+02] [-1.49769454e-03 2.93189990e-05 9.99998878e-01 -6.46117712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:115.34, Z:-0.64 [[-5.26351357e-01 8.50266788e-01 -7.98509919e-04 1.72969102e+02] [-8.50265844e-01 -5.26351962e-01 -1.26748196e-03 1.15341243e+02] [-1.49799508e-03 1.18048599e-05 9.99998878e-01 -6.42582180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:115.34, Z:-0.64 [[-5.25336910e-01 8.50893926e-01 -8.10766418e-04 1.72970491e+02] [-8.50892995e-01 -5.25337535e-01 -1.25959278e-03 1.15342969e+02] [-1.49770588e-03 2.81648876e-05 9.99998878e-01 -6.42475141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:115.34, Z:-0.65 [[-5.16412797e-01 8.56339398e-01 -8.11432591e-04 1.72975437e+02] [-8.56338473e-01 -5.16413433e-01 -1.25916348e-03 1.15340930e+02] [-1.49730599e-03 4.46128106e-05 9.99998878e-01 -6.46979485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:115.34, Z:-0.64 [[-5.19758113e-01 8.54313099e-01 -7.95819998e-04 1.72972372e+02] [-8.54312156e-01 -5.19758722e-01 -1.26922648e-03 1.15338818e+02] [-1.49795119e-03 2.01879387e-05 9.99998878e-01 -6.43171900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:115.33, Z:-0.64 [[-5.24087473e-01 8.51664061e-01 -8.04345842e-04 1.72964471e+02] [-8.51663124e-01 -5.24088090e-01 -1.26372216e-03 1.15328903e+02] [-1.49781483e-03 2.27307362e-05 9.99998878e-01 -6.41448970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:115.33, Z:-0.64 [[-5.25505421e-01 8.50789863e-01 -8.13365261e-04 1.72965462e+02] [-8.50788934e-01 -5.25506050e-01 -1.25789011e-03 1.15326415e+02] [-1.49762852e-03 3.09740909e-05 9.99998878e-01 -6.41726263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:115.32, Z:-0.64 [[-5.26996020e-01 8.49867362e-01 -8.13967056e-04 1.72962282e+02] [-8.49866432e-01 -5.26996647e-01 -1.25750058e-03 1.15319454e+02] [-1.49766661e-03 2.90654797e-05 9.99998878e-01 -6.41796016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:115.32, Z:-0.64 [[-5.28991680e-01 8.48626619e-01 -8.14568891e-04 1.72961964e+02] [-8.48625689e-01 -5.28992306e-01 -1.25711061e-03 1.15316042e+02] [-1.49771820e-03 2.62630350e-05 9.99998878e-01 -6.41621601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:115.31, Z:-0.64 [[-5.33010643e-01 8.46108143e-01 -8.15233313e-04 1.72959948e+02] [-8.46107210e-01 -5.33011266e-01 -1.25667958e-03 1.15307518e+02] [-1.49781537e-03 1.99511922e-05 9.99998878e-01 -6.41551286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:115.30, Z:-0.64 [[-5.35621558e-01 8.44457744e-01 -8.15835855e-04 1.72956477e+02] [-8.44456810e-01 -5.35622179e-01 -1.25628829e-03 1.15299150e+02] [-1.49786215e-03 1.60430534e-05 9.99998878e-01 -6.41305613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:115.30, Z:-0.64 [[-5.38463059e-01 8.42648721e-01 -8.16502550e-04 1.72956358e+02] [-8.42647785e-01 -5.38463678e-01 -1.25585483e-03 1.15296289e+02] [-1.49790144e-03 1.17926306e-05 9.99998878e-01 -6.40895240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:115.28, Z:-0.64 [[-5.41137707e-01 8.40933597e-01 -8.17169455e-04 1.72950839e+02] [-8.40932660e-01 -5.41138324e-01 -1.25542074e-03 1.15284751e+02] [-1.49792718e-03 7.82898491e-06 9.99998878e-01 -6.41016868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:115.28, Z:-0.64 [[-5.46100890e-01 8.37719015e-01 -8.17774949e-04 1.72950373e+02] [-8.37718075e-01 -5.46101503e-01 -1.25502620e-03 1.15278735e+02] [-1.49794744e-03 -3.06066801e-07 9.99998878e-01 -6.41180826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:115.28, Z:-0.64 [[-5.48649904e-01 8.36051801e-01 -8.18382491e-04 1.72951350e+02] [-8.36050859e-01 -5.48650514e-01 -1.25462990e-03 1.15277434e+02] [-1.49794156e-03 -4.14319109e-06 9.99998878e-01 -6.41291812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:115.27, Z:-0.64 [[-5.51384895e-01 8.34250578e-01 -8.18989378e-04 1.72946769e+02] [-8.34249635e-01 -5.51385503e-01 -1.25423362e-03 1.15268016e+02] [-1.49792399e-03 -8.32388232e-06 9.99998878e-01 -6.41594078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:115.26, Z:-0.64 [[-5.55840586e-01 8.31288501e-01 -8.19596767e-04 1.72947089e+02] [-8.31287555e-01 -5.55841190e-01 -1.25383659e-03 1.15263854e+02] [-1.49786558e-03 -1.56126692e-05 9.99998878e-01 -6.41368381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:115.26, Z:-0.64 [[-5.58122346e-01 8.29758263e-01 -8.20205321e-04 1.72945287e+02] [-8.29757316e-01 -5.58122948e-01 -1.25343837e-03 1.15258859e+02] [-1.49782626e-03 -1.90005971e-05 9.99998878e-01 -6.41287028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:115.25, Z:-0.64 [[-5.60221021e-01 8.28342764e-01 -8.20813681e-04 1.72943858e+02] [-8.28341816e-01 -5.60221621e-01 -1.25303986e-03 1.15254520e+02] [-1.49778407e-03 -2.20649723e-05 9.99998878e-01 -6.40987647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:115.23, Z:-0.64 [[-5.62032461e-01 8.27114767e-01 -8.21422279e-04 1.72927266e+02] [-8.27113819e-01 -5.62033060e-01 -1.25264077e-03 1.15227131e+02] [-1.49774416e-03 -2.46150549e-05 9.99998878e-01 -6.42120337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:115.24, Z:-0.64 [[-5.64737983e-01 8.25269856e-01 -8.22037091e-04 1.72939217e+02] [-8.25268906e-01 -5.64738580e-01 -1.25223717e-03 1.15243062e+02] [-1.49766965e-03 -2.87842443e-05 9.99998878e-01 -6.41851671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:115.24, Z:-0.64 [[-5.66056588e-01 8.24365976e-01 -8.22716385e-04 1.72936621e+02] [-8.24365026e-01 -5.66057185e-01 -1.25179072e-03 1.15238889e+02] [-1.49763820e-03 -3.03657697e-05 9.99998878e-01 -6.41674099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:115.24, Z:-0.64 [[-5.67029341e-01 8.23697183e-01 -8.23326206e-04 1.72934831e+02] [-8.23696233e-01 -5.67029938e-01 -1.25138950e-03 1.15235692e+02] [-1.49761661e-03 -3.14038696e-05 9.99998878e-01 -6.40925426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:115.23, Z:-0.64 [[-5.68036420e-01 8.23003005e-01 -8.23935831e-04 1.72931468e+02] [-8.23002055e-01 -5.68037017e-01 -1.25098798e-03 1.15230232e+02] [-1.49759292e-03 -3.25058538e-05 9.99998878e-01 -6.41183140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:115.23, Z:-0.64 [[-5.68923524e-01 8.22390019e-01 -8.24672209e-04 1.72928969e+02] [-8.22389069e-01 -5.68924121e-01 -1.25050236e-03 1.15226335e+02] [-1.49757657e-03 -3.32388006e-05 9.99998878e-01 -6.41148925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:115.21, Z:-0.64 [[-5.69947885e-01 8.21680429e-01 -8.25219458e-04 1.72917970e+02] [-8.21679479e-01 -5.69948481e-01 -1.25014112e-03 1.15209266e+02] [-1.49754907e-03 -3.44493943e-05 9.99998878e-01 -6.41316159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:115.22, Z:-0.64 [[-5.71776814e-01 8.20408796e-01 -8.25833244e-04 1.72924114e+02] [-8.20407845e-01 -5.71777409e-01 -1.24973553e-03 1.15218161e+02] [-1.49748681e-03 -3.70497275e-05 9.99998878e-01 -6.42689014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:115.20, Z:-0.64 [[-5.72814735e-01 8.19684449e-01 -8.26447067e-04 1.72913890e+02] [-8.19683498e-01 -5.72815330e-01 -1.24932948e-03 1.15202958e+02] [-1.49745749e-03 -3.82093101e-05 9.99998878e-01 -6.43492504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:115.21, Z:-0.64 [[-5.73585493e-01 8.19145285e-01 -8.27281799e-04 1.72917407e+02] [-8.19144334e-01 -5.73586088e-01 -1.24877649e-03 1.15208655e+02] [-1.49744670e-03 -3.86168799e-05 9.99998878e-01 -6.44361425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:115.20, Z:-0.65 [[-5.61315021e-01 8.27601814e-01 -8.27957668e-04 1.72921992e+02] [-8.27600872e-01 -5.61315631e-01 -1.24832822e-03 1.15204048e+02] [-1.49786428e-03 -1.54868901e-05 9.99998878e-01 -6.52581617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:115.20, Z:-0.65 [[-5.73346608e-01 8.19312531e-01 -8.02292358e-04 1.72912117e+02] [-8.19311557e-01 -5.73347165e-01 -1.26533825e-03 1.15203781e+02] [-1.49669954e-03 -6.81499949e-05 9.99998878e-01 -6.47072803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:115.20, Z:-0.65 [[-5.72669712e-01 8.19785773e-01 -8.28921639e-04 1.72908844e+02] [-8.19784824e-01 -5.72670311e-01 -1.24764607e-03 1.15200610e+02] [-1.49750131e-03 -3.49517357e-05 9.99998878e-01 -6.46904478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:115.19, Z:-0.65 [[-5.71693009e-01 8.20467194e-01 -8.29530771e-04 1.72903006e+02] [-8.20466246e-01 -5.71693610e-01 -1.24724094e-03 1.15194562e+02] [-1.49755771e-03 -3.24369269e-05 9.99998878e-01 -6.46546978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:115.20, Z:-0.65 [[-5.70399601e-01 8.21366913e-01 -8.30140844e-04 1.72904457e+02] [-8.21365968e-01 -5.70400204e-01 -1.24683475e-03 1.15200002e+02] [-1.49762132e-03 -2.93446085e-05 9.99998878e-01 -6.46521916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:115.20, Z:-0.65 [[-5.66466495e-01 8.24084352e-01 -8.30749580e-04 1.72901192e+02] [-8.24083410e-01 -5.66467104e-01 -1.24642903e-03 1.15202038e+02] [-1.49775497e-03 -2.14533366e-05 9.99998878e-01 -6.46189705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:115.20, Z:-0.65 [[-5.64542380e-01 8.25403665e-01 -8.31355195e-04 1.72897526e+02] [-8.25402725e-01 -5.64542992e-01 -1.24602496e-03 1.15200079e+02] [-1.49780932e-03 -1.72310530e-05 9.99998878e-01 -6.45941405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:115.20, Z:-0.65 [[-5.64942594e-01 8.25129792e-01 -8.32022055e-04 1.72895358e+02] [-8.25128852e-01 -5.64943207e-01 -1.24557951e-03 1.15196738e+02] [-1.49780997e-03 -1.71555170e-05 9.99998878e-01 -6.45947717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:115.19, Z:-0.64 [[-5.60131940e-01 8.28402991e-01 -8.32625905e-04 1.72888382e+02] [-8.28402056e-01 -5.60132559e-01 -1.24517573e-03 1.15193886e+02] [-1.49788818e-03 -7.71368424e-06 9.99998878e-01 -6.44585456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:115.20, Z:-0.64 [[-5.57631955e-01 8.30087892e-01 -8.33355061e-04 1.72887072e+02] [-8.30086959e-01 -5.57632577e-01 -1.24468754e-03 1.15195699e+02] [-1.49790598e-03 -2.32037506e-06 9.99998878e-01 -6.43824816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:115.19, Z:-0.64 [[-5.54889372e-01 8.31923728e-01 -8.33990605e-04 1.72881156e+02] [-8.31922798e-01 -5.54889999e-01 -1.24426155e-03 1.15190908e+02] [-1.49790375e-03 3.38828798e-06 9.99998878e-01 -6.43327763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:115.19, Z:-0.64 [[-5.52438703e-01 8.33553108e-01 -8.34654759e-04 1.72880633e+02] [-8.33552180e-01 -5.52439333e-01 -1.24381587e-03 1.15194507e+02] [-1.49788270e-03 8.59626586e-06 9.99998878e-01 -6.42359102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:115.20, Z:-0.64 [[-5.46948237e-01 8.37166010e-01 -8.35255528e-04 1.72877530e+02] [-8.37165087e-01 -5.46948875e-01 -1.24341231e-03 1.15196788e+02] [-1.49778459e-03 1.91645957e-05 9.99998878e-01 -6.43148003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:115.20, Z:-0.64 [[-5.45164534e-01 8.38328654e-01 -8.35853668e-04 1.72875789e+02] [-8.38327733e-01 -5.45165174e-01 -1.24301009e-03 1.15196930e+02] [-1.49772929e-03 2.30742926e-05 9.99998878e-01 -6.43049101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.19, Z:-0.64 [[-5.43326384e-01 8.39521138e-01 -8.36573506e-04 1.72870764e+02] [-8.39520219e-01 -5.43327027e-01 -1.24252544e-03 1.15191198e+02] [-1.49765937e-03 2.72235186e-05 9.99998878e-01 -6.44102944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.19, Z:-0.64 [[-5.42030130e-01 8.40358636e-01 -8.37169030e-04 1.72870209e+02] [-8.40357719e-01 -5.42030775e-01 -1.24212407e-03 1.15191701e+02] [-1.49760106e-03 3.02527884e-05 9.99998878e-01 -6.44934801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:115.18, Z:-0.65 [[-5.41270008e-01 8.40848426e-01 -8.37825780e-04 1.72859179e+02] [-8.40847510e-01 -5.41270656e-01 -1.24168092e-03 1.15175236e+02] [-1.49755596e-03 3.23990770e-05 9.99998878e-01 -6.45545717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.19, Z:-0.65 [[-5.39988723e-01 8.41671834e-01 -8.38484714e-04 1.72866407e+02] [-8.41670919e-01 -5.39989373e-01 -1.24123580e-03 1.15185732e+02] [-1.49748604e-03 3.54748663e-05 9.99998878e-01 -6.45699905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.18, Z:-0.65 [[-5.39957536e-01 8.41691841e-01 -8.39142893e-04 1.72865490e+02] [-8.41690927e-01 -5.39958186e-01 -1.24079067e-03 1.15183627e+02] [-1.49746546e-03 3.63246858e-05 9.99998878e-01 -6.45354380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:115.17, Z:-0.65 [[-5.39537730e-01 8.41961004e-01 -8.39734781e-04 1.72859839e+02] [-8.41960091e-01 -5.39538382e-01 -1.24038997e-03 1.15174532e+02] [-1.49742913e-03 3.77859845e-05 9.99998878e-01 -6.45491621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:115.18, Z:-0.65 [[-5.38769774e-01 8.42452624e-01 -8.40327558e-04 1.72861011e+02] [-8.42451713e-01 -5.38770428e-01 -1.23998825e-03 1.15175959e+02] [-1.49737499e-03 3.98672006e-05 9.99998878e-01 -6.45483469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:115.19, Z:-0.65 [[-5.24793084e-01 8.51229412e-01 -8.40981463e-04 1.72877187e+02] [-8.51228512e-01 -5.24793754e-01 -1.23954460e-03 1.15187690e+02] [-1.49647864e-03 6.53629642e-05 9.99998878e-01 -6.50754406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:115.17, Z:-0.64 [[-5.34455759e-01 8.45196056e-01 -8.17215254e-04 1.72859476e+02] [-8.45195124e-01 -5.34456384e-01 -1.25566785e-03 1.15173101e+02] [-1.49805142e-03 1.96074354e-05 9.99998878e-01 -6.44918462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.18, Z:-0.65 [[-5.21786745e-01 8.53075544e-01 -8.42257031e-04 1.72873773e+02] [-8.53074648e-01 -5.21787420e-01 -1.23863980e-03 1.15180528e+02] [-1.49613245e-03 7.22022889e-05 9.99998878e-01 -6.50615418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.18, Z:-0.65 [[-5.23480643e-01 8.52037175e-01 -8.18477914e-04 1.72870766e+02] [-8.52036252e-01 -5.23481281e-01 -1.25480472e-03 1.15177063e+02] [-1.49759813e-03 4.05068750e-05 9.99998878e-01 -6.49544862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.17, Z:-0.65 [[-5.20651276e-01 8.53769037e-01 -8.24328240e-04 1.72870190e+02] [-8.53768123e-01 -5.20651926e-01 -1.25082240e-03 1.15171485e+02] [-1.49710152e-03 5.25428937e-05 9.99998878e-01 -6.50701340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.17, Z:-0.65 [[-5.23642331e-01 8.51937812e-01 -8.21079356e-04 1.72866072e+02] [-8.51936892e-01 -5.23642973e-01 -1.25303536e-03 1.15165908e+02] [-1.49746064e-03 4.33654378e-05 9.99998878e-01 -6.49185659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:115.17, Z:-0.65 [[-5.22499235e-01 8.52639351e-01 -8.28728470e-04 1.72868775e+02] [-8.52638440e-01 -5.22499889e-01 -1.24781691e-03 1.15165220e+02] [-1.49694834e-03 5.46223659e-05 9.99998878e-01 -6.50979240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:115.15, Z:-0.65 [[-5.34187780e-01 8.45365446e-01 -8.23818719e-04 1.72853469e+02] [-8.45364521e-01 -5.34188414e-01 -1.25116950e-03 1.15151246e+02] [-1.49776988e-03 2.80676585e-05 9.99998878e-01 -6.46024082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:115.14, Z:-0.65 [[-5.38296551e-01 8.42755070e-01 -8.45956004e-04 1.72853531e+02] [-8.42754165e-01 -5.38297214e-01 -1.23601829e-03 1.15144684e+02] [-1.49703644e-03 4.75885606e-05 9.99998878e-01 -6.45749021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:115.14, Z:-0.65 [[-5.41150164e-01 8.40925552e-01 -8.46542627e-04 1.72851108e+02] [-8.40924645e-01 -5.41150825e-01 -1.23561639e-03 1.15137208e+02] [-1.49716863e-03 4.32245464e-05 9.99998878e-01 -6.46358633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:115.14, Z:-0.65 [[-5.38893442e-01 8.42373516e-01 -8.47190664e-04 1.72859336e+02] [-8.42372612e-01 -5.38894106e-01 -1.23517191e-03 1.15139099e+02] [-1.49702216e-03 4.80241722e-05 9.99998878e-01 -6.46990257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:115.12, Z:-0.65 [[-5.47637879e-01 8.36715037e-01 -8.36604926e-04 1.72848119e+02] [-8.36714115e-01 -5.47638518e-01 -1.24243627e-03 1.15124276e+02] [-1.49772219e-03 1.95939878e-05 9.99998878e-01 -6.45883178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:115.11, Z:-0.65 [[-5.54583149e-01 8.32127881e-01 -8.48365750e-04 1.72844908e+02] [-8.32126966e-01 -5.54583798e-01 -1.23435310e-03 1.15112074e+02] [-1.49762953e-03 2.13965862e-05 9.99998878e-01 -6.45148716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:115.11, Z:-0.64 [[-5.55403292e-01 8.31580701e-01 -8.48896454e-04 1.72848892e+02] [-8.31579786e-01 -5.55403941e-01 -1.23398802e-03 1.15111617e+02] [-1.49764106e-03 2.05641237e-05 9.99998878e-01 -6.44244499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:115.09, Z:-0.64 [[-5.64173808e-01 8.25655620e-01 -8.43768017e-04 1.72836345e+02] [-8.25654692e-01 -5.64174439e-01 -1.23751875e-03 1.15089326e+02] [-1.49779666e-03 -1.51464279e-06 9.99998878e-01 -6.44214120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:115.10, Z:-0.64 [[-5.68629185e-01 8.22593538e-01 -8.49273554e-04 1.72843643e+02] [-8.22592613e-01 -5.68629819e-01 -1.23372439e-03 1.15097370e+02] [-1.49777598e-03 -2.92554256e-06 9.99998878e-01 -6.44343909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:114.55, Z:0.16 [[-5.08058747e-01 -8.61322000e-01 8.49273554e-04 1.73442813e+02] [-8.61321123e-01 5.08059446e-01 1.23372439e-03 1.14545870e+02] [-1.49411541e-03 -1.04692784e-04 -9.99998878e-01 1.62275426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:114.97, Z:-0.64 [[-5.16758462e-01 8.56130895e-01 -7.63413471e-04 1.72727066e+02] [-8.56129931e-01 -5.16759026e-01 -1.28474371e-03 1.14967299e+02] [-1.49440959e-03 -1.03210638e-05 9.99998883e-01 -6.44373806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:114.97, Z:-0.65 [[-5.22870710e-01 8.52411659e-01 -7.64037724e-04 1.72728274e+02] [-8.52410692e-01 -5.22871268e-01 -1.28437236e-03 1.14970817e+02] [-1.49430735e-03 -2.02867642e-05 9.99998883e-01 -6.45026431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:114.47, Z:0.16 [[-4.41915319e-01 -8.97056446e-01 7.64037724e-04 1.73354746e+02] [-8.97055534e-01 4.41915964e-01 1.28437236e-03 1.14466581e+02] [-1.48979497e-03 -1.17800447e-04 -9.99998883e-01 1.64090109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:114.83, Z:-0.65 [[-4.66556575e-01 8.84491101e-01 -6.74411830e-04 1.72620907e+02] [-8.84490102e-01 -4.66557061e-01 -1.32982552e-03 1.14829446e+02] [-1.49087044e-03 -2.39282532e-05 9.99998888e-01 -6.47819936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:114.83, Z:-0.65 [[-4.67910566e-01 8.83775564e-01 -6.75059926e-04 1.72621898e+02] [-8.83774564e-01 -4.67911052e-01 -1.32949645e-03 1.14829111e+02] [-1.49084447e-03 -2.54846438e-05 9.99998888e-01 -6.48511024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:114.83, Z:-0.65 [[-4.68944372e-01 8.83227445e-01 -6.75774938e-04 1.72621012e+02] [-8.83226445e-01 -4.68944858e-01 -1.32913291e-03 1.14825702e+02] [-1.49082785e-03 -2.64271034e-05 9.99998888e-01 -6.49383538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:114.82, Z:-0.65 [[-4.69457817e-01 8.82954642e-01 -6.76421492e-04 1.72618974e+02] [-8.82953643e-01 -4.69458304e-01 -1.32880379e-03 1.14819941e+02] [-1.49082516e-03 -2.65685051e-05 9.99998888e-01 -6.49173081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:114.62, Z:-0.65 [[-4.72383630e-01 8.81392788e-01 -6.77068134e-04 1.72513696e+02] [-8.81391788e-01 -4.72384114e-01 -1.32847422e-03 1.14619954e+02] [-1.49074383e-03 -3.07871826e-05 9.99998888e-01 -6.51981136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:114.36, Z:0.17 [[-3.79227992e-01 -9.25303016e-01 6.77068134e-04 1.73258257e+02] [-9.25302071e-01 3.79228577e-01 1.32847422e-03 1.14362555e+02] [-1.48600479e-03 -1.22697934e-04 -9.99998888e-01 1.66778548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.51, Y:114.68, Z:-0.65 [[-4.05395274e-01 9.14141307e-01 -5.84445918e-04 1.72511316e+02] [-9.14140284e-01 -4.05395695e-01 -1.36804364e-03 1.14683430e+02] [-1.48751706e-03 -2.03328679e-05 9.99998893e-01 -6.48605530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:114.68, Z:-0.65 [[-4.04579488e-01 9.14502649e-01 -5.85110955e-04 1.72507162e+02] [-9.14501626e-01 -4.04579911e-01 -1.36775914e-03 1.14676056e+02] [-1.48754350e-03 -1.82823741e-05 9.99998893e-01 -6.47083454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:114.68, Z:-0.65 [[-4.02368810e-01 9.15477470e-01 -5.85844423e-04 1.72506529e+02] [-9.15476448e-01 -4.02369237e-01 -1.36744491e-03 1.14678947e+02] [-1.48759078e-03 -1.38904093e-05 9.99998893e-01 -6.45786313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:114.68, Z:-0.65 [[-4.02220239e-01 9.15542754e-01 -5.86576942e-04 1.72504221e+02] [-9.15541734e-01 -4.02220667e-01 -1.36713062e-03 1.14675080e+02] [-1.48759990e-03 -1.28519335e-05 9.99998893e-01 -6.45093405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:114.67, Z:-0.65 [[-4.02569361e-01 9.15389297e-01 -5.87238823e-04 1.72501560e+02] [-9.15388276e-01 -4.02569789e-01 -1.36684625e-03 1.14670156e+02] [-1.48760104e-03 -1.26988888e-05 9.99998893e-01 -6.46041002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:114.44, Z:-0.65 [[-3.98080337e-01 9.17350369e-01 -5.87969371e-04 1.72403365e+02] [-9.17349351e-01 -3.98080771e-01 -1.36653192e-03 1.14435844e+02] [-1.48764786e-03 -4.61616722e-06 9.99998893e-01 -6.47722626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:114.66, Z:-0.64 [[-4.05785297e-01 9.13968250e-01 -5.75221835e-04 1.72494979e+02] [-9.13967221e-01 -4.05785704e-01 -1.37201888e-03 1.14656097e+02] [-1.48739849e-03 -3.10111851e-05 9.99998893e-01 -6.44910636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:114.65, Z:-0.65 [[-4.07288607e-01 9.13299317e-01 -5.90301701e-04 1.72494477e+02] [-9.13298296e-01 -4.07289035e-01 -1.36549989e-03 1.14654768e+02] [-1.48753353e-03 -1.70310123e-05 9.99998893e-01 -6.45930779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:114.65, Z:-0.65 [[-4.09049284e-01 9.12512101e-01 -5.91033373e-04 1.72490939e+02] [-9.12511080e-01 -4.09049710e-01 -1.36518313e-03 1.14646786e+02] [-1.48750815e-03 -1.91026793e-05 9.99998893e-01 -6.46414484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:114.65, Z:-0.65 [[-4.10727610e-01 9.11757907e-01 -5.91696510e-04 1.72490081e+02] [-9.11756885e-01 -4.10728035e-01 -1.36489565e-03 1.14645438e+02] [-1.48748075e-03 -2.11169615e-05 9.99998893e-01 -6.46266552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:114.64, Z:-0.65 [[-4.12473306e-01 9.10969495e-01 -5.92428732e-04 1.72486885e+02] [-9.10968473e-01 -4.12473731e-01 -1.36457776e-03 1.14638063e+02] [-1.48745000e-03 -2.31680028e-05 9.99998893e-01 -6.46460936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65999999999997 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:172.23, Y:114.05, Z:-0.65 [[-4.13963566e-01 9.10293257e-01 -5.93229738e-04 1.72231638e+02] [-9.10292235e-01 -4.13963991e-01 -1.36422944e-03 1.14050220e+02] [-1.48742461e-03 -2.47288617e-05 9.99998893e-01 -6.52511627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.97, Z:0.17 [[-3.19715384e-01 -9.47513441e-01 5.93229738e-04 1.73061268e+02] [-9.47512468e-01 3.19715909e-01 1.36422944e-03 1.13970227e+02] [-1.48229072e-03 -1.25927433e-04 -9.99998893e-01 1.66026813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:114.16, Z:0.16 [[-2.55392300e-01 -9.66837329e-01 5.93229738e-04 1.73090189e+02] [-9.66836393e-01 2.55392889e-01 1.36422944e-03 1.14160286e+02] [-1.47049461e-03 -2.25142405e-04 -9.99998893e-01 1.64356090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:114.06, Z:0.16 [[-1.92071882e-01 -9.81380732e-01 5.00682751e-04 1.73033511e+02] [-9.81379773e-01 1.92072403e-01 1.39025351e-03 1.14062978e+02] [-1.46053534e-03 -2.24331318e-04 -9.99998908e-01 1.62654473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:114.23, Z:-0.65 [[-2.15806705e-01 9.76436059e-01 -2.99778686e-04 1.72222906e+02] [-9.76435008e-01 -2.15806912e-01 -1.43230245e-03 1.14232751e+02] [-1.46324607e-03 -1.63860675e-05 9.99998929e-01 -6.46544669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:114.22, Z:-0.65 [[-2.14124101e-01 9.76806418e-01 -3.00545123e-04 1.72219840e+02] [-9.76805369e-01 -2.14124312e-01 -1.43214161e-03 1.14223939e+02] [-1.46327913e-03 -1.30819441e-05 9.99998929e-01 -6.46449702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:114.22, Z:-0.65 [[-2.05845475e-01 9.78584462e-01 -3.01311779e-04 1.72220784e+02] [-9.78583415e-01 -2.05845695e-01 -1.43198029e-03 1.14219110e+02] [-1.46333739e-03 9.20470715e-08 9.99998929e-01 -6.49056216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:114.23, Z:-0.65 [[-2.02715253e-01 9.79237684e-01 -2.90430378e-04 1.72219754e+02] [-9.79236634e-01 -2.02715461e-01 -1.43427276e-03 1.14229410e+02] [-1.46336866e-03 -6.34890037e-06 9.99998929e-01 -6.47192081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:172.21, Y:114.22, Z:-0.65 [[-2.04651465e-01 9.78834864e-01 -2.95913527e-04 1.72214672e+02] [-9.78833815e-01 -2.04651679e-01 -1.43311286e-03 1.14220137e+02] [-1.46334003e-03 -3.63847928e-06 9.99998929e-01 -6.46019087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:114.23, Z:-0.65 [[-1.95899621e-01 9.80623907e-01 -3.03817864e-04 1.72218562e+02] [-9.80622862e-01 -1.95899856e-01 -1.43143519e-03 1.14227963e+02] [-1.46321744e-03 1.75131329e-05 9.99998929e-01 -6.48450262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:114.21, Z:-0.65 [[-2.00704071e-01 9.79651872e-01 -2.91828311e-04 1.72211098e+02] [-9.79650823e-01 -2.00704283e-01 -1.43398368e-03 1.14213111e+02] [-1.46337599e-03 -1.91651685e-06 9.99998929e-01 -6.45390320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:114.21, Z:-0.65 [[-1.97298810e-01 9.80343351e-01 -3.05446956e-04 1.72208992e+02] [-9.80342307e-01 -1.97299045e-01 -1.43107694e-03 1.14208189e+02] [-1.46321115e-03 1.70927973e-05 9.99998929e-01 -6.45336562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:114.20, Z:-0.65 [[-1.97868234e-01 9.80228580e-01 -3.06278131e-04 1.72207847e+02] [-9.80227535e-01 -1.97868470e-01 -1.43089903e-03 1.14202686e+02] [-1.46321091e-03 1.70927944e-05 9.99998929e-01 -6.45345146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:114.20, Z:-0.64 [[-1.97206642e-01 9.80361895e-01 -3.07109204e-04 1.72206829e+02] [-9.80360852e-01 -1.97206880e-01 -1.43072063e-03 1.14199725e+02] [-1.46318804e-03 1.89302284e-05 9.99998929e-01 -6.44907765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:114.20, Z:-0.64 [[-1.97063217e-01 9.80390735e-01 -3.07939159e-04 1.72205667e+02] [-9.80389692e-01 -1.97063457e-01 -1.43054198e-03 1.14196516e+02] [-1.46317366e-03 1.99931725e-05 9.99998929e-01 -6.44737428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:114.17, Z:-0.64 [[-1.99363230e-01 9.79925613e-01 -3.08767481e-04 1.72200415e+02] [-9.79924569e-01 -1.99363468e-01 -1.43036317e-03 1.14172046e+02] [-1.46320646e-03 1.74070188e-05 9.99998929e-01 -6.44934658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:114.17, Z:-0.65 [[-1.99708755e-01 9.79855252e-01 -3.12746460e-04 1.72199751e+02] [-9.79854210e-01 -1.99708998e-01 -1.42949264e-03 1.14165702e+02] [-1.46315416e-03 2.09637403e-05 9.99998929e-01 -6.45584044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:114.16, Z:-0.65 [[-2.00607176e-01 9.79671712e-01 -3.13574509e-04 1.72199115e+02] [-9.79670669e-01 -2.00607420e-01 -1.42931098e-03 1.14161291e+02] [-1.46316091e-03 2.04697098e-05 9.99998929e-01 -6.45098137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:114.16, Z:-0.64 [[-2.02336510e-01 9.79316005e-01 -3.14402116e-04 1.72199235e+02] [-9.79314962e-01 -2.02336754e-01 -1.42912891e-03 1.14164174e+02] [-1.46318392e-03 1.87337405e-05 9.99998929e-01 -6.44927246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:113.87, Z:0.16 [[-1.61571404e-01 -9.86860974e-01 3.14402116e-04 1.72971075e+02] [-9.86859943e-01 1.61571691e-01 1.42912891e-03 1.13868728e+02] [-1.46115003e-03 -7.93644896e-05 -9.99998929e-01 1.59927772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:113.98, Z:-0.64 [[-1.39482316e-01 9.90224538e-01 -2.17212984e-04 1.72132249e+02] [-9.90223486e-01 -1.39482484e-01 -1.44375106e-03 1.13984186e+02] [-1.45993514e-03 1.37116563e-05 9.99998934e-01 -6.44327207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:113.98, Z:-0.64 [[-1.42125036e-01 9.89848689e-01 -2.18124264e-04 1.72131645e+02] [-9.89847636e-01 -1.42125203e-01 -1.44361337e-03 1.13979987e+02] [-1.45995976e-03 1.07361845e-05 9.99998934e-01 -6.44423602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:113.97, Z:-0.64 [[-1.45011669e-01 9.89429921e-01 -2.19036387e-04 1.72130840e+02] [-9.89428868e-01 -1.45011834e-01 -1.44347497e-03 1.13972776e+02] [-1.45998019e-03 7.40021042e-06 9.99998934e-01 -6.44759388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:113.96, Z:-0.65 [[-1.48007983e-01 9.88986142e-01 -2.19875134e-04 1.72130153e+02] [-9.88985089e-01 -1.48008146e-01 -1.44334719e-03 1.13964548e+02] [-1.45999368e-03 3.82632277e-06 9.99998934e-01 -6.45532108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:113.96, Z:-0.65 [[-1.51442833e-01 9.88465993e-01 -2.20715361e-04 1.72129259e+02] [-9.88464940e-01 -1.51442994e-01 -1.44321869e-03 1.13956510e+02] [-1.45999840e-03 -3.95731324e-07 9.99998934e-01 -6.46239878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40999999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.13, Y:113.95, Z:-0.65 [[-1.57474153e-01 9.87523084e-01 -2.21557072e-04 1.72129112e+02] [-9.87522030e-01 -1.57474309e-01 -1.44308947e-03 1.13951276e+02] [-1.45997371e-03 -8.45680243e-06 9.99998934e-01 -6.47649580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:113.94, Z:-0.65 [[-1.60445728e-01 9.87044639e-01 -2.22399239e-04 1.72126885e+02] [-9.87043584e-01 -1.60445882e-01 -1.44295967e-03 1.13936319e+02] [-1.45994864e-03 -1.19989730e-05 9.99998934e-01 -6.48205865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:113.93, Z:-0.65 [[-1.64275011e-01 9.86414553e-01 -2.23244122e-04 1.72124176e+02] [-9.86413498e-01 -1.64275162e-01 -1.44282894e-03 1.13926133e+02] [-1.45990093e-03 -1.68097253e-05 9.99998934e-01 -6.46873158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:113.69, Z:0.16 [[-7.32080396e-02 -9.97316666e-01 2.23244122e-04 1.72913481e+02] [-9.97315630e-01 7.32082865e-02 1.44282894e-03 1.13692244e+02] [-1.45530067e-03 -1.17018173e-04 -9.99998934e-01 1.61872953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:113.59, Z:0.16 [[-3.31170281e-03 -9.99994491e-01 2.23244122e-04 1.72874878e+02] [-9.99993474e-01 3.31202155e-03 1.44282894e-03 1.13587425e+02] [-1.44356038e-03 -2.18464444e-04 -9.99998934e-01 1.62933102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:113.60, Z:-0.65 [[-3.53170424e-02 9.99376158e-01 -2.66806245e-05 1.72027916e+02] [-9.99375112e-01 -3.53170440e-02 -1.44645469e-03 1.13596785e+02] [-1.44649461e-03 -2.44205494e-05 9.99998954e-01 -6.48227458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:113.59, Z:-0.65 [[-3.76970531e-02 9.99289213e-01 -2.75302498e-05 1.72026419e+02] [-9.99288167e-01 -3.76970535e-02 -1.44643852e-03 1.13590385e+02] [-1.44644822e-03 -2.70158167e-05 9.99998954e-01 -6.47857362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:113.59, Z:-0.65 [[-3.71987593e-02 9.99307886e-01 -2.83807552e-05 1.72026342e+02] [-9.99306840e-01 -3.71987615e-02 -1.44642183e-03 1.13588233e+02] [-1.44647647e-03 -2.54440146e-05 9.99998954e-01 -6.45148219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:113.57, Z:-0.65 [[-3.86653591e-02 9.99252215e-01 -2.61290120e-05 1.72025446e+02] [-9.99251169e-01 -3.86653564e-02 -1.44646726e-03 1.13573118e+02] [-1.44639590e-03 -2.98187302e-05 9.99998954e-01 -6.45106836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.56, Z:-0.65 [[-4.01606188e-02 9.99193237e-01 -2.71520195e-05 1.72024808e+02] [-9.99192190e-01 -4.01606161e-02 -1.44644600e-03 1.13556746e+02] [-1.44636950e-03 -3.09600805e-05 9.99998954e-01 -6.45154399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:113.55, Z:-0.65 [[-3.22895519e-02 9.99478556e-01 -2.83039223e-05 1.72028237e+02] [-9.99477510e-01 -3.22895591e-02 -1.44642138e-03 1.13553615e+02] [-1.44658107e-03 -1.84151644e-05 9.99998954e-01 -6.51414993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.56, Z:-0.65 [[-4.47745731e-02 9.98997116e-01 -7.05051552e-06 1.72023208e+02] [-9.98996070e-01 -4.47745364e-02 -1.44687744e-03 1.13562324e+02] [-1.44574207e-03 -5.77398821e-05 9.99998953e-01 -6.47238915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:113.45, Z:-0.65 [[-6.80572515e-02 9.97681417e-01 -3.28261283e-05 1.72026397e+02] [-9.97680371e-01 -6.80572277e-02 -1.44629241e-03 1.13448651e+02] [-1.44517312e-03 -6.56807026e-05 9.99998954e-01 -6.47639634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:172.00, Y:112.85, Z:-0.65 [[-6.86844601e-02 9.97638432e-01 -6.60130015e-05 1.71998011e+02] [-9.97637386e-01 -6.86844838e-02 -1.44477608e-03 1.12846625e+02] [-1.44589821e-03 -3.33766267e-05 9.99998954e-01 -6.52742092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.41, Z:-0.65 [[-7.13258116e-02 9.97453069e-01 -6.21986468e-05 1.72023810e+02] [-9.97452023e-01 -7.13258269e-02 -1.44495228e-03 1.13405213e+02] [-1.44570845e-03 -4.10222278e-05 9.99998954e-01 -6.48214202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.43, Z:-0.65 [[-7.16347213e-02 9.97430931e-01 -7.01714182e-05 1.72024224e+02] [-9.97429885e-01 -7.16347478e-02 -1.44456499e-03 1.13429379e+02] [-1.44588052e-03 -3.34899409e-05 9.99998954e-01 -6.48537146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.44, Z:-0.65 [[-6.75775999e-02 9.97714019e-01 -7.11089512e-05 1.72024461e+02] [-9.97712973e-01 -6.75776321e-02 -1.44451884e-03 1.13437943e+02] [-1.44602207e-03 -2.66707931e-05 9.99998954e-01 -6.46935914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.42, Z:-0.65 [[-7.10089495e-02 9.97475676e-01 -6.50473791e-05 1.72020593e+02] [-9.97474631e-01 -7.10089692e-02 -1.44482027e-03 1.13418835e+02] [-1.44579203e-03 -3.77120592e-05 9.99998954e-01 -6.49052834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.42, Z:-0.65 [[-6.72072270e-02 9.97739036e-01 -7.28382835e-05 1.72020064e+02] [-9.97737990e-01 -6.72072621e-02 -1.44442740e-03 1.13417600e+02] [-1.44605686e-03 -2.44024375e-05 9.99998954e-01 -6.47680054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.43, Z:-0.65 [[-5.45392871e-02 9.98511623e-01 -6.77391307e-05 1.72022069e+02] [-9.98510578e-01 -5.45393280e-02 -1.44468657e-03 1.13434566e+02] [-1.44623078e-03 -1.11539372e-05 9.99998954e-01 -6.54003578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:113.42, Z:-0.65 [[-6.22567562e-02 9.98060166e-01 -4.49184345e-05 1.72015084e+02] [-9.98059119e-01 -6.22567560e-02 -1.44585045e-03 1.13415741e+02] [-1.44584222e-03 -4.51827057e-05 9.99998954e-01 -6.46300309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:113.41, Z:-0.65 [[-6.37200122e-02 9.97967813e-01 -6.72865276e-05 1.72012329e+02] [-9.97966768e-01 -6.37200428e-02 -1.44468381e-03 1.13411942e+02] [-1.44603545e-03 -2.49055516e-05 9.99998954e-01 -6.46076814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:113.40, Z:-0.65 [[-6.39182195e-02 9.97955137e-01 -7.66404473e-05 1.72008980e+02] [-9.97954092e-01 -6.39182635e-02 -1.44418742e-03 1.13401410e+02] [-1.44613298e-03 -1.58262403e-05 9.99998954e-01 -6.47338351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:113.40, Z:-0.65 [[-6.07953177e-02 9.98150251e-01 -7.74845263e-05 1.72004942e+02] [-9.98149206e-01 -6.07953662e-02 -1.44414213e-03 1.13397127e+02] [-1.44618153e-03 -1.04559611e-05 9.99998954e-01 -6.46055549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:113.23, Z:0.16 [[ 1.83147323e-02 -9.99832256e-01 1.75078226e-04 1.72867159e+02] [-9.99831241e-01 -1.83144617e-02 1.43884352e-03 1.13233839e+02] [-1.43539570e-03 -2.01400714e-04 -9.99998950e-01 1.59611719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.24, Z:0.16 [[ 9.47485247e-02 -9.95501239e-01 -1.95435042e-05 1.72858307e+02] [-9.95500210e-01 -9.47484549e-02 1.43619517e-03 1.13240740e+02] [-1.43158579e-03 -1.16621811e-04 -9.99998968e-01 1.58783424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:113.13, Z:-0.65 [[ 9.03479227e-02 9.95910255e-01 1.31513515e-04 1.71958958e+02] [-9.95909234e-01 9.03480184e-02 -1.42586773e-03 1.13130716e+02] [-1.43191828e-03 -2.15133674e-06 9.99998975e-01 -6.45972004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:113.10, Z:-0.65 [[ 9.17355618e-02 9.95783395e-01 1.31640756e-04 1.71959262e+02] [-9.95782374e-01 9.17356562e-02 -1.42585599e-03 1.13103112e+02] [-1.43191986e-03 -2.83844286e-07 9.99998975e-01 -6.47530416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:113.08, Z:-0.65 [[ 9.63336073e-02 9.95349094e-01 1.31816354e-04 1.71965962e+02] [-9.95348073e-01 9.63336973e-02 -1.42583975e-03 1.13078442e+02] [-1.43190666e-03 6.15313242e-06 9.99998975e-01 -6.51338877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:113.04, Z:-0.65 [[ 9.02111177e-02 9.95922652e-01 1.58343823e-04 1.71963051e+02] [-9.95921635e-01 9.02112519e-02 -1.42338228e-03 1.13040303e+02] [-1.43186305e-03 -2.92931320e-05 9.99998974e-01 -6.48386571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:113.13, Z:0.16 [[ 1.72959206e-01 -9.84928980e-01 -1.30836804e-04 1.72867080e+02] [-9.84927955e-01 -1.72959215e-01 1.42590625e-03 1.13129231e+02] [-1.42704581e-03 -1.17758785e-04 -9.99998975e-01 1.60198151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:112.95, Z:-0.65 [[ 1.63632393e-01 9.86521354e-01 2.41294381e-04 1.71969817e+02] [-9.86520351e-01 1.63632571e-01 -1.40696276e-03 1.12949060e+02] [-1.42748243e-03 -7.81713392e-06 9.99998981e-01 -6.48325646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:112.92, Z:-0.65 [[ 1.61679672e-01 9.86843263e-01 2.41463780e-04 1.71975882e+02] [-9.86842260e-01 1.61679852e-01 -1.40693369e-03 1.12916344e+02] [-1.42746286e-03 -1.08140852e-05 9.99998981e-01 -6.47041125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:112.89, Z:-0.65 [[ 1.59813870e-01 9.87147136e-01 2.41058468e-04 1.71982071e+02] [-9.87146134e-01 1.59814051e-01 -1.40700313e-03 1.12885260e+02] [-1.42744364e-03 -1.31013206e-05 9.99998981e-01 -6.47911237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:113.04, Z:0.16 [[ 2.55357537e-01 -9.66846663e-01 -2.40682174e-04 1.72870487e+02] [-9.66845648e-01 -2.55357619e-01 1.40706749e-03 1.13040226e+02] [-1.42187854e-03 -1.26602777e-04 -9.99998981e-01 1.60455701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.04, Z:0.16 [[ 3.32536054e-01 -9.43090479e-01 -3.48833370e-04 1.72860329e+02] [-9.43089479e-01 -3.32536211e-01 1.37972381e-03 1.13041195e+02] [-1.41720411e-03 -1.29826830e-04 -9.99998987e-01 1.61153742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:113.04, Z:0.16 [[ 4.05774762e-01 -9.13972995e-01 -4.54197918e-04 1.72851059e+02] [-9.13972016e-01 -4.05774996e-01 1.34411958e-03 1.13041957e+02] [-1.41279115e-03 -1.30285615e-04 -9.99998994e-01 1.61586174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:113.04, Z:0.16 [[ 4.76349531e-01 -8.79255830e-01 -5.56222105e-04 1.72842336e+02] [-8.79254878e-01 -4.76349838e-01 1.30048342e-03 1.13041686e+02] [-1.40841394e-03 -1.30423667e-04 -9.99999000e-01 1.61809382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:113.04, Z:0.16 [[ 5.43872368e-01 -8.39167695e-01 -6.54164574e-04 1.72833473e+02] [-8.39166775e-01 -5.43872745e-01 1.24919396e-03 1.13039643e+02] [-1.40406550e-03 -1.30448902e-04 -9.99999006e-01 1.61141088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:113.04, Z:0.16 [[ 6.07590428e-01 -7.94250158e-01 -7.47493978e-04 1.72825900e+02] [-7.94249276e-01 -6.07590874e-01 1.19059895e-03 1.13036525e+02] [-1.39980393e-03 -1.29699978e-04 -9.99999012e-01 1.61401283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:113.04, Z:0.16 [[ 6.67527347e-01 -7.44584813e-01 -8.35651415e-04 1.72819407e+02] [-7.44583974e-01 -6.67527857e-01 1.12512265e-03 1.13035568e+02] [-1.39556983e-03 -1.28837485e-04 -9.99999018e-01 1.61344761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:113.03, Z:0.16 [[ 7.23315226e-01 -6.90517372e-01 -9.18167756e-04 1.72814780e+02] [-6.90516580e-01 -7.23315798e-01 1.05318482e-03 1.13033618e+02] [-1.39136765e-03 -1.27774554e-04 -9.99999024e-01 1.61098467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:113.01, Z:0.16 [[ 7.72586317e-01 -6.34908965e-01 -9.94611593e-04 1.72817788e+02] [-6.34908228e-01 -7.72586947e-01 9.75221041e-04 1.13009044e+02] [-1.38760052e-03 -1.21955348e-04 -9.99999030e-01 1.60803789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:113.00, Z:0.16 [[ 8.19566855e-01 -5.72982604e-01 -1.05169619e-03 1.72813921e+02] [-5.72981903e-01 -8.19567517e-01 9.07396300e-04 1.12998862e+02] [-1.38185833e-03 -1.41069045e-04 -9.99999035e-01 1.60963904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:112.99, Z:0.16 [[ 8.60709402e-01 -5.09095334e-01 -1.12563450e-03 1.72808577e+02] [-5.09094713e-01 -8.60710130e-01 8.03861717e-04 1.12994992e+02] [-1.37808726e-03 -1.18836767e-04 -9.99999043e-01 1.60010745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:112.99, Z:0.16 [[ 8.96629781e-01 -4.42779449e-01 -1.18139721e-03 1.72801410e+02] [-4.42778893e-01 -8.96630552e-01 7.11237359e-04 1.12990409e+02] [-1.37419812e-03 -1.14618850e-04 -9.99999049e-01 1.59915221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:112.99, Z:0.16 [[ 9.25882397e-01 -3.77809839e-01 -1.22961172e-03 1.72794600e+02] [-3.77809353e-01 -9.25883208e-01 6.14808820e-04 1.12986752e+02] [-1.37075767e-03 -1.04681855e-04 -9.99999055e-01 1.60142699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:112.98, Z:0.16 [[ 9.51405792e-01 -3.07937342e-01 -1.27001855e-03 1.72788871e+02] [-3.07936927e-01 -9.51406634e-01 5.15202526e-04 1.12982223e+02] [-1.36695417e-03 -9.90810574e-05 -9.99999061e-01 1.60011017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:112.98, Z:0.16 [[ 9.71690004e-01 -2.36255878e-01 -1.30241704e-03 1.72783604e+02] [-2.36255535e-01 -9.71690872e-01 4.13042834e-04 1.12975786e+02] [-1.36313054e-03 -9.36463588e-05 -9.99999067e-01 1.59683036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:112.97, Z:0.16 [[ 9.86623984e-01 -1.63007223e-01 -1.32665841e-03 1.72774535e+02] [-1.63006954e-01 -9.86624872e-01 3.08947389e-04 1.12970225e+02] [-1.35927484e-03 -8.85603569e-05 -9.99999072e-01 1.60388402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:112.96, Z:0.16 [[ 9.95728636e-01 -9.23183719e-02 -1.34263689e-03 1.72766048e+02] [-9.23181811e-02 -9.95729538e-01 2.03553576e-04 1.12958932e+02] [-1.35569495e-03 -7.87343289e-05 -9.99999078e-01 1.59417663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:112.95, Z:0.16 [[ 9.99900119e-01 -1.40687141e-02 -1.35029454e-03 1.72759090e+02] [-1.40685952e-02 -9.99901028e-01 9.74816664e-05 1.12947366e+02] [-1.35153234e-03 -7.84751825e-05 -9.99999084e-01 1.59378149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:112.94, Z:0.16 [[ 9.98131286e-01 6.10910345e-02 -1.34962535e-03 1.72751534e+02] [ 6.10910786e-02 -9.98132196e-01 -8.52025614e-06 1.12935693e+02] [-1.34762503e-03 -7.39457343e-05 -9.99999089e-01 1.60808655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:112.93, Z:0.16 [[ 9.90662022e-01 1.36334005e-01 -1.34068507e-03 1.72745577e+02] [ 1.36333975e-01 -9.90662927e-01 -1.13824117e-04 1.12927702e+02] [-1.34368509e-03 -7.00196946e-05 -9.99999095e-01 1.59927812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:112.91, Z:0.16 [[ 9.77916025e-01 2.08994010e-01 -1.32359089e-03 1.72741407e+02] [ 2.08993906e-01 -9.77916919e-01 -2.17737066e-04 1.12914260e+02] [-1.33986767e-03 -6.36938651e-05 -9.99999100e-01 1.59321641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:112.90, Z:0.16 [[ 9.59116782e-01 2.83007620e-01 -1.29848875e-03 1.72737590e+02] [ 2.83007446e-01 -9.59117659e-01 -3.19693625e-04 1.12901048e+02] [-1.33587922e-03 -6.08584637e-05 -9.99999106e-01 1.59127265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:112.89, Z:0.16 [[ 9.34614316e-01 3.55660624e-01 -1.26556593e-03 1.72735380e+02] [ 3.55660382e-01 -9.34615171e-01 -4.19109248e-04 1.12887995e+02] [-1.33187777e-03 -5.84061594e-05 -9.99999111e-01 1.58804684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:112.87, Z:0.16 [[ 9.05056714e-01 4.25289130e-01 -1.22509176e-03 1.72734859e+02] [ 4.25288821e-01 -9.05057541e-01 -5.15328603e-04 1.12867812e+02] [-1.32794219e-03 -5.46162165e-05 -9.99999117e-01 1.57392909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:112.85, Z:0.16 [[ 8.69806195e-01 4.93392111e-01 -1.18697107e-03 1.72737729e+02] [ 4.93391764e-01 -8.69807001e-01 -5.89454100e-04 1.12848107e+02] [-1.32326775e-03 -7.29309206e-05 -9.99999122e-01 1.56417019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:112.83, Z:0.16 [[ 8.28466265e-01 5.60037823e-01 -1.13320505e-03 1.72741434e+02] [ 5.60037420e-01 -8.28467037e-01 -6.76455570e-04 1.12830910e+02] [-1.31766373e-03 -7.42166116e-05 -9.99999129e-01 1.56915520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:112.81, Z:0.16 [[ 7.81672361e-01 6.23688368e-01 -1.06765995e-03 1.72745852e+02] [ 6.23687901e-01 -7.81673087e-01 -7.65863561e-04 1.12814122e+02] [-1.31222125e-03 -6.72322184e-05 -9.99999137e-01 1.56704672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:112.79, Z:0.16 [[ 7.30771657e-01 6.82621267e-01 -9.95982523e-04 1.72752585e+02] [ 6.82620741e-01 -7.30772333e-01 -8.48999856e-04 1.12794445e+02] [-1.30738183e-03 -5.94532967e-05 -9.99999144e-01 1.55855924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:112.78, Z:0.16 [[ 6.71831010e-01 7.40703872e-01 -9.31782798e-04 1.72761008e+02] [ 7.40703313e-01 -6.71831652e-01 -9.12750340e-04 1.12778608e+02] [-1.30207889e-03 -7.69606226e-05 -9.99999149e-01 1.56702171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:112.76, Z:0.16 [[ 6.10355172e-01 7.92127427e-01 -8.38450426e-04 1.72768431e+02] [ 7.92126809e-01 -6.10355745e-01 -9.91662827e-04 1.12763871e+02] [-1.29727636e-03 -5.88925256e-05 -9.99999157e-01 1.56930977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:112.75, Z:0.16 [[ 5.44941586e-01 8.38473667e-01 -7.60111449e-04 1.72781648e+02] [ 8.38473014e-01 -5.44942112e-01 -1.04803071e-03 1.12746492e+02] [-1.29296289e-03 -6.62174213e-05 -9.99999162e-01 1.55440314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:112.73, Z:0.16 [[ 4.74455459e-01 8.80279246e-01 -6.83125662e-04 1.72794251e+02] [ 8.80278569e-01 -4.74455944e-01 -1.09482431e-03 1.12733395e+02] [-1.28786414e-03 -8.18955122e-05 -9.99999167e-01 1.55898294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:112.72, Z:0.16 [[ 4.00302443e-01 9.16382898e-01 -5.82371274e-04 1.72812257e+02] [ 9.16382185e-01 -4.00302859e-01 -1.14558226e-03 1.12718095e+02] [-1.28291687e-03 -7.50952844e-05 -9.99999174e-01 1.55076570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:112.71, Z:0.16 [[ 3.25477178e-01 9.45549766e-01 -4.96817190e-04 1.72827966e+02] [ 9.45549033e-01 -3.25477546e-01 -1.18063825e-03 1.12705972e+02] [-1.27805506e-03 -8.54942079e-05 -9.99999180e-01 1.55204365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:112.70, Z:0.16 [[ 2.47019237e-01 9.69010493e-01 -4.01710721e-04 1.72842802e+02] [ 9.69009740e-01 -2.47019547e-01 -1.21114699e-03 1.12697662e+02] [-1.27284455e-03 -9.00849956e-05 -9.99999186e-01 1.56209289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:112.69, Z:0.16 [[ 1.69464229e-01 9.85536297e-01 -2.88363353e-04 1.72859726e+02] [ 9.85535522e-01 -1.69464458e-01 -1.23777103e-03 1.12687070e+02] [-1.26873562e-03 -7.44344134e-05 -9.99999192e-01 1.55916466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:112.68, Z:0.16 [[ 8.82419752e-02 9.96099049e-01 -1.97140661e-04 1.72877640e+02] [ 9.96098266e-01 -8.82421536e-02 -1.25182560e-03 1.12679380e+02] [-1.26433840e-03 -8.59079069e-05 -9.99999197e-01 1.56865921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:112.67, Z:0.16 [[ 8.55711370e-03 9.99963383e-01 -9.34733108e-05 1.72888124e+02] [ 9.99962593e-01 -8.55722468e-03 -1.25951912e-03 1.12673965e+02] [-1.26027287e-03 -8.26919660e-05 -9.99999202e-01 1.55952427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:112.88, Z:0.16 [[-6.90207347e-02 9.97615226e-01 5.41604871e-06 1.72914373e+02] [ 9.97614434e-01 6.90206868e-02 -1.25909375e-03 1.12882486e+02] [-1.25646491e-03 -8.15004472e-05 -9.99999207e-01 1.56631789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:112.61, Z:0.16 [[-1.50590852e-01 9.88596169e-01 9.57915592e-05 1.72980250e+02] [ 9.88595381e-01 1.50590853e-01 -1.25165755e-03 1.12614973e+02] [-1.25180919e-03 -9.37890834e-05 -9.99999212e-01 1.55802774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:112.59, Z:0.16 [[-2.30399147e-01 9.73096189e-01 2.00709019e-04 1.73024219e+02] [ 9.73095410e-01 2.30399218e-01 -1.23460113e-03 1.12595000e+02] [-1.24762885e-03 -8.91420227e-05 -9.99999218e-01 1.56432735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:112.57, Z:0.16 [[-3.07397997e-01 9.51580992e-01 2.95841272e-04 1.73068378e+02] [ 9.51580225e-01 3.07398126e-01 -1.21136786e-03 1.12574646e+02] [-1.24365568e-03 -9.08553492e-05 -9.99999223e-01 1.57283038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:112.56, Z:0.16 [[-3.82456027e-01 9.23973613e-01 3.88608971e-04 1.73114990e+02] [ 9.23972863e-01 3.82456213e-01 -1.18083840e-03 1.12555835e+02] [-1.23968944e-03 -9.25546206e-05 -9.99999227e-01 1.57754617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:112.72, Z:0.16 [[-4.52734018e-01 8.91645490e-01 4.78425318e-04 1.73083084e+02] [ 8.91644762e-01 4.52734261e-01 -1.14325229e-03 1.12717141e+02] [-1.23597528e-03 -9.10037742e-05 -9.99999232e-01 1.60348751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:112.54, Z:0.16 [[-5.25502335e-01 8.50791978e-01 5.53285300e-04 1.73220780e+02] [ 8.50791268e-01 5.25502615e-01 -1.10488292e-03 1.12538276e+02] [-1.23077839e-03 -1.09888250e-04 -9.99999237e-01 1.58892426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:112.53, Z:0.16 [[-5.91324966e-01 8.06433113e-01 6.46609909e-04 1.73269245e+02] [ 8.06432439e-01 5.91325311e-01 -1.04726158e-03 1.12531892e+02] [-1.22690323e-03 -9.78247135e-05 -9.99999243e-01 1.59134571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:112.53, Z:0.16 [[-6.53116921e-01 7.57256735e-01 7.24471322e-04 1.73314853e+02] [ 7.57256094e-01 6.53117315e-01 -9.90300752e-04 1.12532984e+02] [-1.22307668e-03 -9.81718545e-05 -9.99999247e-01 1.59275543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:112.53, Z:0.16 [[-7.10475772e-01 7.03721210e-01 7.97394743e-04 1.73364808e+02] [ 7.03720605e-01 7.10476213e-01 -9.27614420e-04 1.12532343e+02] [-1.21931194e-03 -9.79044601e-05 -9.99999252e-01 1.59079888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:112.54, Z:0.16 [[-7.63201297e-01 6.46160222e-01 8.64899644e-04 1.73414933e+02] [ 6.46159657e-01 7.63201781e-01 -8.59701350e-04 1.12536119e+02] [-1.21559776e-03 -9.72619283e-05 -9.99999256e-01 1.58625250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:112.55, Z:0.16 [[-8.11314864e-01 5.84608701e-01 9.26706992e-04 1.73461395e+02] [ 5.84608179e-01 8.11315387e-01 -7.86914126e-04 1.12545076e+02] [-1.21188849e-03 -9.66746401e-05 -9.99999261e-01 1.58350504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:112.56, Z:0.16 [[-8.54387779e-01 5.19635023e-01 9.82504391e-04 1.73502089e+02] [ 5.19634547e-01 8.54388339e-01 -7.09664713e-04 1.12561096e+02] [-1.20820693e-03 -9.57856334e-05 -9.99999266e-01 1.57759197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:112.57, Z:0.16 [[-8.92016021e-01 4.52002604e-01 1.03187554e-03 1.73554100e+02] [ 4.52002177e-01 8.92016613e-01 -6.28622655e-04 1.12573311e+02] [-1.20458920e-03 -9.43314895e-05 -9.99999270e-01 1.57656328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:112.59, Z:0.16 [[-9.24515124e-01 3.81143845e-01 1.07460939e-03 1.73597876e+02] [ 3.81143468e-01 9.24515744e-01 -5.44244831e-04 1.12591770e+02] [-1.20092887e-03 -9.35822265e-05 -9.99999275e-01 1.57338383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:112.61, Z:0.16 [[-9.51439905e-01 3.07832542e-01 1.11052886e-03 1.73638903e+02] [ 3.07832216e-01 9.51440549e-01 -4.56949403e-04 1.12613737e+02] [-1.19726608e-03 -9.29033377e-05 -9.99999279e-01 1.57431853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:112.64, Z:0.16 [[-9.72546557e-01 2.32705600e-01 1.13940737e-03 1.73677456e+02] [ 2.32705329e-01 9.72547220e-01 -3.67385857e-04 1.12638552e+02] [-1.19362021e-03 -9.21536845e-05 -9.99999283e-01 1.56826475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:112.67, Z:0.16 [[-9.87854223e-01 1.55379166e-01 1.16109614e-03 1.73717382e+02] [ 1.55378948e-01 9.87854901e-01 -2.76215044e-04 1.12666499e+02] [-1.18991258e-03 -9.24503004e-05 -9.99999288e-01 1.56787575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:112.73, Z:0.16 [[-9.97039310e-01 7.68845442e-02 1.17554653e-03 1.73458524e+02] [ 7.68843806e-02 9.97039998e-01 -1.83786724e-04 1.12728007e+02] [-1.18619727e-03 -9.28614213e-05 -9.99999292e-01 1.57201884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:112.76, Z:0.16 [[-9.99998136e-01 1.52605991e-03 1.18268564e-03 1.73494222e+02] [ 1.52595352e-03 9.99998832e-01 -9.08544044e-05 1.12756174e+02] [-1.18282290e-03 -8.90495117e-05 -9.99999297e-01 1.59954762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:173.13, Y:112.76, Z:0.16 [[-9.96592855e-01 -8.24698884e-02 1.18251998e-03 1.73132060e+02] [-8.24699515e-02 9.96593552e-01 -4.67490534e-06 1.12760621e+02] [-1.17810625e-03 -1.02181343e-04 -9.99999301e-01 1.60059652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:112.85, Z:0.16 [[-9.88219970e-01 -1.53035595e-01 1.18251998e-03 1.73704673e+02] [-1.53035708e-01 9.88220660e-01 -4.67490533e-06 1.12851722e+02] [-1.16787525e-03 -1.85587617e-04 -9.99999301e-01 1.57752198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:113.61, Z:-0.65 [[-9.89951978e-01 1.41399239e-01 -1.15585652e-03 1.73593385e+02] [-1.41399133e-01 -9.89952653e-01 -1.73231963e-04 1.13605828e+02] [-1.16873809e-03 -8.05421405e-06 9.99999317e-01 -6.48675369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:113.61, Z:-0.65 [[-9.90252916e-01 1.39276077e-01 -1.15592310e-03 1.73587050e+02] [-1.39275971e-01 -9.90253591e-01 -1.72786516e-04 1.13605698e+02] [-1.16872203e-03 -1.01100390e-05 9.99999317e-01 -6.48232281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:113.61, Z:-0.65 [[-9.90734921e-01 1.35804932e-01 -1.15598954e-03 1.73585940e+02] [-1.35804824e-01 -9.90735595e-01 -1.72340894e-04 1.13606577e+02] [-1.16868473e-03 -1.37551859e-05 9.99999317e-01 -6.47930685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:113.61, Z:-0.65 [[-9.90981344e-01 1.33994925e-01 -1.15605586e-03 1.73578096e+02] [-1.33994816e-01 -9.90982018e-01 -1.71894875e-04 1.13605901e+02] [-1.16866361e-03 -1.54391229e-05 9.99999317e-01 -6.47218630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:112.88, Z:0.16 [[-9.71566765e-01 -2.36762930e-01 1.15612210e-03 1.73712203e+02] [-2.36762892e-01 9.71567447e-01 1.71448159e-04 1.12884820e+02] [-1.16384317e-03 -1.07153480e-04 -9.99999317e-01 1.55740024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:112.92, Z:0.15 [[-9.49500450e-01 -3.13763614e-01 1.13569469e-03 1.73728913e+02] [-3.13763524e-01 9.49501123e-01 2.60503742e-04 1.12923392e+02] [-1.16007998e-03 -1.08991148e-04 -9.99999321e-01 1.54519130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:113.66, Z:-0.65 [[-9.59049602e-01 2.83236002e-01 -1.10842983e-03 1.73496729e+02] [-2.83235790e-01 -9.59050242e-01 -3.47476961e-04 1.13661633e+02] [-1.16145788e-03 -1.93006431e-05 9.99999325e-01 -6.45562162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:112.96, Z:0.15 [[-9.21458775e-01 -3.88474577e-01 1.10856447e-03 1.73744549e+02] [-3.88474438e-01 9.21459435e-01 3.47046889e-04 1.12963811e+02] [-1.15631608e-03 -1.10859557e-04 -9.99999325e-01 1.54771869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:113.00, Z:0.16 [[-8.87934884e-01 -4.59967920e-01 1.07475603e-03 1.73742896e+02] [-4.59967731e-01 8.87935527e-01 4.31295081e-04 1.12999796e+02] [-1.15269596e-03 -1.11391144e-04 -9.99999329e-01 1.55833114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:113.70, Z:-0.65 [[-9.05135198e-01 4.25122575e-01 -1.03475549e-03 1.73402592e+02] [-4.25122267e-01 -9.05135789e-01 -5.12117850e-04 1.13702633e+02] [-1.15430708e-03 -2.36382932e-05 9.99999334e-01 -6.49386663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:113.70, Z:-0.65 [[-9.05529405e-01 4.24282248e-01 -1.03492923e-03 1.73390797e+02] [-4.24281940e-01 -9.05529996e-01 -5.11766504e-04 1.13698026e+02] [-1.15429290e-03 -2.43178380e-05 9.99999334e-01 -6.51525319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:113.70, Z:-0.65 [[-9.05619224e-01 4.24090497e-01 -1.03510311e-03 1.73398882e+02] [-4.24090189e-01 -9.05619815e-01 -5.11414555e-04 1.13703492e+02] [-1.15429594e-03 -2.41697774e-05 9.99999334e-01 -6.51588876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:113.71, Z:-0.66 [[-9.02571174e-01 4.30539435e-01 -1.03527688e-03 1.73407305e+02] [-4.30539132e-01 -9.02571767e-01 -5.11062547e-04 1.13705490e+02] [-1.15444427e-03 -1.55431127e-05 9.99999334e-01 -6.57322971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:113.71, Z:-0.65 [[-9.04960064e-01 4.25495264e-01 -1.03069526e-03 1.73390894e+02] [-4.25494947e-01 -9.04960651e-01 -5.20340410e-04 1.13705612e+02] [-1.15414104e-03 -3.23316633e-05 9.99999333e-01 -6.50884548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:113.71, Z:-0.65 [[-9.04558670e-01 4.26347910e-01 -1.03550690e-03 1.73392086e+02] [-4.26347605e-01 -9.04559262e-01 -5.10581971e-04 1.13708743e+02] [-1.15436291e-03 -2.03654621e-05 9.99999334e-01 -6.50089190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:112.96, Z:0.16 [[-8.51576819e-01 -5.24228814e-01 1.03570483e-03 1.73635568e+02] [-5.24228577e-01 8.51577442e-01 5.10180165e-04 1.12961547e+02] [-1.14943401e-03 -1.08488466e-04 -9.99999334e-01 1.58014708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:113.01, Z:0.16 [[-8.15918977e-01 -5.78165331e-01 1.03570483e-03 1.73657062e+02] [-5.78165135e-01 8.15919614e-01 5.10180165e-04 1.13007773e+02] [-1.14002037e-03 -1.82542743e-04 -9.99999334e-01 1.55752734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:113.68, Z:-0.65 [[-8.29811290e-01 5.58043313e-01 -9.40179279e-04 1.73193545e+02] [-5.58042936e-01 -8.29811822e-01 -6.48640727e-04 1.13682738e+02] [-1.14214150e-03 -1.35889931e-05 9.99999348e-01 -6.45778695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:113.69, Z:-0.64 [[-8.29590096e-01 5.58372088e-01 -9.40430695e-04 1.73195043e+02] [-5.58371712e-01 -8.29590629e-01 -6.48276007e-04 1.13685646e+02] [-1.14215172e-03 -1.26934573e-05 9.99999348e-01 -6.44960304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:113.69, Z:-0.64 [[-8.29317646e-01 5.58776661e-01 -9.40681213e-04 1.73191238e+02] [-5.58776286e-01 -8.29318179e-01 -6.47912290e-04 1.13686261e+02] [-1.14216230e-03 -1.16947408e-05 9.99999348e-01 -6.44466308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:113.68, Z:-0.64 [[-8.29533239e-01 5.58456552e-01 -9.40931128e-04 1.73189337e+02] [-5.58456177e-01 -8.29533772e-01 -6.47549146e-04 1.13684863e+02] [-1.14216221e-03 -1.16947400e-05 9.99999348e-01 -6.44469185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:113.68, Z:-0.64 [[-8.29603084e-01 5.58352789e-01 -9.41180903e-04 1.73181484e+02] [-5.58352414e-01 -8.29603618e-01 -6.47185907e-04 1.13680739e+02] [-1.14216514e-03 -1.13967951e-05 9.99999348e-01 -6.44576286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:113.68, Z:-0.64 [[-8.29580770e-01 5.58385941e-01 -9.41431168e-04 1.73184039e+02] [-5.58385567e-01 -8.29581304e-01 -6.46821653e-04 1.13683729e+02] [-1.14216981e-03 -1.09092296e-05 9.99999348e-01 -6.44796818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:113.68, Z:-0.65 [[-8.29583484e-01 5.58381909e-01 -9.41682182e-04 1.73183114e+02] [-5.58381535e-01 -8.29584019e-01 -6.46456004e-04 1.13684207e+02] [-1.14217383e-03 -1.04712821e-05 9.99999348e-01 -6.45267168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:113.69, Z:-0.65 [[-8.29205634e-01 5.58942868e-01 -9.41931452e-04 1.73180798e+02] [-5.58942495e-01 -8.29206169e-01 -6.46092597e-04 1.13685254e+02] [-1.14218422e-03 -9.25810619e-06 9.99999348e-01 -6.45949617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:113.68, Z:-0.65 [[-8.29000736e-01 5.59246718e-01 -9.42180290e-04 1.73170940e+02] [-5.59246345e-01 -8.29001272e-01 -6.45729519e-04 1.13680110e+02] [-1.14219077e-03 -8.39936286e-06 9.99999348e-01 -6.46567137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:113.69, Z:-0.65 [[-8.28638375e-01 5.59783489e-01 -9.42429738e-04 1.73177136e+02] [-5.59783117e-01 -8.28638911e-01 -6.45365248e-04 1.13685842e+02] [-1.14219876e-03 -7.21815409e-06 9.99999348e-01 -6.46709211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:113.69, Z:-0.65 [[-8.28187113e-01 5.60450905e-01 -9.42678838e-04 1.73174752e+02] [-5.60450534e-01 -8.28187650e-01 -6.45001185e-04 1.13685806e+02] [-1.14220647e-03 -5.85681198e-06 9.99999348e-01 -6.46858333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:113.69, Z:-0.65 [[-8.27753422e-01 5.61091243e-01 -9.42926800e-04 1.73173316e+02] [-5.61090873e-01 -8.27753959e-01 -6.44638486e-04 1.13686205e+02] [-1.14221240e-03 -4.53409163e-06 9.99999348e-01 -6.47496497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:113.69, Z:-0.65 [[-8.26677925e-01 5.62674612e-01 -9.43174456e-04 1.73169259e+02] [-5.62674244e-01 -8.26678463e-01 -6.44275935e-04 1.13686661e+02] [-1.14221972e-03 -1.90871972e-06 9.99999348e-01 -6.47759775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:113.69, Z:-0.65 [[-8.26379695e-01 5.63112520e-01 -9.43422766e-04 1.73167320e+02] [-5.63112152e-01 -8.26380233e-01 -6.43912125e-04 1.13686909e+02] [-1.14222091e-03 -8.63081252e-07 9.99999348e-01 -6.47447101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:113.69, Z:-0.65 [[-8.25980100e-01 5.63698487e-01 -9.43670060e-04 1.73163405e+02] [-5.63698119e-01 -8.25980639e-01 -6.43549506e-04 1.13685558e+02] [-1.14222108e-03 3.85952772e-07 9.99999348e-01 -6.47149681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:113.69, Z:-0.65 [[-8.25804348e-01 5.63955927e-01 -9.43918173e-04 1.73164175e+02] [-5.63955560e-01 -8.25804888e-01 -6.43185382e-04 1.13687801e+02] [-1.14222045e-03 1.18261700e-06 9.99999348e-01 -6.47107604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:113.68, Z:-0.65 [[-8.25090960e-01 5.64999130e-01 -9.44164983e-04 1.73149969e+02] [-5.64998764e-01 -8.25091500e-01 -6.42822873e-04 1.13681461e+02] [-1.14221687e-03 3.06470716e-06 9.99999348e-01 -6.45782346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:113.69, Z:-0.65 [[-8.24931353e-01 5.65232139e-01 -9.44412478e-04 1.73157425e+02] [-5.65231773e-01 -8.24931894e-01 -6.42459056e-04 1.13687516e+02] [-1.14221448e-03 3.82732107e-06 9.99999348e-01 -6.45652086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:113.69, Z:-0.65 [[-8.25141161e-01 5.64925811e-01 -9.44659916e-04 1.73153632e+02] [-5.64925446e-01 -8.25141702e-01 -6.42095022e-04 1.13685808e+02] [-1.14221434e-03 3.84339185e-06 9.99999348e-01 -6.45726040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:113.69, Z:-0.65 [[-8.25783728e-01 5.63986118e-01 -9.44906307e-04 1.73151491e+02] [-5.63985753e-01 -8.25784269e-01 -6.41732228e-04 1.13686615e+02] [-1.14221683e-03 2.98166365e-06 9.99999348e-01 -6.46177610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:113.69, Z:-0.65 [[-8.26488120e-01 5.62953367e-01 -9.45184051e-04 1.73148824e+02] [-5.62953002e-01 -8.26488661e-01 -6.41322889e-04 1.13685732e+02] [-1.14221878e-03 2.04845006e-06 9.99999348e-01 -6.45982376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:113.69, Z:-0.65 [[-8.27453074e-01 5.61534075e-01 -9.45429981e-04 1.73148355e+02] [-5.61533709e-01 -8.27453614e-01 -6.40960137e-04 1.13685790e+02] [-1.14222041e-03 5.26368482e-07 9.99999348e-01 -6.46320347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:113.68, Z:-0.65 [[-8.28668635e-01 5.59738689e-01 -9.45676436e-04 1.73143442e+02] [-5.59738322e-01 -8.28669174e-01 -6.40596309e-04 1.13682619e+02] [-1.14221945e-03 -1.51072787e-06 9.99999348e-01 -6.46432742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:113.68, Z:-0.65 [[-8.29808457e-01 5.58047516e-01 -9.45922087e-04 1.73141742e+02] [-5.58047149e-01 -8.29808996e-01 -6.40233369e-04 1.13681538e+02] [-1.14221530e-03 -3.40193956e-06 9.99999348e-01 -6.46743944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:113.68, Z:-0.64 [[-8.29204539e-01 5.58944485e-01 -9.46167845e-04 1.73146169e+02] [-5.58944119e-01 -8.29205079e-01 -6.39869968e-04 1.13681713e+02] [-1.14221897e-03 -1.72812963e-06 9.99999348e-01 -6.44492680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:113.68, Z:-0.65 [[-8.33047896e-01 5.53200069e-01 -9.41596175e-04 1.73134929e+02] [-5.53199692e-01 -8.33048428e-01 -6.46629028e-04 1.13676944e+02] [-1.14211044e-03 -1.77822378e-05 9.99999348e-01 -6.45620589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:112.91, Z:0.15 [[-7.77190202e-01 -6.29265043e-01 9.46448518e-04 1.73528292e+02] [-6.29264726e-01 7.77190772e-01 6.39447052e-04 1.12914772e+02] [-1.13795273e-03 -9.85946835e-05 -9.99999348e-01 1.54684919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:113.68, Z:-0.64 [[-7.86450240e-01 6.17652998e-01 -8.91359532e-04 1.73072774e+02] [-6.17652591e-01 -7.86450745e-01 -7.08731536e-04 1.13675500e+02] [-1.13876053e-03 -6.83156140e-06 9.99999352e-01 -6.44347053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:113.67, Z:-0.65 [[-7.90675046e-01 6.12235401e-01 -8.86301929e-04 1.73065636e+02] [-6.12234984e-01 -7.90675543e-01 -7.15091771e-04 1.13673730e+02] [-1.13858176e-03 -2.27801724e-05 9.99999352e-01 -6.45282862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.65 [[-7.91053364e-01 6.11746500e-01 -8.91712059e-04 1.73056382e+02] [-6.11746091e-01 -7.91053866e-01 -7.08280517e-04 1.13666805e+02] [-1.13868040e-03 -1.47863189e-05 9.99999352e-01 -6.45731733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.65 [[-7.90952201e-01 6.11877292e-01 -8.91986476e-04 1.73059921e+02] [-6.11876883e-01 -7.90952704e-01 -7.07934755e-04 1.13670394e+02] [-1.13868832e-03 -1.41566484e-05 9.99999352e-01 -6.47127419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.67, Z:-0.65 [[-7.90841586e-01 6.12020252e-01 -8.92260988e-04 1.73052815e+02] [-6.12019843e-01 -7.90842090e-01 -7.07588599e-04 1.13665184e+02] [-1.13869610e-03 -1.35090595e-05 9.99999352e-01 -6.46818992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.65 [[-7.90700345e-01 6.12202718e-01 -8.92535273e-04 1.73057823e+02] [-6.12202310e-01 -7.90700849e-01 -7.07242453e-04 1.13669841e+02] [-1.13870415e-03 -1.28046959e-05 9.99999352e-01 -6.45841926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.65 [[-7.90372324e-01 6.12626144e-01 -8.92809103e-04 1.73057036e+02] [-6.12625736e-01 -7.90372828e-01 -7.06896607e-04 1.13669745e+02] [-1.13871540e-03 -1.17536810e-05 9.99999352e-01 -6.46691491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.66, Z:-0.65 [[-7.88926209e-01 6.14487298e-01 -8.93116550e-04 1.73048393e+02] [-6.14486892e-01 -7.88926714e-01 -7.06507954e-04 1.13663851e+02] [-1.13874367e-03 -8.57422841e-06 9.99999352e-01 -6.46259340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.66, Z:-0.65 [[-7.88082270e-01 6.15569279e-01 -8.93389498e-04 1.73047563e+02] [-6.15568874e-01 -7.88082777e-01 -7.06162639e-04 1.13663434e+02] [-1.13875690e-03 -6.57148836e-06 9.99999352e-01 -6.46457839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.66, Z:-0.65 [[-7.87288316e-01 6.16584389e-01 -8.93663978e-04 1.73045703e+02] [-6.16583985e-01 -7.87288824e-01 -7.05815108e-04 1.13662192e+02] [-1.13876624e-03 -4.66109168e-06 9.99999352e-01 -6.46598892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.67, Z:-0.65 [[-7.86228797e-01 6.17934851e-01 -8.94078259e-04 1.73050353e+02] [-6.17934448e-01 -7.86229305e-01 -7.05289935e-04 1.13666192e+02] [-1.13877376e-03 -2.03750089e-06 9.99999352e-01 -6.47029249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.65 [[-7.78993951e-01 6.27030800e-01 -8.94350698e-04 1.73055537e+02] [-6.27030404e-01 -7.78994464e-01 -7.04944296e-04 1.13666552e+02] [-1.13871603e-03 1.16377371e-05 9.99999352e-01 -6.49131794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.67, Z:-0.65 [[-7.82593017e-01 6.22533038e-01 -8.86883660e-04 1.73048560e+02] [-6.22532628e-01 -7.82593520e-01 -7.14417999e-04 1.13666265e+02] [-1.13881821e-03 -6.98452136e-06 9.99999352e-01 -6.46206517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.65 [[-7.76912278e-01 6.29608221e-01 -8.94897078e-04 1.73059572e+02] [-6.29607827e-01 -7.76912793e-01 -7.04235058e-04 1.13670409e+02] [-1.13864917e-03 1.63053422e-05 9.99999352e-01 -6.47794576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.64 [[-7.76634320e-01 6.29951065e-01 -8.87913217e-04 1.73057294e+02] [-6.29950661e-01 -7.76634828e-01 -7.13108008e-04 1.13669881e+02] [-1.13880748e-03 5.51736526e-06 9.99999352e-01 -6.43840490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.67, Z:-0.64 [[-7.78633596e-01 6.27478232e-01 -8.89601623e-04 1.73047114e+02] [-6.27477830e-01 -7.78634104e-01 -7.10960993e-04 1.13665335e+02] [-1.13878671e-03 4.62718092e-06 9.99999352e-01 -6.44768468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:113.67, Z:-0.64 [[-7.74896725e-01 6.32087229e-01 -8.95462316e-04 1.73057483e+02] [-6.32086837e-01 -7.74897242e-01 -7.03501119e-04 1.13671991e+02] [-1.13856535e-03 2.08692303e-05 9.99999352e-01 -6.44105921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.66, Z:-0.64 [[-7.74601754e-01 6.32448673e-01 -8.94023607e-04 1.73047987e+02] [-6.32448280e-01 -7.74602269e-01 -7.05333435e-04 1.13664874e+02] [-1.13859991e-03 1.90711763e-05 9.99999352e-01 -6.43745209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.67, Z:-0.64 [[-7.73148609e-01 6.34224271e-01 -8.95941577e-04 1.73051570e+02] [-6.34223882e-01 -7.73149128e-01 -7.02888683e-04 1.13667142e+02] [-1.13848551e-03 2.47901372e-05 9.99999352e-01 -6.42594007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:113.67, Z:-0.64 [[-7.72718248e-01 6.34748539e-01 -8.95216890e-04 1.73052118e+02] [-6.34748149e-01 -7.72718766e-01 -7.03812817e-04 1.13667589e+02] [-1.13849505e-03 2.43882575e-05 9.99999352e-01 -6.43291236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:113.66, Z:-0.64 [[-7.73151307e-01 6.34220982e-01 -8.96057142e-04 1.73042560e+02] [-6.34220593e-01 -7.73151826e-01 -7.02740649e-04 1.13660388e+02] [-1.13848108e-03 2.49730413e-05 9.99999352e-01 -6.42991911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:112.93, Z:0.15 [[-7.59571089e-01 -6.50423676e-01 8.96057142e-04 1.73501327e+02] [-6.50423298e-01 7.59571616e-01 7.02740649e-04 1.12926484e+02] [-1.13769873e-03 -4.90349616e-05 -9.99999352e-01 1.50988699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:113.43, Z:-0.64 [[-7.28262474e-01 6.85297786e-01 -8.45076774e-04 1.72730583e+02] [-6.85297365e-01 -7.28262964e-01 -7.59467659e-04 1.13428620e+02] [-1.13589962e-03 2.60370908e-05 9.99999355e-01 -6.44634380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:113.58, Z:-0.64 [[-7.31356191e-01 6.81995166e-01 -8.45392548e-04 1.72901620e+02] [-6.81994744e-01 -7.31356680e-01 -7.59115995e-04 1.13579338e+02] [-1.13599693e-03 2.13690919e-05 9.99999355e-01 -6.43396314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:113.58, Z:-0.64 [[-7.33050586e-01 6.80173598e-01 -8.46237228e-04 1.72900094e+02] [-6.80173175e-01 -7.33051074e-01 -7.58173203e-04 1.13576292e+02] [-1.13602450e-03 1.98085523e-05 9.99999355e-01 -6.43802107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:113.57, Z:-0.64 [[-7.34992845e-01 6.78074334e-01 -8.46526475e-04 1.72895340e+02] [-6.78073910e-01 -7.34993332e-01 -7.57850112e-04 1.13569960e+02] [-1.13607002e-03 1.69931079e-05 9.99999355e-01 -6.44084013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:113.56, Z:-0.64 [[-7.37104082e-01 6.75778703e-01 -8.46816222e-04 1.72890818e+02] [-6.75778279e-01 -7.37104568e-01 -7.57526212e-04 1.13564120e+02] [-1.13611219e-03 1.38843465e-05 9.99999355e-01 -6.43584504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:113.56, Z:-0.65 [[-7.36482618e-01 6.76455937e-01 -8.47217656e-04 1.72896771e+02] [-6.76455514e-01 -7.36483106e-01 -7.57076981e-04 1.13561018e+02] [-1.13609071e-03 1.55310176e-05 9.99999355e-01 -6.46409470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:113.55, Z:-0.64 [[-7.43086911e-01 6.69194394e-01 -8.39618892e-04 1.72885571e+02] [-6.69193956e-01 -7.43087386e-01 -7.65580866e-04 1.13553396e+02] [-1.13623263e-03 -7.02523306e-06 9.99999354e-01 -6.43829794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:113.55, Z:-0.65 [[-7.39001557e-01 6.73703184e-01 -8.47662720e-04 1.72890728e+02] [-6.73702759e-01 -7.39002043e-01 -7.56568526e-04 1.13549802e+02] [-1.13612711e-03 1.19673940e-05 9.99999355e-01 -6.50060539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:113.55, Z:-0.64 [[-7.46648264e-01 6.65218509e-01 -8.39869276e-04 1.72883181e+02] [-6.65218069e-01 -7.46648736e-01 -7.65300191e-04 1.13547592e+02] [-1.13617919e-03 -1.27138409e-05 9.99999354e-01 -6.43804273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:113.54, Z:-0.64 [[-7.49700326e-01 6.61776928e-01 -8.48195351e-04 1.72882083e+02] [-6.61776496e-01 -7.49700806e-01 -7.55958223e-04 1.13543276e+02] [-1.13616845e-03 -5.42637850e-06 9.99999355e-01 -6.42473995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:113.54, Z:-0.64 [[-7.51346715e-01 6.59907110e-01 -8.48486248e-04 1.72878172e+02] [-6.59906678e-01 -7.51347194e-01 -7.55631580e-04 1.13537814e+02] [-1.13615441e-03 -7.81956441e-06 9.99999355e-01 -6.41904256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:113.54, Z:-0.64 [[-7.52980004e-01 6.58042851e-01 -8.48852234e-04 1.72878527e+02] [-6.58042418e-01 -7.52980482e-01 -7.55220218e-04 1.13535907e+02] [-1.13613643e-03 -1.00849465e-05 9.99999355e-01 -6.41804952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:113.53, Z:-0.64 [[-7.54857049e-01 6.55888797e-01 -8.49143381e-04 1.72873332e+02] [-6.55888363e-01 -7.54857527e-01 -7.54892720e-04 1.13529238e+02] [-1.13610795e-03 -1.28928292e-05 9.99999355e-01 -6.42784337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:113.53, Z:-0.64 [[-7.58095565e-01 6.52142923e-01 -8.49434939e-04 1.72876158e+02] [-6.52142487e-01 -7.58096041e-01 -7.54564506e-04 1.13526834e+02] [-1.13603717e-03 -1.80793916e-05 9.99999355e-01 -6.41620666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:113.52, Z:-0.64 [[-7.59690195e-01 6.50284619e-01 -8.49726665e-04 1.72873697e+02] [-6.50284182e-01 -7.59690670e-01 -7.54235845e-04 1.13522295e+02] [-1.13599739e-03 -2.04217669e-05 9.99999355e-01 -6.41908474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.51, Z:-0.64 [[-7.61222166e-01 6.48490626e-01 -8.50055447e-04 1.72859835e+02] [-6.48490188e-01 -7.61222640e-01 -7.53865112e-04 1.13508177e+02] [-1.13595591e-03 -2.26062167e-05 9.99999355e-01 -6.41708726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.51, Z:-0.64 [[-7.62387397e-01 6.47120339e-01 -8.50461991e-04 1.72864707e+02] [-6.47119901e-01 -7.62387871e-01 -7.53406196e-04 1.13510657e+02] [-1.13592638e-03 -2.40365093e-05 9.99999355e-01 -6.42294653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.64 [[-7.63764231e-01 6.45494752e-01 -8.50755782e-04 1.72860588e+02] [-6.45494314e-01 -7.63764705e-01 -7.53074297e-04 1.13503939e+02] [-1.13588275e-03 -2.60131917e-05 9.99999355e-01 -6.43229410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.64 [[-7.64017073e-01 6.45195465e-01 -8.51049097e-04 1.72858872e+02] [-6.45195027e-01 -7.64017546e-01 -7.52742675e-04 1.13502321e+02] [-1.13588260e-03 -2.60156103e-05 9.99999355e-01 -6.43232271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.51, Z:-0.64 [[-7.64478438e-01 6.44648736e-01 -8.51343886e-04 1.72863652e+02] [-6.44648298e-01 -7.64478912e-01 -7.52409125e-04 1.13505506e+02] [-1.13587404e-03 -2.63831654e-05 9.99999355e-01 -6.43327498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.64 [[-7.64777585e-01 6.44293815e-01 -8.51636644e-04 1.72861111e+02] [-6.44293377e-01 -7.64778059e-01 -7.52077613e-04 1.13502457e+02] [-1.13587197e-03 -2.64682514e-05 9.99999355e-01 -6.43814600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.64 [[-7.64658790e-01 6.44434798e-01 -8.52003341e-04 1.72856681e+02] [-6.44434360e-01 -7.64659264e-01 -7.51661964e-04 1.13497585e+02] [-1.13588937e-03 -2.57047001e-05 9.99999355e-01 -6.43485432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:113.49, Z:-0.64 [[-7.63795653e-01 6.45457570e-01 -8.52295364e-04 1.72852844e+02] [-6.45457133e-01 -7.63796128e-01 -7.51330698e-04 1.13492478e+02] [-1.13593199e-03 -2.37429991e-05 9.99999355e-01 -6.43301903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.65 [[-7.57703817e-01 6.52598038e-01 -8.52625562e-04 1.72864483e+02] [-6.52597606e-01 -7.57704296e-01 -7.50955796e-04 1.13496186e+02] [-1.13611033e-03 -1.25806729e-05 9.99999355e-01 -6.50056163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.64 [[-7.63013721e-01 6.46381736e-01 -8.44425325e-04 1.72857133e+02] [-6.46381290e-01 -7.63014187e-01 -7.60265965e-04 1.13495201e+02] [-1.13573054e-03 -3.42726323e-05 9.99999354e-01 -6.42725588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.64 [[-7.62539972e-01 6.46940541e-01 -8.53166519e-04 1.72859051e+02] [-6.46940106e-01 -7.62540449e-01 -7.50326703e-04 1.13496351e+02] [-1.13599074e-03 -2.02064646e-05 9.99999355e-01 -6.42822870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.50, Z:-0.65 [[-7.57212285e-01 6.53168300e-01 -8.53457639e-04 1.72864390e+02] [-6.53167869e-01 -7.57212766e-01 -7.49995423e-04 1.13495263e+02] [-1.13612225e-03 -1.04546403e-05 9.99999355e-01 -6.48401681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.49, Z:-0.64 [[-7.60832411e-01 6.48947860e-01 -8.46976587e-04 1.72855541e+02] [-6.48947419e-01 -7.60832882e-01 -7.57371907e-04 1.13492528e+02] [-1.13590252e-03 -2.65898239e-05 9.99999355e-01 -6.41425876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:113.49, Z:-0.64 [[-7.60307195e-01 6.49563114e-01 -8.54013546e-04 1.72855176e+02] [-6.49562682e-01 -7.60307675e-01 -7.49352102e-04 1.13492360e+02] [-1.13606454e-03 -1.50024654e-05 9.99999355e-01 -6.40913155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:113.49, Z:-0.64 [[-7.58954635e-01 6.51142943e-01 -8.54303848e-04 1.72850719e+02] [-6.51142512e-01 -7.58955116e-01 -7.49020995e-04 1.13488450e+02] [-1.13609801e-03 -1.21994027e-05 9.99999355e-01 -6.39654733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:113.49, Z:-0.64 [[-7.58567148e-01 6.51594316e-01 -8.54593233e-04 1.72849438e+02] [-6.51593886e-01 -7.58567629e-01 -7.48690675e-04 1.13487165e+02] [-1.13610935e-03 -1.10844247e-05 9.99999355e-01 -6.39248698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:113.48, Z:-0.64 [[-7.57972091e-01 6.52286423e-01 -8.55288024e-04 1.72846415e+02] [-6.52285995e-01 -7.57972573e-01 -7.47896118e-04 1.13484421e+02] [-1.13612735e-03 -8.99198434e-06 9.99999355e-01 -6.39080096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:113.48, Z:-0.64 [[-7.57215657e-01 6.53164387e-01 -8.55687605e-04 1.72844462e+02] [-6.53163959e-01 -7.57216141e-01 -7.47438667e-04 1.13482506e+02] [-1.13614078e-03 -7.06795809e-06 9.99999355e-01 -6.38951974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:113.48, Z:-0.64 [[-7.55781845e-01 6.54822931e-01 -8.55976533e-04 1.72845987e+02] [-6.54822505e-01 -7.55782329e-01 -7.47107636e-04 1.13482996e+02] [-1.13615515e-03 -4.13769018e-06 9.99999355e-01 -6.39557865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:113.48, Z:-0.64 [[-7.55133411e-01 6.55570590e-01 -8.56263880e-04 1.72843924e+02] [-6.55570165e-01 -7.55133897e-01 -7.46778162e-04 1.13481090e+02] [-1.13615968e-03 -2.57608800e-06 9.99999355e-01 -6.39951948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:113.48, Z:-0.64 [[-7.54626684e-01 6.56153819e-01 -8.56551827e-04 1.72843062e+02] [-6.56153394e-01 -7.54627170e-01 -7.46447741e-04 1.13480523e+02] [-1.13616182e-03 -1.25999397e-06 9.99999355e-01 -6.40438913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:113.33, Z:-0.65 [[-7.49502840e-01 6.62000573e-01 -8.56838535e-04 1.72670201e+02] [-6.62000153e-01 -7.49503330e-01 -7.46118487e-04 1.13325537e+02] [-1.13613420e-03 8.00931531e-06 9.99999355e-01 -6.45705800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:113.34, Z:-0.65 [[-7.48185804e-01 6.63488717e-01 -8.51545216e-04 1.72692518e+02] [-6.63488290e-01 -7.48186289e-01 -7.52206617e-04 1.13345000e+02] [-1.13619506e-03 2.19996685e-06 9.99999355e-01 -6.46335848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:113.48, Z:-0.65 [[-7.47100623e-01 6.64710415e-01 -8.51080296e-04 1.72847715e+02] [-6.64709989e-01 -7.47101107e-01 -7.52740928e-04 1.13480008e+02] [-1.13619777e-03 3.34835850e-06 9.99999355e-01 -6.45459001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:113.47, Z:-0.64 [[-7.51154169e-01 6.60126269e-01 -8.50955475e-04 1.72835152e+02] [-6.60125839e-01 -7.51154651e-01 -7.52884377e-04 1.13473548e+02] [-1.13619792e-03 -3.79454127e-06 9.99999355e-01 -6.42038635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:113.47, Z:-0.64 [[-7.50944087e-01 6.60365234e-01 -8.57458841e-04 1.72829448e+02] [-6.60364814e-01 -7.50944577e-01 -7.45403368e-04 1.13468676e+02] [-1.13614254e-03 6.47939568e-06 9.99999355e-01 -6.40277486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:113.47, Z:-0.64 [[-7.51212119e-01 6.60060313e-01 -8.57781267e-04 1.72831913e+02] [-6.60059892e-01 -7.51212609e-01 -7.45032149e-04 1.13470572e+02] [-1.13614226e-03 6.50983171e-06 9.99999355e-01 -6.39285559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46999999999997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:172.99, Y:112.53, Z:0.15 [[-7.04646317e-01 -7.09558195e-01 8.58066906e-04 1.72989095e+02] [-7.09557809e-01 7.04646834e-01 7.44703027e-04 1.12534151e+02] [-1.13304426e-03 -8.40958290e-05 -9.99999355e-01 1.46439411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:113.47, Z:-0.64 [[-7.00576297e-01 7.13577063e-01 -7.92077098e-04 1.72758968e+02] [-7.13576603e-01 -7.00576745e-01 -8.09704230e-04 1.13466078e+02] [-1.13269716e-03 -2.05190597e-06 9.99999359e-01 -6.38398209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:113.47, Z:-0.64 [[-7.03711125e-01 7.10485762e-01 -7.96578679e-04 1.72762392e+02] [-7.10485306e-01 -7.03711576e-01 -8.05251131e-04 1.13466314e+02] [-1.13268110e-03 -7.06732886e-07 9.99999359e-01 -6.38740194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:113.45, Z:-0.64 [[-7.05931373e-01 7.08279791e-01 -7.96889400e-04 1.72750648e+02] [-7.08279333e-01 -7.05931823e-01 -8.04943519e-04 1.13452474e+02] [-1.13267481e-03 -3.81459021e-06 9.99999359e-01 -6.39784255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:113.46, Z:-0.64 [[-7.08366979e-01 7.05843883e-01 -7.97200151e-04 1.72758216e+02] [-7.05843424e-01 -7.08367428e-01 -8.04635640e-04 1.13458166e+02] [-1.13265776e-03 -7.27883297e-06 9.99999359e-01 -6.39784649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:113.45, Z:-0.64 [[-7.10950920e-01 7.03241177e-01 -7.97550924e-04 1.72755624e+02] [-7.03240717e-01 -7.10951367e-01 -8.04287805e-04 1.13454185e+02] [-1.13262822e-03 -1.09388707e-05 9.99999359e-01 -6.39340345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:113.45, Z:-0.64 [[-7.15226081e-01 6.98892707e-01 -7.97861742e-04 1.72752346e+02] [-6.98892245e-01 -7.15226526e-01 -8.03979352e-04 1.13448417e+02] [-1.13254719e-03 -1.74076177e-05 9.99999359e-01 -6.37968636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:113.44, Z:-0.64 [[-7.17382349e-01 6.96679215e-01 -7.98211581e-04 1.72746739e+02] [-6.96678752e-01 -7.17382793e-01 -8.03631872e-04 1.13441274e+02] [-1.13249688e-03 -2.04142726e-05 9.99999359e-01 -6.38123286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:113.44, Z:-0.64 [[-7.19471307e-01 6.94521707e-01 -7.98562438e-04 1.72745082e+02] [-6.94521242e-01 -7.19471750e-01 -8.03283077e-04 1.13437827e+02] [-1.13244065e-03 -2.33205490e-05 9.99999359e-01 -6.37068904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:113.43, Z:-0.64 [[-7.22281427e-01 6.91598802e-01 -7.98954129e-04 1.72743861e+02] [-6.91598336e-01 -7.22281868e-01 -8.02893309e-04 1.13433107e+02] [-1.13235013e-03 -2.73595787e-05 9.99999359e-01 -6.37924881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:113.43, Z:-0.64 [[-7.23148097e-01 6.90692545e-01 -7.99266820e-04 1.72739613e+02] [-6.90692079e-01 -7.23148538e-01 -8.02581909e-04 1.13427573e+02] [-1.13232597e-03 -2.83383186e-05 9.99999359e-01 -6.38141872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:113.43, Z:-0.64 [[-7.17702072e-01 6.96349838e-01 -7.99579115e-04 1.72750077e+02] [-6.96349376e-01 -7.17702517e-01 -8.02270661e-04 1.13431187e+02] [-1.13252099e-03 -1.90048980e-05 9.99999359e-01 -6.44126033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:113.42, Z:-0.64 [[-7.23544059e-01 6.90277747e-01 -7.91265726e-04 1.72733510e+02] [-6.90277272e-01 -7.23544491e-01 -8.10556436e-04 1.13420339e+02] [-1.13202503e-03 -4.02805467e-05 9.99999358e-01 -6.39509169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:113.43, Z:-0.64 [[-7.22257431e-01 6.91623860e-01 -8.00126972e-04 1.72741886e+02] [-6.91623396e-01 -7.22257873e-01 -8.01712716e-04 1.13428124e+02] [-1.13238165e-03 -2.56564328e-05 9.99999359e-01 -6.39142043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:113.43, Z:-0.64 [[-7.21458073e-01 6.92457658e-01 -8.00440156e-04 1.72739755e+02] [-6.92457195e-01 -7.21458517e-01 -8.01399907e-04 1.13425517e+02] [-1.13241987e-03 -2.39058881e-05 9.99999359e-01 -6.39550390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:113.43, Z:-0.65 [[-7.13535919e-01 7.00618193e-01 -8.00750578e-04 1.72751405e+02] [-7.00617735e-01 -7.13536368e-01 -8.01089617e-04 1.13429296e+02] [-1.13262262e-03 -1.05861602e-05 9.99999359e-01 -6.45558781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:113.43, Z:-0.64 [[-7.14117810e-01 7.00025092e-01 -7.90057756e-04 1.72746413e+02] [-7.00024621e-01 -7.14118247e-01 -8.11777231e-04 1.13425562e+02] [-1.13245909e-03 -2.66446973e-05 9.99999358e-01 -6.43998317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:113.42, Z:-0.64 [[-7.19219509e-01 6.94782463e-01 -7.91966799e-04 1.72737372e+02] [-6.94781992e-01 -7.19219944e-01 -8.09867297e-04 1.13422727e+02] [-1.13227991e-03 -3.22280889e-05 9.99999358e-01 -6.38845221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:113.42, Z:-0.64 [[-7.18078757e-01 6.95961390e-01 -8.01668968e-04 1.72734340e+02] [-6.95960930e-01 -7.18079205e-01 -8.00146669e-04 1.13419794e+02] [-1.13253300e-03 -1.66380453e-05 9.99999359e-01 -6.38129753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:113.42, Z:-0.64 [[-7.13162355e-01 7.00998439e-01 -8.02138691e-04 1.72743648e+02] [-7.00997983e-01 -7.13162806e-01 -7.99675500e-04 1.13424006e+02] [-1.13262676e-03 -8.00085885e-06 9.99999359e-01 -6.41549378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:113.28, Z:-0.64 [[-7.13595085e-01 7.00557936e-01 -7.96020814e-04 1.72595421e+02] [-7.00557472e-01 -7.13595529e-01 -8.05823967e-04 1.13276220e+02] [-1.13256327e-03 -1.73736932e-05 9.99999359e-01 -6.43245433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:113.41, Z:-0.64 [[-7.19082352e-01 6.94924411e-01 -7.95607016e-04 1.72726049e+02] [-6.94923944e-01 -7.19082792e-01 -8.06240053e-04 1.13410045e+02] [-1.13238321e-03 -2.68666282e-05 9.99999359e-01 -6.38880110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:113.41, Z:-0.64 [[-7.19850945e-01 6.94128209e-01 -8.03916736e-04 1.72725064e+02] [-6.94127750e-01 -7.19851394e-01 -7.97867329e-04 1.13408810e+02] [-1.13252280e-03 -1.63246357e-05 9.99999359e-01 -6.39636802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:113.40, Z:-0.64 [[-7.20752696e-01 6.93191824e-01 -8.04264682e-04 1.72721229e+02] [-6.93191365e-01 -7.20753145e-01 -7.97516439e-04 1.13404839e+02] [-1.13250817e-03 -1.73027909e-05 9.99999359e-01 -6.39920016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:113.40, Z:-0.64 [[-7.21611595e-01 6.92297666e-01 -8.04573285e-04 1.72720702e+02] [-6.92297207e-01 -7.21612044e-01 -7.97204984e-04 1.13404077e+02] [-1.13249292e-03 -1.82685222e-05 9.99999359e-01 -6.40148893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:113.40, Z:-0.64 [[-7.22800291e-01 6.91056504e-01 -8.04881976e-04 1.72719914e+02] [-6.91056045e-01 -7.22800739e-01 -7.96893199e-04 1.13403134e+02] [-1.13246751e-03 -1.97760808e-05 9.99999359e-01 -6.40561123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:113.40, Z:-0.64 [[-7.25058864e-01 6.88686428e-01 -8.05191283e-04 1.72718244e+02] [-6.88685967e-01 -7.25059311e-01 -7.96580548e-04 1.13400459e+02] [-1.13240565e-03 -2.30438494e-05 9.99999359e-01 -6.40117484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:113.40, Z:-0.64 [[-7.26582257e-01 6.87079017e-01 -8.05499371e-04 1.72715396e+02] [-6.87078556e-01 -7.26582703e-01 -7.96268889e-04 1.13397075e+02] [-1.13236156e-03 -2.51135018e-05 9.99999359e-01 -6.40263891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:113.39, Z:-0.64 [[-7.27905627e-01 6.85676855e-01 -8.05807595e-04 1.72711754e+02] [-6.85676394e-01 -7.27906072e-01 -7.95956850e-04 1.13392822e+02] [-1.13232143e-03 -2.68582240e-05 9.99999359e-01 -6.40785583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:113.39, Z:-0.64 [[-7.30334189e-01 6.83089542e-01 -8.06116373e-04 1.72710623e+02] [-6.83089080e-01 -7.30334633e-01 -7.95644008e-04 1.13391720e+02] [-1.13223081e-03 -3.04367296e-05 9.99999359e-01 -6.40346384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:113.39, Z:-0.64 [[-7.31373377e-01 6.81976783e-01 -8.06425239e-04 1.72707889e+02] [-6.81976320e-01 -7.31373821e-01 -7.95330833e-04 1.13389220e+02] [-1.13219547e-03 -3.17208804e-05 9.99999359e-01 -6.40015357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:113.39, Z:-0.64 [[-7.32148264e-01 6.81144822e-01 -8.06734137e-04 1.72706053e+02] [-6.81144359e-01 -7.32148708e-01 -7.95017383e-04 1.13387719e+02] [-1.13217133e-03 -3.25681893e-05 9.99999359e-01 -6.39397505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.71, Y:113.39, Z:-0.64 [[-7.32686983e-01 6.80565304e-01 -8.07043018e-04 1.72705050e+02] [-6.80564841e-01 -7.32687427e-01 -7.94703706e-04 1.13387096e+02] [-1.13215804e-03 -3.30239570e-05 9.99999359e-01 -6.38858173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:113.38, Z:-0.64 [[-7.32907018e-01 6.80328341e-01 -8.07351673e-04 1.72701310e+02] [-6.80327878e-01 -7.32907462e-01 -7.94390015e-04 1.13383809e+02] [-1.13216011e-03 -3.29501670e-05 9.99999359e-01 -6.38048131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:113.38, Z:-0.64 [[-7.32919693e-01 6.80314685e-01 -8.07660310e-04 1.72697522e+02] [-6.80314223e-01 -7.32920137e-01 -7.94076098e-04 1.13379934e+02] [-1.13217214e-03 -3.25312144e-05 9.99999359e-01 -6.37979468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:113.38, Z:-0.64 [[-7.26660049e-01 6.86996739e-01 -8.07969503e-04 1.72706981e+02] [-6.86996281e-01 -7.26660498e-01 -7.93761370e-04 1.13382313e+02] [-1.13243099e-03 -2.17226325e-05 9.99999359e-01 -6.42429760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:113.37, Z:-0.64 [[-7.32836390e-01 6.80404428e-01 -7.99321364e-04 1.72688245e+02] [-6.80403957e-01 -7.32836825e-01 -8.02565447e-04 1.13371896e+02] [-1.13184121e-03 -4.42877469e-05 9.99999358e-01 -6.37093707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:112.77, Z:0.15 [[-6.45078281e-01 -7.64116073e-01 7.99321364e-04 1.73162216e+02] [-7.64115657e-01 6.45078769e-01 8.02565447e-04 1.12771425e+02] [-1.12887840e-03 -9.30564300e-05 -9.99999358e-01 1.45298325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:113.30, Z:-0.64 [[-6.83887721e-01 7.29586883e-01 -7.51797651e-04 1.72572512e+02] [-7.29586395e-01 -6.83888133e-01 -8.44854638e-04 1.13299382e+02] [-1.13054035e-03 -2.92843746e-05 9.99999361e-01 -6.39064748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:113.30, Z:-0.64 [[-6.84172017e-01 7.29320290e-01 -7.52168164e-04 1.72570995e+02] [-7.29319802e-01 -6.84172430e-01 -8.44524643e-04 1.13297566e+02] [-1.13054168e-03 -2.92289919e-05 9.99999361e-01 -6.39067619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:113.29, Z:-0.64 [[-6.83943827e-01 7.29534286e-01 -7.52497194e-04 1.72568402e+02] [-7.29533798e-01 -6.83944241e-01 -8.44231366e-04 1.13294936e+02] [-1.13056185e-03 -2.84346954e-05 9.99999361e-01 -6.39539048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:113.29, Z:-0.64 [[-6.83419589e-01 7.30025410e-01 -7.52826275e-04 1.72564210e+02] [-7.30024922e-01 -6.83420003e-01 -8.43937812e-04 1.13290748e+02] [-1.13059258e-03 -2.71816895e-05 9.99999361e-01 -6.40977523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:113.29, Z:-0.64 [[-6.83396198e-01 7.30047306e-01 -7.53281269e-04 1.72565134e+02] [-7.30046819e-01 -6.83396613e-01 -8.43531499e-04 1.13291868e+02] [-1.13060777e-03 -2.65356251e-05 9.99999361e-01 -6.41534135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:113.29, Z:-0.64 [[-6.83456259e-01 7.29991078e-01 -7.53610078e-04 1.72561938e+02] [-7.29990591e-01 -6.83456674e-01 -8.43237639e-04 1.13289292e+02] [-1.13061579e-03 -2.61877761e-05 9.99999361e-01 -6.40712591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:113.29, Z:-0.64 [[-6.83155063e-01 7.30272957e-01 -7.54021113e-04 1.72558534e+02] [-7.30272471e-01 -6.83155479e-01 -8.42869932e-04 1.13286528e+02] [-1.13063877e-03 -2.51700000e-05 9.99999361e-01 -6.40247706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:113.29, Z:-0.64 [[-6.82401209e-01 7.30977442e-01 -7.54349386e-04 1.72557943e+02] [-7.30976957e-01 -6.82401626e-01 -8.42576032e-04 1.13288429e+02] [-1.13067332e-03 -2.35628846e-05 9.99999361e-01 -6.38283953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:113.29, Z:-0.64 [[-6.81948141e-01 7.31400139e-01 -7.54717945e-04 1.72556628e+02] [-7.31399655e-01 -6.81948558e-01 -8.42245775e-04 1.13287384e+02] [-1.13069749e-03 -2.23674967e-05 9.99999361e-01 -6.37780847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:113.28, Z:-0.64 [[-6.81655059e-01 7.31673295e-01 -7.55045145e-04 1.72552782e+02] [-7.31672811e-01 -6.81655477e-01 -8.41952349e-04 1.13283718e+02] [-1.13071471e-03 -2.14750748e-05 9.99999361e-01 -6.37340052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:113.28, Z:-0.64 [[-6.81319067e-01 7.31986173e-01 -7.55412881e-04 1.72551880e+02] [-7.31985690e-01 -6.81319486e-01 -8.41622281e-04 1.13283177e+02] [-1.13073339e-03 -2.04618887e-05 9.99999361e-01 -6.37074144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:113.28, Z:-0.64 [[-6.80586241e-01 7.32667590e-01 -7.55780473e-04 1.72547413e+02] [-7.32667108e-01 -6.80586660e-01 -8.41292052e-04 1.13279674e+02] [-1.13076153e-03 -1.88363022e-05 9.99999361e-01 -6.36863871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:113.28, Z:-0.64 [[-6.80431557e-01 7.32811247e-01 -7.56107523e-04 1.72545010e+02] [-7.32810765e-01 -6.80431977e-01 -8.40998015e-04 1.13277796e+02] [-1.13077254e-03 -1.81578566e-05 9.99999361e-01 -6.36384203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:113.28, Z:-0.64 [[-6.80403566e-01 7.32837237e-01 -7.56434956e-04 1.72544592e+02] [-7.32836755e-01 -6.80403986e-01 -8.40703403e-04 1.13278505e+02] [-1.13078012e-03 -1.76742545e-05 9.99999361e-01 -6.36255829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:113.28, Z:-0.64 [[-6.80367271e-01 7.32870933e-01 -7.56762052e-04 1.72543019e+02] [-7.32870451e-01 -6.80367691e-01 -8.40408862e-04 1.13278133e+02] [-1.13078768e-03 -1.71781371e-05 9.99999361e-01 -6.36707367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:113.28, Z:-0.64 [[-6.79615966e-01 7.33567696e-01 -7.57088538e-04 1.72543784e+02] [-7.33567216e-01 -6.79616388e-01 -8.40114642e-04 1.13280651e+02] [-1.13081074e-03 -1.55799936e-05 9.99999361e-01 -6.38275925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:113.28, Z:-0.64 [[-6.79467950e-01 7.33704799e-01 -7.57414305e-04 1.72541126e+02] [-7.33704318e-01 -6.79468372e-01 -8.39820841e-04 1.13278154e+02] [-1.13081965e-03 -1.49131983e-05 9.99999361e-01 -6.39902902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:113.28, Z:-0.64 [[-6.79421044e-01 7.33748234e-01 -7.57739466e-04 1.72540008e+02] [-7.33747754e-01 -6.79421466e-01 -8.39527357e-04 1.13277740e+02] [-1.13082617e-03 -1.44029221e-05 9.99999361e-01 -6.40301942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:113.28, Z:-0.64 [[-6.78327656e-01 7.34759156e-01 -7.58104655e-04 1.72537252e+02] [-7.34758677e-01 -6.78328079e-01 -8.39197457e-04 1.13276967e+02] [-1.13085169e-03 -1.22268702e-05 9.99999361e-01 -6.38716720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:113.11, Z:-0.64 [[-6.77983824e-01 7.35076431e-01 -7.58429193e-04 1.72382877e+02] [-7.35075952e-01 -6.77984248e-01 -8.38904051e-04 1.13107900e+02] [-1.13086164e-03 -1.12603156e-05 9.99999361e-01 -6.40101567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:113.27, Z:-0.64 [[-6.77206218e-01 7.35792881e-01 -7.58781973e-04 1.72531334e+02] [-7.35792403e-01 -6.77206643e-01 -8.38584843e-04 1.13273097e+02] [-1.13087695e-03 -9.58885882e-06 9.99999361e-01 -6.37435468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:113.27, Z:-0.64 [[-6.76204056e-01 7.36713987e-01 -7.59629614e-04 1.72528639e+02] [-7.36713510e-01 -6.76204482e-01 -8.37816306e-04 1.13271965e+02] [-1.13089594e-03 -6.90538414e-06 9.99999361e-01 -6.37040278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:113.28, Z:-0.64 [[-6.73371864e-01 7.39303561e-01 -7.59953020e-04 1.72529020e+02] [-7.39303087e-01 -6.73372293e-01 -8.37522853e-04 1.13275318e+02] [-1.13091494e-03 -2.12871086e-06 9.99999361e-01 -6.36897910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:113.27, Z:-0.64 [[-6.72303476e-01 7.40275258e-01 -7.60275718e-04 1.72526290e+02] [-7.40274785e-01 -6.72303906e-01 -8.37229816e-04 1.13273459e+02] [-1.13091685e-03 -5.95718864e-08 9.99999361e-01 -6.37285020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:113.27, Z:-0.64 [[-6.71401250e-01 7.41093640e-01 -7.60637627e-04 1.72522714e+02] [-7.41093167e-01 -6.71401681e-01 -8.36900886e-04 1.13270719e+02] [-1.13091531e-03 1.80704793e-06 9.99999361e-01 -6.38063530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:113.27, Z:-0.64 [[-6.69261166e-01 7.43026859e-01 -7.61040911e-04 1.72518781e+02] [-7.43026388e-01 -6.69261598e-01 -8.36533996e-04 1.13268000e+02] [-1.13090268e-03 5.61376186e-06 9.99999361e-01 -6.37906919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:113.27, Z:-0.64 [[-6.68224333e-01 7.43959449e-01 -7.61363120e-04 1.72517931e+02] [-7.43958979e-01 -6.68224766e-01 -8.36240639e-04 1.13267521e+02] [-1.13089082e-03 7.62658639e-06 9.99999361e-01 -6.38203418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:113.27, Z:-0.64 [[-6.67079594e-01 7.44986064e-01 -7.61725135e-04 1.72518370e+02] [-7.44985595e-01 -6.67080029e-01 -8.35910751e-04 1.13268856e+02] [-1.13087349e-03 9.85524839e-06 9.99999361e-01 -6.38227894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:113.27, Z:-0.64 [[-6.65620274e-01 7.46290205e-01 -7.62086085e-04 1.72516882e+02] [-7.46289737e-01 -6.65620710e-01 -8.35581550e-04 1.13268043e+02] [-1.13084661e-03 1.25570037e-05 9.99999361e-01 -6.38208879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:113.27, Z:-0.64 [[-6.62126291e-01 7.49391883e-01 -7.62446103e-04 1.72514045e+02] [-7.49391417e-01 -6.62126730e-01 -8.35252914e-04 1.13267499e+02] [-1.13076770e-03 1.83276519e-05 9.99999361e-01 -6.36071042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:113.27, Z:-0.64 [[-6.60773844e-01 7.50584669e-01 -7.62786087e-04 1.72514367e+02] [-7.50584205e-01 -6.60774284e-01 -8.34942311e-04 1.13269142e+02] [-1.13072433e-03 2.08271480e-05 9.99999361e-01 -6.37293716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:113.27, Z:-0.64 [[-6.59650901e-01 7.51571758e-01 -7.63185937e-04 1.72512333e+02] [-7.51571295e-01 -6.59651342e-01 -8.34576665e-04 1.13267647e+02] [-1.13068088e-03 2.30593943e-05 9.99999361e-01 -6.35050285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:113.27, Z:-0.63 [[-6.58741315e-01 7.52369123e-01 -7.63584582e-04 1.72510990e+02] [-7.52368661e-01 -6.58741757e-01 -8.34211770e-04 1.13266307e+02] [-1.13064023e-03 2.49673513e-05 9.99999361e-01 -6.34839643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:113.26, Z:-0.64 [[-6.58226510e-01 7.52819552e-01 -7.63941781e-04 1.72508809e+02] [-7.52819090e-01 -6.58226953e-01 -8.33884532e-04 1.13263734e+02] [-1.13061165e-03 2.62250512e-05 9.99999361e-01 -6.35117199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:113.26, Z:-0.64 [[-6.58699008e-01 7.52406162e-01 -7.64298712e-04 1.72506208e+02] [-7.52405701e-01 -6.58699451e-01 -8.33557257e-04 1.13260490e+02] [-1.13061676e-03 2.59993704e-05 9.99999361e-01 -6.35023467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:113.25, Z:-0.63 [[-6.59704220e-01 7.51524954e-01 -7.64655758e-04 1.72499223e+02] [-7.51524493e-01 -6.59704663e-01 -8.33229596e-04 1.13252581e+02] [-1.13063980e-03 2.49724494e-05 9.99999361e-01 -6.34908595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:172.17, Y:112.91, Z:-0.64 [[-6.67903375e-01 7.44247604e-01 -7.64974349e-04 1.72173203e+02] [-7.44247138e-01 -6.67903813e-01 -8.32937000e-04 1.12906859e+02] [-1.13084065e-03 1.30085363e-05 9.99999361e-01 -6.42103688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:112.63, Z:0.14 [[-6.37993118e-01 -7.70041685e-01 7.64974349e-04 1.73014583e+02] [-7.70041237e-01 6.37993574e-01 8.32937000e-04 1.12629655e+02] [-1.12944493e-03 -5.76537204e-05 -9.99999361e-01 1.42162349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:113.15, Z:-0.64 [[-6.12825306e-01 7.90218101e-01 -7.04653152e-04 1.72357050e+02] [-7.90217610e-01 -6.12825711e-01 -8.81174360e-04 1.13151671e+02] [-1.12814950e-03 1.68233823e-05 9.99999364e-01 -6.35617212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:113.15, Z:-0.64 [[-6.14676077e-01 7.88779325e-01 -7.05074848e-04 1.72355221e+02] [-7.88778834e-01 -6.14676481e-01 -8.80836810e-04 1.13147701e+02] [-1.12817879e-03 1.47188017e-05 9.99999364e-01 -6.35750825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:113.14, Z:-0.64 [[-6.17360517e-01 7.86680046e-01 -7.05453270e-04 1.72351534e+02] [-7.86679553e-01 -6.17360920e-01 -8.80533631e-04 1.13140191e+02] [-1.12821752e-03 1.13589660e-05 9.99999364e-01 -6.35892277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:113.14, Z:-0.64 [[-6.18799643e-01 7.85548537e-01 -7.05875749e-04 1.72350931e+02] [-7.85548044e-01 -6.18800045e-01 -8.80194822e-04 1.13138031e+02] [-1.12823170e-03 9.83507203e-06 9.99999364e-01 -6.36500157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:113.14, Z:-0.64 [[-6.20099203e-01 7.84523091e-01 -7.06255143e-04 1.72350627e+02] [-7.84522597e-01 -6.20099605e-01 -8.79890297e-04 1.13136172e+02] [-1.12824279e-03 8.45384735e-06 9.99999364e-01 -6.36233357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:113.13, Z:-0.64 [[-6.21427578e-01 7.83471293e-01 -7.06633985e-04 1.72346257e+02] [-7.83470799e-01 -6.21427979e-01 -8.79585947e-04 1.13129684e+02] [-1.12825247e-03 7.02812827e-06 9.99999364e-01 -6.36239016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:113.12, Z:-0.64 [[-6.23795103e-01 7.81587595e-01 -7.07013116e-04 1.72342978e+02] [-7.81587101e-01 -6.23795504e-01 -8.79281094e-04 1.13124089e+02] [-1.12826680e-03 4.10109026e-06 9.99999364e-01 -6.35316637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:113.12, Z:-0.64 [[-6.25409114e-01 7.80296700e-01 -7.07436545e-04 1.72340246e+02] [-7.80296205e-01 -6.25409514e-01 -8.78940287e-04 1.13119574e+02] [-1.12827175e-03 2.31278625e-06 9.99999364e-01 -6.35311559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:113.12, Z:-0.64 [[-6.26969003e-01 7.79043881e-01 -7.07904118e-04 1.72338489e+02] [-7.79043385e-01 -6.26969403e-01 -8.78563539e-04 1.13115664e+02] [-1.12827377e-03 6.55914352e-07 9.99999364e-01 -6.35411303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:113.11, Z:-0.64 [[-6.28535629e-01 7.77780471e-01 -7.08284336e-04 1.72334741e+02] [-7.77779976e-01 -6.28536028e-01 -8.78256906e-04 1.13109563e+02] [-1.12827329e-03 -1.12638308e-06 9.99999364e-01 -6.35845158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:172.33, Y:113.11, Z:-0.63 [[-6.34567505e-01 7.72867117e-01 -7.08665121e-04 1.72333722e+02] [-7.72866618e-01 -6.34567900e-01 -8.77949544e-04 1.13110697e+02] [-1.12823447e-03 -9.41463630e-06 9.99999364e-01 -6.32277895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:172.89, Y:112.53, Z:0.14 [[-5.65747542e-01 -8.24578206e-01 7.08665121e-04 1.72887424e+02] [-8.24577743e-01 5.65747979e-01 8.77949544e-04 1.12529847e+02] [-1.12486392e-03 -8.76516895e-05 -9.99999364e-01 1.39440730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:113.00, Z:-0.63 [[-5.82027935e-01 8.13168539e-01 -6.41018238e-04 1.72214111e+02] [-8.13168012e-01 -5.82028287e-01 -9.25455436e-04 1.12999108e+02] [-1.12564199e-03 -1.73853899e-05 9.99999366e-01 -6.34481662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:112.99, Z:-0.64 [[-5.83944742e-01 8.11793150e-01 -6.47561235e-04 1.72210655e+02] [-8.11792628e-01 -5.83945101e-01 -9.20854284e-04 1.12993333e+02] [-1.12568341e-03 -1.20425810e-05 9.99999366e-01 -6.35303451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:113.01, Z:-0.64 [[-5.78007736e-01 8.16031027e-01 -6.47961386e-04 1.72225220e+02] [-8.16030508e-01 -5.78008099e-01 -9.20572630e-04 1.13007985e+02] [-1.12574276e-03 -3.34184243e-06 9.99999366e-01 -6.38584417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:112.99, Z:-0.63 [[-5.89224639e-01 8.07969011e-01 -6.33904053e-04 1.72204434e+02] [-8.07968476e-01 -5.89224979e-01 -9.30467224e-04 1.12987418e+02] [-1.12530079e-03 -3.60797225e-05 9.99999366e-01 -6.33093797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:112.45, Z:0.14 [[-5.05764487e-01 -8.62671364e-01 6.33904053e-04 1.72791873e+02] [-8.62670866e-01 5.05764878e-01 9.30467224e-04 1.12448804e+02] [-1.12329384e-03 -7.62532805e-05 -9.99999366e-01 1.38506218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.09, Y:112.88, Z:-0.63 [[-5.34414046e-01 8.45222628e-01 -5.81048606e-04 1.72091609e+02] [-8.45222080e-01 -5.34414361e-01 -9.62644545e-04 1.12876303e+02] [-1.12416967e-03 -2.33356547e-05 9.99999368e-01 -6.32034083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:112.37, Z:0.14 [[-4.46096520e-01 -8.94984669e-01 5.81048606e-04 1.72712548e+02] [-8.94984156e-01 4.46096889e-01 9.62644545e-04 1.12371690e+02] [-1.12075609e-03 -9.05969144e-05 -9.99999368e-01 1.37712700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:112.75, Z:-0.63 [[-4.76971851e-01 8.78918420e-01 -5.13946411e-04 1.71981921e+02] [-8.78917854e-01 -4.76972127e-01 -9.97581352e-04 1.12752969e+02] [-1.12193074e-03 -2.41015470e-05 9.99999370e-01 -6.30331799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:112.29, Z:0.14 [[-3.86732974e-01 -9.22191598e-01 5.13946411e-04 1.72634630e+02] [-9.22191062e-01 3.86733305e-01 9.97581352e-04 1.12285957e+02] [-1.11872134e-03 -8.81591838e-05 -9.99999370e-01 1.37390361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:112.62, Z:-0.63 [[-4.16469086e-01 9.09149767e-01 -4.49401018e-04 1.71879238e+02] [-9.09149188e-01 -4.16469328e-01 -1.02585700e-03 1.12616093e+02] [-1.11981939e-03 -1.86651558e-05 9.99999373e-01 -6.31639445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:112.61, Z:-0.63 [[-4.17750942e-01 9.08561472e-01 -4.49950916e-04 1.71875043e+02] [-9.08560893e-01 -4.17751184e-01 -1.02561575e-03 1.12610682e+02] [-1.11980248e-03 -1.96441391e-05 9.99999373e-01 -6.31577249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:112.60, Z:-0.63 [[-4.19097117e-01 9.07941299e-01 -4.50500319e-04 1.71870176e+02] [-9.07940721e-01 -4.19097359e-01 -1.02537437e-03 1.12601529e+02] [-1.11978323e-03 -2.07038576e-05 9.99999373e-01 -6.30894581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:112.60, Z:-0.63 [[-4.20218238e-01 9.07422961e-01 -4.51155358e-04 1.71869721e+02] [-9.07422382e-01 -4.20218479e-01 -1.02508608e-03 1.12602025e+02] [-1.11977046e-03 -2.13713946e-05 9.99999373e-01 -6.30612484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:112.59, Z:-0.63 [[-4.22053475e-01 9.06570825e-01 -4.51705500e-04 1.71861294e+02] [-9.06570246e-01 -4.22053717e-01 -1.02484360e-03 1.12586421e+02] [-1.11973729e-03 -2.30360362e-05 9.99999373e-01 -6.29937200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:112.59, Z:-0.63 [[-4.23144426e-01 9.06062134e-01 -4.52309087e-04 1.71862289e+02] [-9.06061555e-01 -4.23144667e-01 -1.02457714e-03 1.12589785e+02] [-1.11972273e-03 -2.37242305e-05 9.99999373e-01 -6.30557294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:112.59, Z:-0.63 [[-4.23631069e-01 9.05834705e-01 -4.52861013e-04 1.71860385e+02] [-9.05834126e-01 -4.23631310e-01 -1.02433313e-03 1.12585374e+02] [-1.11972260e-03 -2.37223800e-05 9.99999373e-01 -6.30562927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:112.57, Z:-0.63 [[-4.24738369e-01 9.05316029e-01 -4.53411117e-04 1.71855139e+02] [-9.05315450e-01 -4.24738611e-01 -1.02408957e-03 1.12574993e+02] [-1.11970592e-03 -2.44900466e-05 9.99999373e-01 -6.30615423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:112.58, Z:-0.63 [[-4.25814767e-01 9.04810244e-01 -4.53962559e-04 1.71855104e+02] [-9.04809665e-01 -4.25815008e-01 -1.02384507e-03 1.12576353e+02] [-1.11968958e-03 -2.52186398e-05 9.99999373e-01 -6.31201426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:112.55, Z:-0.63 [[-4.26511417e-01 9.04482064e-01 -4.54618404e-04 1.71840502e+02] [-9.04481486e-01 -4.26511658e-01 -1.02355377e-03 1.12547847e+02] [-1.11968608e-03 -2.53634409e-05 9.99999373e-01 -6.32824892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:112.57, Z:-0.63 [[-4.26849066e-01 9.04322768e-01 -4.55145896e-04 1.71848179e+02] [-9.04322189e-01 -4.26849308e-01 -1.02331916e-03 1.12567871e+02] [-1.11968952e-03 -2.52042932e-05 9.99999373e-01 -6.32009246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:112.56, Z:-0.63 [[-4.26839310e-01 9.04327372e-01 -4.55777522e-04 1.71844145e+02] [-9.04326794e-01 -4.26839552e-01 -1.02303776e-03 1.12561376e+02] [-1.11970492e-03 -2.45009059e-05 9.99999373e-01 -6.32372909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:112.56, Z:-0.63 [[-4.26559652e-01 9.04459316e-01 -4.56326711e-04 1.71840886e+02] [-9.04458738e-01 -4.26559896e-01 -1.02279274e-03 1.12560565e+02] [-1.11972509e-03 -2.35534320e-05 9.99999373e-01 -6.29237328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:112.55, Z:-0.63 [[-4.26562469e-01 9.04457988e-01 -4.56927580e-04 1.71834527e+02] [-9.04457410e-01 -4.26562713e-01 -1.02252423e-03 1.12549312e+02] [-1.11973848e-03 -2.28989249e-05 9.99999373e-01 -6.29386655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:112.55, Z:-0.63 [[-4.26758233e-01 9.04365635e-01 -4.57477369e-04 1.71833628e+02] [-9.04365057e-01 -4.26758477e-01 -1.02227819e-03 1.12550669e+02] [-1.11974561e-03 -2.25390887e-05 9.99999373e-01 -6.29253942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:112.55, Z:-0.63 [[-4.26941736e-01 9.04279019e-01 -4.58079443e-04 1.71829846e+02] [-9.04278442e-01 -4.26941981e-01 -1.02200834e-03 1.12547789e+02] [-1.11975404e-03 -2.21066486e-05 9.99999373e-01 -6.29000183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:112.54, Z:-0.63 [[-4.27341239e-01 9.04090291e-01 -4.58627712e-04 1.71824129e+02] [-9.04089714e-01 -4.27341485e-01 -1.02176224e-03 1.12537536e+02] [-1.11975597e-03 -2.20005447e-05 9.99999373e-01 -6.29030390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:112.54, Z:-0.63 [[-4.27893571e-01 9.03829011e-01 -4.59229099e-04 1.71823831e+02] [-9.03828434e-01 -4.27893817e-01 -1.02149188e-03 1.12539029e+02] [-1.11975528e-03 -2.20254898e-05 9.99999373e-01 -6.28605013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:112.53, Z:-0.63 [[-4.27130024e-01 9.04190097e-01 -4.59778332e-04 1.71819521e+02] [-9.04189520e-01 -4.27130271e-01 -1.02124460e-03 1.12533751e+02] [-1.11978450e-03 -2.04774828e-05 9.99999373e-01 -6.28846086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:112.53, Z:-0.63 [[-4.26612846e-01 9.04434225e-01 -4.60326557e-04 1.71818092e+02] [-9.04433649e-01 -4.26613094e-01 -1.02099743e-03 1.12533379e+02] [-1.11980636e-03 -1.92357917e-05 9.99999373e-01 -6.25350883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:112.53, Z:-0.63 [[-4.25764726e-01 9.04833789e-01 -4.61275024e-04 1.71814230e+02] [-9.04833213e-01 -4.25764976e-01 -1.02056875e-03 1.12526778e+02] [-1.11983983e-03 -1.71452105e-05 9.99999373e-01 -6.28461608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:112.53, Z:-0.62 [[-4.24405576e-01 9.05472084e-01 -4.61821284e-04 1.71813053e+02] [-9.05471509e-01 -4.24405827e-01 -1.02032150e-03 1.12527478e+02] [-1.11987227e-03 -1.48641163e-05 9.99999373e-01 -6.24568198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:112.53, Z:-0.63 [[-4.21241157e-01 9.06948552e-01 -4.61307192e-04 1.71810580e+02] [-9.06947977e-01 -4.21241409e-01 -1.02055455e-03 1.12525649e+02] [-1.11991216e-03 -1.15179530e-05 9.99999373e-01 -6.27679647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:112.52, Z:-0.63 [[-4.19465781e-01 9.07771031e-01 -4.63104194e-04 1.71806485e+02] [-9.07770458e-01 -4.19466037e-01 -1.01973846e-03 1.12519155e+02] [-1.11994551e-03 -7.35308231e-06 9.99999373e-01 -6.27701585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:112.51, Z:-0.63 [[-4.18151357e-01 9.08377249e-01 -4.63699924e-04 1.71800351e+02] [-9.08376677e-01 -4.18151614e-01 -1.01946749e-03 1.12508165e+02] [-1.11995795e-03 -5.07751867e-06 9.99999373e-01 -6.27320280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:112.51, Z:-0.63 [[-4.15907103e-01 9.09406985e-01 -4.64974043e-04 1.71799285e+02] [-9.09406415e-01 -4.15907363e-01 -1.01888604e-03 1.12508204e+02] [-1.11996821e-03 -9.11563603e-07 9.99999373e-01 -6.27332163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:112.51, Z:-0.63 [[-4.11313176e-01 9.11493969e-01 -4.65517598e-04 1.71797420e+02] [-9.11493400e-01 -4.11313439e-01 -1.01863763e-03 1.12509473e+02] [-1.11995570e-03 5.33713765e-06 9.99999373e-01 -6.26660088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:112.51, Z:-0.63 [[-4.09399281e-01 9.12355201e-01 -4.66059014e-04 1.71794727e+02] [-9.12354632e-01 -4.09399546e-01 -1.01838986e-03 1.12505871e+02] [-1.11993763e-03 8.28302486e-06 9.99999373e-01 -6.26224716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:112.50, Z:-0.63 [[-4.07580601e-01 9.13169117e-01 -4.66599302e-04 1.71790777e+02] [-9.13168549e-01 -4.07580868e-01 -1.01814225e-03 1.12498778e+02] [-1.11991301e-03 1.11087756e-05 9.99999373e-01 -6.26393169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:112.50, Z:-0.63 [[-4.06247169e-01 9.13763109e-01 -4.67140027e-04 1.71790192e+02] [-9.13762542e-01 -4.06247438e-01 -1.01789410e-03 1.12498667e+02] [-1.11988852e-03 1.33384621e-05 9.99999373e-01 -6.26154831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:112.49, Z:-0.63 [[-4.04099463e-01 9.14714931e-01 -4.67731381e-04 1.71787023e+02] [-9.14714365e-01 -4.04099734e-01 -1.01762230e-03 1.12492586e+02] [-1.11984443e-03 1.66199896e-05 9.99999373e-01 -6.27453016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:112.48, Z:-0.63 [[-4.03623305e-01 9.14925138e-01 -4.68321615e-04 1.71781417e+02] [-9.14924573e-01 -4.03623576e-01 -1.01735059e-03 1.12480415e+02] [-1.11982527e-03 1.78525458e-05 9.99999373e-01 -6.28259215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:112.49, Z:-0.63 [[-4.03182041e-01 9.15119676e-01 -4.68913747e-04 1.71783960e+02] [-9.15119111e-01 -4.03182313e-01 -1.01707759e-03 1.12486054e+02] [-1.11980545e-03 1.90445112e-05 9.99999373e-01 -6.27381552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:112.48, Z:-0.63 [[-4.02753536e-01 9.15308347e-01 -4.69504755e-04 1.71780485e+02] [-9.15307782e-01 -4.02753809e-01 -1.01680470e-03 1.12478952e+02] [-1.11978466e-03 2.02196692e-05 9.99999373e-01 -6.27562220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:112.48, Z:-0.63 [[-4.01846651e-01 9.15706857e-01 -4.70093428e-04 1.71779352e+02] [-9.15706293e-01 -4.01846925e-01 -1.01653247e-03 1.12477206e+02] [-1.11975135e-03 2.19773433e-05 9.99999373e-01 -6.28222620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:112.48, Z:-0.63 [[-4.04153832e-01 9.14690909e-01 -4.70732823e-04 1.71778705e+02] [-9.14690345e-01 -4.04154105e-01 -1.01623629e-03 1.12480742e+02] [-1.11979070e-03 1.98589764e-05 9.99999373e-01 -6.27542340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:112.00, Z:0.13 [[-3.77476275e-01 -9.26019136e-01 4.70732823e-04 1.72514656e+02] [-9.26018580e-01 3.77476565e-01 1.01623629e-03 1.12002257e+02] [-1.11874486e-03 -5.23022496e-05 -9.99999373e-01 1.32736973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:171.68, Y:112.32, Z:-0.63 [[-3.40932088e-01 9.40087842e-01 -4.00575029e-04 1.71677094e+02] [-9.40087264e-01 -3.40932323e-01 -1.04317657e-03 1.12320618e+02] [-1.11724658e-03 2.09231172e-05 9.99999376e-01 -6.27554008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:112.31, Z:-0.63 [[-3.44068920e-01 9.38944310e-01 -4.01809182e-04 1.71675663e+02] [-9.38943731e-01 -3.44069154e-01 -1.04270098e-03 1.12312870e+02] [-1.11728830e-03 1.85152121e-05 9.99999376e-01 -6.27342026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:112.30, Z:-0.63 [[-3.46586660e-01 9.38017870e-01 -4.02411631e-04 1.71672457e+02] [-9.38017291e-01 -3.46586893e-01 -1.04246842e-03 1.12301540e+02] [-1.11732461e-03 1.61634188e-05 9.99999376e-01 -6.27313949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:112.30, Z:-0.63 [[-3.49662272e-01 9.36875730e-01 -4.03015679e-04 1.71671320e+02] [-9.36875150e-01 -3.49662504e-01 -1.04223485e-03 1.12295503e+02] [-1.11736401e-03 1.31451688e-05 9.99999376e-01 -6.27523360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:112.29, Z:-0.63 [[-3.55878649e-01 9.34532089e-01 -4.03621198e-04 1.71671111e+02] [-9.34531508e-01 -3.55878877e-01 -1.04200030e-03 1.12288709e+02] [-1.11742298e-03 6.37106839e-06 9.99999376e-01 -6.28250938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:112.28, Z:-0.63 [[-3.59420458e-01 9.33175638e-01 -4.04174616e-04 1.71670302e+02] [-9.33175056e-01 -3.59420685e-01 -1.04178559e-03 1.12283453e+02] [-1.11743765e-03 2.72661410e-06 9.99999376e-01 -6.28793392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:112.27, Z:-0.63 [[-3.62969121e-01 9.31801080e-01 -4.04780501e-04 1.71666186e+02] [-9.31800498e-01 -3.62969346e-01 -1.04155013e-03 1.12269558e+02] [-1.11744045e-03 -8.75861579e-07 9.99999376e-01 -6.29811145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:112.26, Z:-0.63 [[-3.66436985e-01 9.30442783e-01 -4.05388251e-04 1.71663989e+02] [-9.30442200e-01 -3.66437209e-01 -1.04131353e-03 1.12260768e+02] [-1.11743200e-03 -4.38545343e-06 9.99999376e-01 -6.30288596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:112.25, Z:-0.63 [[-3.73701454e-01 9.27548952e-01 -4.05998628e-04 1.71661802e+02] [-9.27548368e-01 -3.73701675e-01 -1.04107549e-03 1.12249792e+02] [-1.11737085e-03 -1.24680608e-05 9.99999376e-01 -6.28973066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:111.98, Z:-0.63 [[-3.76671389e-01 9.26346856e-01 -4.07839499e-04 1.71557127e+02] [-9.26346272e-01 -3.76671610e-01 -1.04035383e-03 1.11981446e+02] [-1.11735006e-03 -1.40709241e-05 9.99999376e-01 -6.30563960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:111.83, Z:0.13 [[-2.87030635e-01 -9.57921316e-01 4.07839499e-04 1.72395515e+02] [-9.57920756e-01 2.87030910e-01 1.04035383e-03 1.11828923e+02] [-1.11363966e-03 -9.20645001e-05 -9.99999376e-01 1.32442379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:112.08, Z:-0.63 [[-3.17640562e-01 9.48211137e-01 -3.35735760e-04 1.71560763e+02] [-9.48210541e-01 -3.17640739e-01 -1.06312427e-03 1.12080363e+02] [-1.11470963e-03 -1.93432052e-05 9.99999379e-01 -6.27790483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:112.08, Z:-0.63 [[-3.21429795e-01 9.46933352e-01 -3.36362456e-04 1.71559492e+02] [-9.46932756e-01 -3.21429970e-01 -1.06292596e-03 1.12077094e+02] [-1.11463701e-03 -2.31434448e-05 9.99999379e-01 -6.27595310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:112.08, Z:-0.63 [[-3.22844922e-01 9.46451817e-01 -3.36990212e-04 1.71558732e+02] [-9.46451221e-01 -3.22845097e-01 -1.06272690e-03 1.12076207e+02] [-1.11461544e-03 -2.41511844e-05 9.99999379e-01 -6.27667672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:112.06, Z:-0.63 [[-3.24593046e-01 9.45853710e-01 -3.37670443e-04 1.71553813e+02] [-9.45853113e-01 -3.24593221e-01 -1.06251072e-03 1.12062851e+02] [-1.11458524e-03 -2.54969504e-05 9.99999379e-01 -6.26643762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:112.05, Z:-0.63 [[-3.25643897e-01 9.45492431e-01 -3.38885223e-04 1.71548368e+02] [-9.45491835e-01 -3.25644072e-01 -1.06212312e-03 1.12051476e+02] [-1.11458534e-03 -2.54607015e-05 9.99999379e-01 -6.26618238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:112.04, Z:-0.63 [[-3.26162099e-01 9.45313795e-01 -3.39458639e-04 1.71543087e+02] [-9.45313198e-01 -3.26162274e-01 -1.06193982e-03 1.12038112e+02] [-1.11458497e-03 -2.54697900e-05 9.99999379e-01 -6.25394064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:112.05, Z:-0.63 [[-3.26760771e-01 9.45107022e-01 -3.40145108e-04 1.71544913e+02] [-9.45106426e-01 -3.26760947e-01 -1.06171990e-03 1.12046870e+02] [-1.11458507e-03 -2.54550865e-05 9.99999379e-01 -6.25436072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:112.04, Z:-0.63 [[-3.27595472e-01 9.44818020e-01 -3.40829420e-04 1.71541649e+02] [-9.44817424e-01 -3.27595648e-01 -1.06150018e-03 1.12039794e+02] [-1.11457873e-03 -2.57210773e-05 9.99999379e-01 -6.25534391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:112.04, Z:-0.63 [[-3.28932857e-01 9.44353249e-01 -3.41455555e-04 1.71540300e+02] [-9.44352653e-01 -3.28933033e-01 -1.06129873e-03 1.12039832e+02] [-1.11455692e-03 -2.66415640e-05 9.99999379e-01 -6.27519116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:112.02, Z:-0.63 [[-3.30075169e-01 9.43954589e-01 -3.42080915e-04 1.71533375e+02] [-9.43953993e-01 -3.30075345e-01 -1.06109712e-03 1.12020830e+02] [-1.11453998e-03 -2.73331669e-05 9.99999379e-01 -6.28233690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:112.01, Z:-0.63 [[-3.30751976e-01 9.43717655e-01 -3.42762953e-04 1.71528700e+02] [-9.43717059e-01 -3.30752153e-01 -1.06087676e-03 1.12009444e+02] [-1.11453771e-03 -2.74158396e-05 9.99999379e-01 -6.29746311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:112.01, Z:-0.63 [[-3.31177658e-01 9.43568355e-01 -3.43394912e-04 1.71527788e+02] [-9.43567759e-01 -3.31177835e-01 -1.06067216e-03 1.12013187e+02] [-1.11454147e-03 -2.72545557e-05 9.99999379e-01 -6.28804371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:112.01, Z:-0.63 [[-3.31368651e-01 9.43501298e-01 -3.44081146e-04 1.71525113e+02] [-9.43500702e-01 -3.31368828e-01 -1.06044950e-03 1.12008591e+02] [-1.11455325e-03 -2.67589183e-05 9.99999379e-01 -6.28543760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:112.00, Z:-0.63 [[-3.31455079e-01 9.43470938e-01 -3.44709799e-04 1.71521226e+02] [-9.43470343e-01 -3.31455258e-01 -1.06024511e-03 1.12000459e+02] [-1.11456633e-03 -2.62001558e-05 9.99999379e-01 -6.28515093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:112.01, Z:-0.63 [[-3.31209453e-01 9.43557194e-01 -3.45338996e-04 1.71522510e+02] [-9.43556599e-01 -3.31209632e-01 -1.06004013e-03 1.12008207e+02] [-1.11458810e-03 -2.52484239e-05 9.99999379e-01 -6.27966373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:111.99, Z:-0.63 [[-3.30534790e-01 9.43793745e-01 -3.46020064e-04 1.71516393e+02] [-9.43793150e-01 -3.30534970e-01 -1.05981777e-03 1.11994958e+02] [-1.11462112e-03 -2.37352786e-05 9.99999379e-01 -6.26908329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:111.99, Z:-0.63 [[-3.30670430e-01 9.43746230e-01 -3.46645205e-04 1.71514864e+02] [-9.43745635e-01 -3.30670611e-01 -1.05961326e-03 1.11991184e+02] [-1.11463140e-03 -2.32378735e-05 9.99999379e-01 -6.26660268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:111.99, Z:-0.63 [[-3.31443676e-01 9.43474943e-01 -3.47271920e-04 1.71515361e+02] [-9.43474349e-01 -3.31443857e-01 -1.05940783e-03 1.11994016e+02] [-1.11462588e-03 -2.34918759e-05 9.99999379e-01 -6.26356446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:111.98, Z:-0.63 [[-3.31607398e-01 9.43417412e-01 -3.47896163e-04 1.71511878e+02] [-9.43416818e-01 -3.31607579e-01 -1.05920279e-03 1.11984382e+02] [-1.11463536e-03 -2.30283906e-05 9.99999379e-01 -6.26747112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:111.98, Z:-0.63 [[-3.31651965e-01 9.43401745e-01 -3.48573433e-04 1.71509810e+02] [-9.43401151e-01 -3.31652147e-01 -1.05897986e-03 1.11979043e+02] [-1.11464858e-03 -2.23681748e-05 9.99999379e-01 -6.27155034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:111.98, Z:-0.63 [[-3.31350317e-01 9.43507735e-01 -3.49197166e-04 1.71508302e+02] [-9.43507141e-01 -3.31350501e-01 -1.05877415e-03 1.11975551e+02] [-1.11466825e-03 -2.13551306e-05 9.99999379e-01 -6.26767105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:111.97, Z:-0.63 [[-3.31905505e-01 9.43312574e-01 -3.49820520e-04 1.71506576e+02] [-9.43311981e-01 -3.31905689e-01 -1.05856815e-03 1.11970225e+02] [-1.11466807e-03 -2.13547093e-05 9.99999379e-01 -6.26773645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:111.97, Z:-0.63 [[-3.31530645e-01 9.43444386e-01 -3.50443356e-04 1.71504769e+02] [-9.43443792e-01 -3.31530829e-01 -1.05836192e-03 1.11966559e+02] [-1.11468839e-03 -2.02557998e-05 9.99999379e-01 -6.26473025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:111.95, Z:-0.63 [[-3.30354872e-01 9.43856734e-01 -3.51065558e-04 1.71499264e+02] [-9.43856141e-01 -3.30355058e-01 -1.05815549e-03 1.11952225e+02] [-1.11472347e-03 -1.82114379e-05 9.99999379e-01 -6.25024009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:111.95, Z:-0.62 [[-3.29664060e-01 9.44098238e-01 -3.52815999e-04 1.71497509e+02] [-9.44097646e-01 -3.29664249e-01 -1.05757153e-03 1.11947427e+02] [-1.11476223e-03 -1.55505690e-05 9.99999379e-01 -6.24879413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.94, Z:-0.62 [[-3.29769830e-01 9.44061298e-01 -3.53437736e-04 1.71494725e+02] [-9.44060706e-01 -3.29770019e-01 -1.05736370e-03 1.11938162e+02] [-1.11476932e-03 -1.50199694e-05 9.99999379e-01 -6.24323854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.93, Z:-0.62 [[-3.29601635e-01 9.44120033e-01 -3.54114399e-04 1.71493256e+02] [-9.44119441e-01 -3.29601825e-01 -1.05713704e-03 1.11932400e+02] [-1.11478101e-03 -1.41078073e-05 9.99999379e-01 -6.23911241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.93, Z:-0.62 [[-3.28119065e-01 9.44636308e-01 -3.54737558e-04 1.71492822e+02] [-9.44635716e-01 -3.28119256e-01 -1.05692788e-03 1.11932079e+02] [-1.11480868e-03 -1.17004216e-05 9.99999379e-01 -6.24747229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65999999999997 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:172.17, Y:111.09, Z:0.13 [[-2.29635612e-01 -9.73276610e-01 3.55359428e-04 1.72170728e+02] [-9.73276042e-01 2.29635864e-01 1.05671876e-03 1.11085742e+02] [-1.11008292e-03 -1.03202558e-04 -9.99999379e-01 1.32668627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:171.27, Y:111.28, Z:-0.63 [[-2.53662968e-01 9.67292627e-01 -2.68047638e-04 1.71273935e+02] [-9.67292026e-01 -2.53663109e-01 -1.07903632e-03 1.11282265e+02] [-1.11173767e-03 -1.44312125e-05 9.99999382e-01 -6.30134616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71999999999997 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:171.28, Y:111.32, Z:-0.63 [[-2.54526089e-01 9.67065868e-01 -2.76290213e-04 1.71282071e+02] [-9.67065269e-01 -2.54526239e-01 -1.07691209e-03 1.11316550e+02] [-1.11176803e-03 -6.91155377e-06 9.99999382e-01 -6.29716854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:111.58, Z:0.13 [[-1.83964390e-01 -9.82932870e-01 2.76290213e-04 1.72252436e+02] [-9.82932283e-01 1.83964583e-01 1.07691209e-03 1.11579364e+02] [-1.10935991e-03 -7.34610939e-05 -9.99999382e-01 1.27138743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:111.74, Z:-0.62 [[-1.85615715e-01 9.82622391e-01 -2.05491926e-04 1.71347768e+02] [-9.82621787e-01 -1.85615829e-01 -1.09025618e-03 1.11736884e+02] [-1.10945269e-03 -4.47838164e-07 9.99999385e-01 -6.23445016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:111.76, Z:-0.62 [[-1.83715719e-01 9.82979396e-01 -2.06184916e-04 1.71352011e+02] [-9.82978791e-01 -1.83715835e-01 -1.09012511e-03 1.11759608e+02] [-1.10944996e-03 2.40228054e-06 9.99999385e-01 -6.22837586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:111.73, Z:-0.62 [[-1.85215686e-01 9.82697872e-01 -2.03127897e-04 1.71346973e+02] [-9.82697267e-01 -1.85215798e-01 -1.09070540e-03 1.11731803e+02] [-1.10945637e-03 -2.40251944e-06 9.99999385e-01 -6.23506188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:172.14, Y:111.00, Z:0.13 [[-1.07289046e-01 -9.94227850e-01 2.07764864e-04 1.72141074e+02] [-9.94227257e-01 1.07289210e-01 1.08982140e-03 1.10999563e+02] [-1.10582172e-03 -8.96395924e-05 -9.99999385e-01 1.31216311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:111.67, Z:-0.62 [[-1.10989197e-01 9.93821606e-01 -1.12953613e-04 1.71290158e+02] [-9.93820997e-01 -1.10989254e-01 -1.10038572e-03 1.11667161e+02] [-1.10612374e-03 -9.87525496e-06 9.99999388e-01 -6.24001899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:111.70, Z:-0.62 [[-1.03624287e-01 9.94616505e-01 -1.25634520e-04 1.71297447e+02] [-9.94615898e-01 -1.03624362e-01 -1.09893599e-03 1.11699766e+02] [-1.10603867e-03 1.10816330e-05 9.99999388e-01 -6.24015419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:111.67, Z:-0.62 [[-1.09511664e-01 9.93985505e-01 -1.10550977e-04 1.71292765e+02] [-9.93984895e-01 -1.09511719e-01 -1.10066486e-03 1.11671298e+02] [-1.10615154e-03 -1.06496383e-05 9.99999388e-01 -6.24376656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:111.67, Z:-0.63 [[-1.00861746e-01 9.94900443e-01 -1.27221115e-04 1.71295967e+02] [-9.94899837e-01 -1.00861825e-01 -1.09873464e-03 1.11666190e+02] [-1.10596334e-03 1.57519730e-05 9.99999388e-01 -6.25093961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:111.65, Z:-0.62 [[-1.06693422e-01 9.94291959e-01 -1.14611898e-04 1.71291871e+02] [-9.94291351e-01 -1.06693484e-01 -1.10020024e-03 1.11651731e+02] [-1.10614860e-03 -3.42650962e-06 9.99999388e-01 -6.23588049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:111.66, Z:-0.62 [[-1.03850768e-01 9.94592882e-01 -1.28940707e-04 1.71293758e+02] [-9.94592276e-01 -1.03850847e-01 -1.09851837e-03 1.11663677e+02] [-1.10596915e-03 1.41614550e-05 9.99999388e-01 -6.22355317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:111.65, Z:-0.62 [[-1.01552815e-01 9.94830141e-01 -1.28968807e-04 1.71293118e+02] [-9.94829535e-01 -1.01552895e-01 -1.09851505e-03 1.11647560e+02] [-1.10593304e-03 1.67446827e-05 9.99999388e-01 -6.23696738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:111.66, Z:-0.62 [[-8.86851869e-02 9.96059697e-01 -1.30313408e-04 1.71300168e+02] [-9.96059092e-01 -8.86852768e-02 -1.09835552e-03 1.11663875e+02] [-1.10558455e-03 3.23919900e-05 9.99999388e-01 -6.21492177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:111.66, Z:-0.62 [[-8.88458659e-02 9.96045379e-01 -1.19654501e-04 1.71299186e+02] [-9.96044773e-01 -8.88459439e-02 -1.09962458e-03 1.11658989e+02] [-1.10590680e-03 2.14841420e-05 9.99999388e-01 -6.24236538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:111.66, Z:-0.62 [[-8.56749495e-02 9.96323134e-01 -1.25915891e-04 1.71299840e+02] [-9.96322528e-01 -8.56750363e-02 -1.09887315e-03 1.11655197e+02] [-1.10562059e-03 3.13069370e-05 9.99999388e-01 -6.21188339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:111.65, Z:-0.62 [[-8.04575300e-02 9.96758030e-01 -1.27874716e-04 1.71300856e+02] [-9.96757425e-01 -8.04576221e-02 -1.09863652e-03 1.11647644e+02] [-1.10536327e-03 3.90664914e-05 9.99999388e-01 -6.21504449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:111.65, Z:-0.62 [[-7.94047464e-02 9.96842449e-01 -1.31969961e-04 1.71302085e+02] [-9.96841845e-01 -7.94048437e-02 -1.09813837e-03 1.11648233e+02] [-1.10515000e-03 4.43557808e-05 9.99999388e-01 -6.20982496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:111.43, Z:0.12 [[-9.99299155e-02 -9.94994470e-01 1.31969961e-04 1.72136471e+02] [-9.94993864e-01 9.99300003e-02 1.09813837e-03 1.11428013e+02] [-1.10582936e-03 -2.15724270e-05 -9.99999388e-01 1.23710361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:111.32, Z:0.12 [[-3.50634161e-02 -9.99385081e-01 1.31969961e-04 1.72095937e+02] [-9.99384482e-01 3.50635401e-02 1.09813837e-03 1.11316930e+02] [-1.10209044e-03 -9.33842486e-05 -9.99999388e-01 1.23424998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:111.32, Z:0.12 [[ 4.29915636e-02 -9.99075435e-01 4.64862316e-06 1.72076348e+02] [-9.99074835e-01 -4.29915327e-02 1.09668422e-03 1.11318267e+02] [-1.09547041e-03 -5.17924919e-05 -9.99999399e-01 1.23806163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:111.32, Z:0.12 [[ 1.20762501e-01 -9.92681423e-01 -9.92188722e-05 1.72060811e+02] [-9.92680829e-01 -1.20762538e-01 1.08720523e-03 1.11318859e+02] [-1.09123036e-03 -3.28009508e-05 -9.99999404e-01 1.23226674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:111.32, Z:0.12 [[ 1.98677220e-01 -9.80064961e-01 -1.83342568e-04 1.72046124e+02] [-9.80064375e-01 -1.98677302e-01 1.07282880e-03 1.11317820e+02] [-1.08786792e-03 -3.34591234e-05 -9.99999408e-01 1.22954439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:111.32, Z:0.12 [[ 2.75641068e-01 -9.61260595e-01 -2.65850993e-04 1.72031945e+02] [-9.61260020e-01 -2.75641194e-01 1.05197765e-03 1.11315053e+02] [-1.08450414e-03 -3.44163114e-05 -9.99999411e-01 1.22525875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:111.31, Z:0.12 [[ 3.53723993e-01 -9.35349783e-01 -3.46189793e-04 1.72014949e+02] [-9.35349223e-01 -3.53724160e-01 1.02483928e-03 1.11310664e+02] [-1.08103889e-03 -3.87018883e-05 -9.99999415e-01 1.22821392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46999999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.00, Y:111.31, Z:0.12 [[ 4.28249796e-01 -9.03660297e-01 -4.23962817e-04 1.72001902e+02] [-9.03659754e-01 -4.28250004e-01 9.91586645e-04 1.11305675e+02] [-1.07761956e-03 -4.15286431e-05 -9.99999419e-01 1.22954050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:111.30, Z:0.12 [[ 5.03367729e-01 -8.64072150e-01 -4.98629512e-04 1.71984941e+02] [-8.64071627e-01 -5.03367973e-01 9.52498923e-04 1.11296352e+02] [-1.07402192e-03 -4.86056058e-05 -9.99999422e-01 1.23680797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:111.29, Z:0.12 [[ 5.72170453e-01 -8.20134530e-01 -5.69822104e-04 1.71973456e+02] [-8.20134030e-01 -5.72170734e-01 9.07812250e-04 1.11285133e+02] [-1.07056371e-03 -5.20928474e-05 -9.99999426e-01 1.23935407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:111.27, Z:0.12 [[ 6.37035772e-01 -7.70833976e-01 -6.37013497e-04 1.71962972e+02] [-7.70833501e-01 -6.37036088e-01 8.57922152e-04 1.11274137e+02] [-1.06711613e-03 -5.54957567e-05 -9.99999429e-01 1.24142033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:111.27, Z:0.12 [[ 6.97484515e-01 -7.16599512e-01 -6.99952317e-04 1.71955024e+02] [-7.16599065e-01 -6.97484864e-01 8.03064585e-04 1.11265067e+02] [-1.06368184e-03 -5.85399373e-05 -9.99999433e-01 1.24549516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.26, Z:0.12 [[ 7.53178773e-01 -6.57815446e-01 -7.58241058e-04 1.71948374e+02] [-6.57815028e-01 -7.53179152e-01 7.43630625e-04 1.11256414e+02] [-1.06026307e-03 -6.13044391e-05 -9.99999436e-01 1.24952035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.23, Z:0.13 [[ 8.00212336e-01 -5.99716232e-01 -8.11545178e-04 1.71929457e+02] [-5.99715849e-01 -8.00212746e-01 6.80016430e-04 1.11227559e+02] [-1.05722569e-03 -5.74610309e-05 -9.99999439e-01 1.32358809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.22, Z:0.13 [[ 8.49455983e-01 -5.27658830e-01 -8.32397003e-04 1.71928983e+02] [-5.27658440e-01 -8.49456383e-01 6.51149086e-04 1.11217629e+02] [-1.05066951e-03 -1.13901183e-04 -9.99999442e-01 1.26806602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.21, Z:0.13 [[ 8.88550239e-01 -4.58778447e-01 -8.99206087e-04 1.71924298e+02] [-4.58778135e-01 -8.88550692e-01 5.39872600e-04 1.11206101e+02] [-1.04667210e-03 -6.71678367e-05 -9.99999450e-01 1.27007575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.19, Z:0.13 [[ 9.21676584e-01 -3.87957986e-01 -9.35791971e-04 1.71919833e+02] [-3.87957711e-01 -9.21677057e-01 4.66478492e-04 1.11191450e+02] [-1.04347205e-03 -6.68945917e-05 -9.99999453e-01 1.26385795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.18, Z:0.13 [[ 9.48962402e-01 -3.15387739e-01 -9.66429937e-04 1.71916990e+02] [-3.15387503e-01 -9.48962892e-01 3.90691150e-04 1.11179837e+02] [-1.04032535e-03 -6.59512873e-05 -9.99999457e-01 1.25774652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.17, Z:0.13 [[ 9.70554680e-01 -2.40878871e-01 -9.90968567e-04 1.71915956e+02] [-2.40878677e-01 -9.70555184e-01 3.13001373e-04 1.11169033e+02] [-1.03718510e-03 -6.50817503e-05 -9.99999460e-01 1.25325969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:111.15, Z:0.13 [[ 9.86103560e-01 -1.66128714e-01 -1.00930024e-03 1.71912954e+02] [-1.66128561e-01 -9.86104075e-01 2.33897762e-04 1.11154219e+02] [-1.03413221e-03 -6.29738195e-05 -9.99999463e-01 1.25220514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:111.14, Z:0.13 [[ 9.95930699e-01 -9.01165887e-02 -1.02137010e-03 1.71910675e+02] [-9.01164784e-02 -9.95931221e-01 1.53681018e-04 1.11141861e+02] [-1.03106358e-03 -6.10133678e-05 -9.99999467e-01 1.25458869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:111.13, Z:0.13 [[ 9.99909695e-01 -1.33995035e-02 -1.02710463e-03 1.71910443e+02] [-1.33994356e-02 -9.99910221e-01 7.30317678e-05 1.11126580e+02] [-1.02799100e-03 -5.92625504e-05 -9.99999470e-01 1.25997031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:111.11, Z:0.13 [[ 9.98005257e-01 6.31225299e-02 -1.02651169e-03 1.71910198e+02] [ 6.31225554e-02 -9.98005783e-01 -7.55299516e-06 1.11112027e+02] [-1.02494137e-03 -5.72581125e-05 -9.99999473e-01 1.26587135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:111.09, Z:0.13 [[ 9.90483289e-01 1.37629263e-01 -1.01962979e-03 1.71912413e+02] [ 1.37629246e-01 -9.90483813e-01 -8.76290774e-05 1.11094606e+02] [-1.02198713e-03 -5.35357427e-05 -9.99999476e-01 1.28939633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.08, Z:0.13 [[ 9.77088101e-01 2.12832868e-01 -1.00653054e-03 1.71915008e+02] [ 2.12832809e-01 -9.77088618e-01 -1.66714978e-04 1.11079458e+02] [-1.01895196e-03 -5.13274998e-05 -9.99999480e-01 1.29843060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.06, Z:0.13 [[ 9.57956180e-01 2.86912847e-01 -9.87353573e-04 1.71919751e+02] [ 2.86912748e-01 -9.57956688e-01 -2.44239186e-04 1.11064794e+02] [-1.01591732e-03 -4.93138891e-05 -9.99999483e-01 1.30061049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.05, Z:0.13 [[ 9.33833614e-01 3.57706382e-01 -9.62235427e-04 1.71925534e+02] [ 3.57706242e-01 -9.33834109e-01 -3.19813215e-04 1.11049406e+02] [-1.01296749e-03 -4.55452882e-05 -9.99999486e-01 1.29512237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.04, Z:0.13 [[ 9.03625075e-01 4.28323309e-01 -9.31385095e-04 1.71932822e+02] [ 4.28323131e-01 -9.03625554e-01 -3.92938076e-04 1.11037188e+02] [-1.00992791e-03 -4.38650813e-05 -9.99999489e-01 1.29187055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:111.03, Z:0.13 [[ 8.67847601e-01 4.96829689e-01 -8.94998200e-04 1.71941086e+02] [ 4.96829475e-01 -8.67848062e-01 -4.63239148e-04 1.11025564e+02] [-1.00687342e-03 -4.26405018e-05 -9.99999492e-01 1.28848771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.01, Z:0.13 [[ 8.27106773e-01 5.62044177e-01 -8.53351422e-04 1.71950155e+02] [ 5.62043929e-01 -8.27107213e-01 -5.30261446e-04 1.11012573e+02] [-1.00384347e-03 -4.10381517e-05 -9.99999495e-01 1.28602667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:111.00, Z:0.13 [[ 7.80430385e-01 6.25242164e-01 -8.06743080e-04 1.71961201e+02] [ 6.25241884e-01 -7.80430801e-01 -5.93604863e-04 1.11001747e+02] [-1.00075394e-03 -4.11422913e-05 -9.99999498e-01 1.28616519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:110.99, Z:0.13 [[ 7.28759883e-01 6.84768911e-01 -7.55442940e-04 1.71971746e+02] [ 6.84768601e-01 -7.28760274e-01 -6.52956914e-04 1.10991048e+02] [-9.97661399e-04 -4.14548003e-05 -9.99999501e-01 1.28893842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:110.98, Z:0.13 [[ 6.71730127e-01 7.40795617e-01 -6.99852715e-04 1.71986457e+02] [ 7.40795280e-01 -6.71730491e-01 -7.07914107e-04 1.10980551e+02] [-9.94532076e-04 -4.29203545e-05 -9.99999505e-01 1.29289303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:110.97, Z:0.13 [[ 6.10415626e-01 7.92081027e-01 -6.40326615e-04 1.71998101e+02] [ 7.92080665e-01 -6.10415960e-01 -7.58186871e-04 1.10972205e+02] [-9.91411021e-04 -4.43812178e-05 -9.99999508e-01 1.29590168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:110.97, Z:0.13 [[ 5.45102817e-01 8.38369003e-01 -5.77210570e-04 1.72011511e+02] [ 8.38368619e-01 -5.45103121e-01 -8.03526097e-04 1.10965485e+02] [-9.88290656e-04 -4.59108892e-05 -9.99999511e-01 1.29742491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:110.96, Z:0.13 [[ 4.73400041e-01 8.80847399e-01 -5.10930860e-04 1.72027627e+02] [ 8.80846996e-01 -4.73400314e-01 -8.43665639e-04 1.10958819e+02] [-9.85015513e-04 -5.06605654e-05 -9.99999514e-01 1.29924568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:110.95, Z:0.13 [[ 4.00334346e-01 9.16369039e-01 -4.41954604e-04 1.72042307e+02] [ 9.16368620e-01 -4.00334587e-01 -8.78371212e-04 1.10954371e+02] [-9.81841898e-04 -5.33511648e-05 -9.99999517e-01 1.30365182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:110.95, Z:0.13 [[ 3.27337520e-01 9.44907408e-01 -3.70687437e-04 1.72055274e+02] [ 9.44906974e-01 -3.27337726e-01 -9.07482353e-04 1.10952913e+02] [-9.78826781e-04 -5.32121213e-05 -9.99999520e-01 1.30337243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:110.95, Z:0.13 [[ 2.49195702e-01 9.68453103e-01 -2.97560845e-04 1.72069405e+02] [ 9.68452658e-01 -2.49195873e-01 -9.30858215e-04 1.10950967e+02] [-9.75643462e-04 -5.62077245e-05 -9.99999522e-01 1.30481048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:110.95, Z:0.13 [[ 1.67986553e-01 9.85789262e-01 -2.23022403e-04 1.72093247e+02] [ 9.85788807e-01 -1.67986691e-01 -9.48386662e-04 1.10946975e+02] [-9.72374183e-04 -6.05367819e-05 -9.99999525e-01 1.31634344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:110.95, Z:0.13 [[ 8.51385437e-02 9.96369109e-01 -1.63979770e-04 1.72107072e+02] [ 9.96368652e-01 -8.51386623e-02 -9.57578644e-04 1.10948637e+02] [-9.68062798e-04 -8.18574509e-05 -9.99999528e-01 1.31065447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:110.95, Z:0.13 [[ 4.20569159e-03 9.99991154e-01 -7.15752369e-05 1.72117239e+02] [ 9.99990691e-01 -4.20575868e-03 -9.64436411e-04 1.10951217e+02] [-9.64728907e-04 -6.75184485e-05 -9.99999532e-01 1.31038402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:110.93, Z:0.13 [[-7.64601967e-02 9.97072634e-01 4.14514642e-06 1.72154436e+02] [ 9.97072171e-01 7.64601652e-02 -9.64110858e-04 1.10932827e+02] [-9.61605491e-04 -6.95830957e-05 -9.99999535e-01 1.30772648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:110.91, Z:0.13 [[-1.58474204e-01 9.87363115e-01 7.94344593e-05 1.72194317e+02] [ 9.87362653e-01 1.58474207e-01 -9.57867233e-04 1.10911020e+02] [-9.58351088e-04 -7.33666289e-05 -9.99999538e-01 1.29935266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:110.89, Z:0.13 [[-2.36874723e-01 9.71540191e-01 1.53795788e-04 1.72234172e+02] [ 9.71539733e-01 2.36874761e-01 -9.45775081e-04 1.10894882e+02] [-9.55288843e-04 -7.46114913e-05 -9.99999541e-01 1.30248760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:110.88, Z:0.13 [[-3.13796059e-01 9.49490380e-01 2.26684538e-04 1.72275297e+02] [ 9.49489930e-01 3.13796132e-01 -9.27969814e-04 1.10880660e+02] [-9.52231143e-04 -7.59585847e-05 -9.99999544e-01 1.30577173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:110.87, Z:0.13 [[-3.88130777e-01 9.21604260e-01 2.97796882e-04 1.72316163e+02] [ 9.21603819e-01 3.88130884e-01 -9.04558354e-04 1.10872672e+02] [-9.49228999e-04 -7.66361934e-05 -9.99999547e-01 1.31251754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:110.86, Z:0.13 [[-4.60801243e-01 8.87503284e-01 3.66592527e-04 1.72359102e+02] [ 8.87502856e-01 4.60801382e-01 -8.75760566e-04 1.10862464e+02] [-9.46166722e-04 -7.81996428e-05 -9.99999549e-01 1.31258763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:110.86, Z:0.13 [[-5.29106096e-01 8.48555568e-01 4.32698635e-04 1.72401407e+02] [ 8.48555154e-01 5.29106267e-01 -8.41780174e-04 1.10857108e+02] [-9.43240814e-04 -7.82223649e-05 -9.99999552e-01 1.31346563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:110.86, Z:0.13 [[-5.93896881e-01 8.04541017e-01 4.95777092e-04 1.72444132e+02] [ 8.04540621e-01 5.93897083e-01 -8.02826749e-04 1.10855012e+02] [-9.40347619e-04 -7.79234933e-05 -9.99999555e-01 1.31107704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:110.86, Z:0.13 [[-6.54310828e-01 7.56225517e-01 5.55427529e-04 1.72484451e+02] [ 7.56225140e-01 6.54311059e-01 -7.59185935e-04 1.10858234e+02] [-9.37538151e-04 -7.67153169e-05 -9.99999558e-01 1.31224228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:110.86, Z:0.13 [[-7.11238718e-01 7.02950292e-01 6.11300691e-04 1.72528932e+02] [ 7.02949936e-01 7.11238976e-01 -7.11158227e-04 1.10860282e+02] [-9.34689761e-04 -7.60894835e-05 -9.99999560e-01 1.30987681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:110.87, Z:0.13 [[-7.63813581e-01 6.45436577e-01 6.63080056e-04 1.72569949e+02] [ 6.45436245e-01 7.63813865e-01 -6.59063287e-04 1.10868750e+02] [-9.31853292e-04 -7.54255880e-05 -9.99999563e-01 1.31035979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:110.88, Z:0.13 [[-8.11666291e-01 5.84120988e-01 7.10465403e-04 1.72614320e+02] [ 5.84120681e-01 8.11666598e-01 -6.03256791e-04 1.10877273e+02] [-9.29035990e-04 -7.46456670e-05 -9.99999566e-01 1.31040001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:110.89, Z:0.13 [[-8.54685982e-01 5.19144783e-01 7.53206676e-04 1.72652024e+02] [ 5.19144503e-01 8.54686310e-01 -5.44088041e-04 1.10891492e+02] [-9.26215903e-04 -7.40013157e-05 -9.99999568e-01 1.30681319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:110.94, Z:0.13 [[-8.94868594e-01 4.46328996e-01 7.91058807e-04 1.72626734e+02] [ 4.46328743e-01 8.94868941e-01 -4.81959931e-04 1.10939299e+02] [-9.23006649e-04 -7.82185230e-05 -9.99999571e-01 1.27500731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:110.93, Z:0.13 [[-9.25308502e-01 3.79214302e-01 8.30412540e-04 1.72732632e+02] [ 3.79214091e-01 9.25308873e-01 -4.03980650e-04 1.10931442e+02] [-9.21583331e-04 -5.89025937e-05 -9.99999574e-01 1.30895483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:110.95, Z:0.13 [[-9.52350349e-01 3.05005059e-01 8.52327706e-04 1.72768352e+02] [ 3.05004866e-01 9.52350728e-01 -3.50722264e-04 1.10954938e+02] [-9.18686976e-04 -7.40463726e-05 -9.99999575e-01 1.31216634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:110.98, Z:0.13 [[-9.73737618e-01 2.27671443e-01 8.74475129e-04 1.72803282e+02] [ 2.27671281e-01 9.73738008e-01 -2.82057702e-04 1.10979955e+02] [-9.15726154e-04 -7.55573219e-05 -9.99999578e-01 1.31720350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:111.01, Z:0.13 [[-9.88789586e-01 1.49312965e-01 8.91136423e-04 1.72833191e+02] [ 1.49312834e-01 9.88789984e-01 -2.12033451e-04 1.11008728e+02] [-9.12806113e-04 -7.65983633e-05 -9.99999580e-01 1.31572054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.86, Y:111.04, Z:0.13 [[-9.97632415e-01 6.87659179e-02 9.02226242e-04 1.72863650e+02] [ 6.87658182e-02 9.97632819e-01 -1.41145382e-04 1.11039262e+02] [-9.09796501e-04 -7.87688827e-05 -9.99999583e-01 1.31547538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:111.07, Z:0.13 [[-9.99941362e-01 -1.07911392e-02 9.07712510e-04 1.72890805e+02] [-1.07912070e-02 9.99941771e-01 -6.98296481e-05 1.11072632e+02] [-9.06906114e-04 -7.96208671e-05 -9.99999586e-01 1.31666425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:111.70, Z:-0.63 [[-9.99966376e-01 -8.15001315e-03 -9.07596317e-04 1.72891901e+02] [ 8.15001785e-03 -9.99966788e-01 -1.47890274e-06 1.11704621e+02] [-9.07554121e-04 -8.87577920e-06 9.99999588e-01 -6.31815695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:111.71, Z:-0.63 [[-9.99963684e-01 -8.47387617e-03 -9.07596085e-04 1.72893882e+02] [ 8.47388113e-03 -9.99964096e-01 -1.61014522e-06 1.11705371e+02] [-9.07549854e-04 -9.30094807e-06 9.99999588e-01 -6.31704491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:111.71, Z:-0.63 [[-9.99986122e-01 -5.18966917e-03 -9.07595833e-04 1.72820334e+02] [ 5.18967289e-03 -9.99986534e-01 -1.74133102e-06 1.11706271e+02] [-9.07574574e-04 -6.45143234e-06 9.99999588e-01 -6.31926357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:111.71, Z:-0.63 [[-9.99978508e-01 -6.49303788e-03 -9.07588744e-04 1.72896347e+02] [ 6.49304494e-03 -9.99978920e-01 -4.83240049e-06 1.11708652e+02] [-9.07538235e-04 -1.07253111e-05 9.99999588e-01 -6.32568681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:111.71, Z:-0.63 [[-9.99989114e-01 -4.57682900e-03 -9.07594679e-04 1.72896035e+02] [ 4.57683247e-03 -9.99989526e-01 -1.74402243e-06 1.11709758e+02] [-9.07577191e-04 -5.89791224e-06 9.99999588e-01 -6.33099682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:111.10, Z:0.13 [[-9.96547166e-01 -8.30236235e-02 9.07594407e-04 1.72928785e+02] [-8.30236560e-02 9.96547577e-01 1.87526466e-06 1.11100441e+02] [-9.04616699e-04 -7.34830162e-05 -9.99999588e-01 1.33120954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:111.14, Z:0.13 [[-9.87386436e-01 -1.58326286e-01 9.01885077e-04 1.72950079e+02] [-1.58326285e-01 9.87386845e-01 7.27014166e-05 1.11136889e+02] [-9.02020007e-04 -7.10077210e-05 -9.99999591e-01 1.33002951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:111.18, Z:0.13 [[-9.72585415e-01 -2.32544225e-01 8.90698174e-04 1.72971279e+02] [-2.32544192e-01 9.72585821e-01 1.42584086e-04 1.11175454e+02] [-8.99437520e-04 -6.84514839e-05 -9.99999593e-01 1.33250263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:111.81, Z:-0.63 [[-9.70990368e-01 2.39117004e-01 -8.74146349e-04 1.72818185e+02] [-2.39116911e-01 -9.70990761e-01 -2.11117916e-04 1.11811947e+02] [-8.99269912e-04 4.02971137e-06 9.99999596e-01 -6.33474643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:111.81, Z:-0.63 [[-9.69715705e-01 2.44234902e-01 -8.74227157e-04 1.72820371e+02] [-2.44234811e-01 -9.69716099e-01 -2.10782761e-04 1.11814795e+02] [-8.99232656e-04 9.11735084e-06 9.99999596e-01 -6.34742084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:111.21, Z:0.14 [[-9.55047531e-01 -2.96451428e-01 8.74307636e-04 1.72990993e+02] [-2.96451359e-01 9.55047929e-01 2.10448411e-04 1.11212884e+02] [-8.97393430e-04 -5.82014511e-05 -9.99999596e-01 1.35179519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:111.25, Z:0.14 [[-9.31449668e-01 -3.63869193e-01 8.52550772e-04 1.73005450e+02] [-3.63869091e-01 9.31450056e-01 2.77331635e-04 1.11254797e+02] [-8.95020903e-04 -5.18964149e-05 -9.99999598e-01 1.36360844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:111.29, Z:0.14 [[-9.01965378e-01 -4.31807567e-01 8.25762092e-04 1.73005189e+02] [-4.31807435e-01 9.01965755e-01 3.42011059e-04 1.11292885e+02] [-8.92492092e-04 -4.80880763e-05 -9.99999601e-01 1.36104673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.64 [[-8.78569060e-01 4.77614674e-01 -7.94283658e-04 1.72705709e+02] [-4.77614504e-01 -8.78569418e-01 -4.03912590e-04 1.11887738e+02] [-8.90747911e-04 2.44962908e-05 9.99999603e-01 -6.35732642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.63 [[-8.74738928e-01 4.84593826e-01 -7.94436508e-04 1.72709404e+02] [-4.84593659e-01 -8.74739288e-01 -4.03611732e-04 1.11890327e+02] [-8.90512579e-04 3.19240007e-05 9.99999603e-01 -6.34989469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.63 [[-8.72831746e-01 4.88020605e-01 -7.94588621e-04 1.72708444e+02] [-4.88020440e-01 -8.72832107e-01 -4.03312046e-04 1.11889931e+02] [-8.90367049e-04 3.57519310e-05 9.99999603e-01 -6.34642910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.63 [[-8.71033586e-01 4.91222821e-01 -7.94740198e-04 1.72709352e+02] [-4.91222657e-01 -8.71033948e-01 -4.03013136e-04 1.11890370e+02] [-8.90214942e-04 3.93564150e-05 9.99999603e-01 -6.34455931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.63 [[-8.69397064e-01 4.94113462e-01 -7.94891391e-04 1.72711009e+02] [-4.94113300e-01 -8.69397426e-01 -4.02714705e-04 1.11891108e+02] [-8.90063287e-04 4.26474261e-05 9.99999603e-01 -6.34090603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.63 [[-8.66382225e-01 4.99380826e-01 -7.95042081e-04 1.72712126e+02] [-4.99380666e-01 -8.66382588e-01 -4.02416993e-04 1.11890052e+02] [-8.89769946e-04 4.83817146e-05 9.99999603e-01 -6.33462999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.63 [[-8.65556824e-01 5.00810095e-01 -7.95192244e-04 1.72713985e+02] [-5.00809936e-01 -8.65557188e-01 -4.02120046e-04 1.11889573e+02] [-8.89670141e-04 5.01824271e-05 9.99999603e-01 -6.33071585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.89, Z:-0.63 [[-8.65131503e-01 5.01544465e-01 -7.95341980e-04 1.72713419e+02] [-5.01544307e-01 -8.65131867e-01 -4.01823669e-04 1.11887645e+02] [-8.89608129e-04 5.12689277e-05 9.99999603e-01 -6.33539169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.88, Z:-0.63 [[-8.65138996e-01 5.01531539e-01 -7.95491340e-04 1.72709993e+02] [-5.01531380e-01 -8.65139361e-01 -4.01527762e-04 1.11883909e+02] [-8.89589706e-04 5.15865450e-05 9.99999603e-01 -6.34095257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.88, Z:-0.63 [[-8.65915919e-01 5.00188953e-01 -7.95640639e-04 1.72711748e+02] [-5.00188795e-01 -8.65916283e-01 -4.01231704e-04 1.11880102e+02] [-8.89649850e-04 5.05376126e-05 9.99999603e-01 -6.33620143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.88, Z:-0.64 [[-8.66708014e-01 4.98815182e-01 -7.95770969e-04 1.72710354e+02] [-4.98815023e-01 -8.66708378e-01 -4.00973050e-04 1.11876507e+02] [-8.89712810e-04 4.94159593e-05 9.99999603e-01 -6.36797274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.87, Z:-0.64 [[-8.67634296e-01 4.97202268e-01 -7.95901216e-04 1.72710108e+02] [-4.97202109e-01 -8.67634660e-01 -4.00714353e-04 1.11873635e+02] [-8.89787566e-04 4.80502473e-05 9.99999603e-01 -6.38221287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.87, Z:-0.64 [[-8.69779856e-01 4.93439327e-01 -7.96031417e-04 1.72707925e+02] [-4.93439166e-01 -8.69780219e-01 -4.00455538e-04 1.11866766e+02] [-8.89972891e-04 4.44849182e-05 9.99999603e-01 -6.37466288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:111.86, Z:-0.64 [[-8.71224634e-01 4.90883901e-01 -7.96078047e-04 1.72705821e+02] [-4.90883739e-01 -8.71224996e-01 -4.00362820e-04 1.11862656e+02] [-8.90094756e-04 4.19758177e-05 9.99999603e-01 -6.36756755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:111.86, Z:-0.64 [[-8.72533040e-01 4.88554460e-01 -7.96227322e-04 1.72703073e+02] [-4.88554298e-01 -8.72533402e-01 -4.00065725e-04 1.11858037e+02] [-8.90188829e-04 3.99297167e-05 9.99999603e-01 -6.36897009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:111.34, Z:0.14 [[-8.76300167e-01 -4.81764863e-01 7.96376704e-04 1.72964150e+02] [-4.81764698e-01 8.76300528e-01 3.99768142e-04 1.11344302e+02] [-8.90459571e-04 -3.33492923e-05 -9.99999603e-01 1.40305612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:172.65, Y:111.86, Z:-0.64 [[-8.36309706e-01 5.48256781e-01 -7.60683404e-04 1.72646095e+02] [-5.48256590e-01 -8.36310051e-01 -4.58930292e-04 1.11857356e+02] [-8.87778821e-04 3.32418310e-05 9.99999605e-01 -6.36644510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:111.85, Z:-0.64 [[-8.37869147e-01 5.45870601e-01 -7.60855652e-04 1.72644878e+02] [-5.45870410e-01 -8.37869492e-01 -4.58644546e-04 1.11853330e+02] [-8.87858313e-04 3.10444713e-05 9.99999605e-01 -6.35575084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:111.85, Z:-0.63 [[-8.39508401e-01 5.43346174e-01 -7.61028158e-04 1.72643489e+02] [-5.43345982e-01 -8.39508746e-01 -4.58358128e-04 1.11849526e+02] [-8.87936930e-04 2.87060927e-05 9.99999605e-01 -6.34879693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.64, Y:111.84, Z:-0.63 [[-8.42809531e-01 5.38211404e-01 -7.61200614e-04 1.72640954e+02] [-5.38211210e-01 -8.42809874e-01 -4.58071550e-04 1.11842002e+02] [-8.88086725e-04 2.36196350e-05 9.99999605e-01 -6.34762596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:111.84, Z:-0.63 [[-8.44928239e-01 5.34879137e-01 -7.61373271e-04 1.72637447e+02] [-5.34878941e-01 -8.44928582e-01 -4.57784391e-04 1.11836876e+02] [-8.88165358e-04 2.04475693e-05 9.99999605e-01 -6.34576880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:111.37, Z:0.13 [[-8.26125074e-01 -5.63486276e-01 7.61546272e-04 1.72908890e+02] [-5.63486092e-01 8.26125423e-01 4.57496415e-04 1.11372984e+02] [-8.86925687e-04 -5.11714737e-05 -9.99999605e-01 1.33442620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:111.83, Z:-0.63 [[-8.06298326e-01 5.91508655e-01 -7.21827638e-04 1.72578108e+02] [-5.91508433e-01 -8.06298649e-01 -5.13345734e-04 1.11833765e+02] [-8.85657094e-04 1.30573286e-05 9.99999608e-01 -6.33759467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:111.82, Z:-0.63 [[-8.12242873e-01 5.83318948e-01 -7.22022551e-04 1.72569957e+02] [-5.83318722e-01 -8.12243193e-01 -5.13071441e-04 1.11822313e+02] [-8.85742196e-04 4.43065083e-06 9.99999608e-01 -6.34516865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:111.82, Z:-0.64 [[-8.15164335e-01 5.79229304e-01 -7.22218165e-04 1.72567845e+02] [-5.79229077e-01 -8.15164655e-01 -5.12795940e-04 1.11818231e+02] [-8.85753156e-04 3.16799794e-07 9.99999608e-01 -6.35436441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:111.82, Z:-0.64 [[-8.15386444e-01 5.78916595e-01 -7.22414585e-04 1.72565920e+02] [-5.78916369e-01 -8.15386764e-01 -5.12519078e-04 1.11816774e+02] [-8.85753091e-04 3.16519282e-07 9.99999608e-01 -6.35438672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:111.81, Z:-0.63 [[-8.17953999e-01 5.75283177e-01 -7.22611061e-04 1.72562525e+02] [-5.75282949e-01 -8.17954318e-01 -5.12241913e-04 1.11812205e+02] [-8.85746993e-04 -3.28449911e-06 9.99999608e-01 -6.33948283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:111.81, Z:-0.63 [[-8.22044251e-01 5.69423152e-01 -7.22807629e-04 1.72558115e+02] [-5.69422922e-01 -8.22044569e-01 -5.11964393e-04 1.11806752e+02] [-8.85704464e-04 -9.27415419e-06 9.99999608e-01 -6.33616420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:111.80, Z:-0.63 [[-8.23833990e-01 5.66830693e-01 -7.23004613e-04 1.72554873e+02] [-5.66830462e-01 -8.23834307e-01 -5.11686057e-04 1.11803870e+02] [-8.85675367e-04 -1.17233265e-05 9.99999608e-01 -6.32794999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:111.80, Z:-0.63 [[-8.25520868e-01 5.64371132e-01 -7.23201919e-04 1.72549941e+02] [-5.64370900e-01 -8.25521184e-01 -5.11407038e-04 1.11800042e+02] [-8.85641874e-04 -1.40230639e-05 9.99999608e-01 -6.32773375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:111.80, Z:-0.63 [[-8.27794103e-01 5.61031550e-01 -7.23399548e-04 1.72546400e+02] [-5.61031317e-01 -8.27794419e-01 -5.11127334e-04 1.11797854e+02] [-8.85584669e-04 -1.72583918e-05 9.99999608e-01 -6.32822441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:111.80, Z:-0.63 [[-8.28620719e-01 5.59809951e-01 -7.23597434e-04 1.72541549e+02] [-5.59809718e-01 -8.28621035e-01 -5.10847035e-04 1.11795055e+02] [-8.85565308e-04 -1.82215624e-05 9.99999608e-01 -6.32603092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:111.79, Z:-0.63 [[-8.29251484e-01 5.58875167e-01 -7.23795577e-04 1.72539155e+02] [-5.58874934e-01 -8.29251800e-01 -5.10566140e-04 1.11794684e+02] [-8.85551522e-04 -1.88765239e-05 9.99999608e-01 -6.32900227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:111.80, Z:-0.63 [[-8.29529369e-01 5.58462623e-01 -7.23993844e-04 1.72534922e+02] [-5.58462391e-01 -8.29529685e-01 -5.10284838e-04 1.11795600e+02] [-8.85549395e-04 -1.89729267e-05 9.99999608e-01 -6.33043253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:111.80, Z:-0.63 [[-8.29513638e-01 5.58485989e-01 -7.24192070e-04 1.72532311e+02] [-5.58485756e-01 -8.29513954e-01 -5.10003363e-04 1.11796268e+02] [-8.85557160e-04 -1.86037894e-05 9.99999608e-01 -6.34048403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:111.80, Z:-0.63 [[-8.29343789e-01 5.58738181e-01 -7.24390118e-04 1.72529479e+02] [-5.58737949e-01 -8.29344105e-01 -5.09721907e-04 1.11796977e+02] [-8.85569766e-04 -1.79904484e-05 9.99999608e-01 -6.33145267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:111.80, Z:-0.63 [[-8.28527560e-01 5.59947816e-01 -7.24587959e-04 1.72520697e+02] [-5.59947585e-01 -8.28527877e-01 -5.09440514e-04 1.11796218e+02] [-8.85601427e-04 -1.63542286e-05 9.99999608e-01 -6.33571208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:111.80, Z:-0.63 [[-8.28252975e-01 5.60353892e-01 -7.24786058e-04 1.72522800e+02] [-5.60353661e-01 -8.28253292e-01 -5.09158521e-04 1.11800665e+02] [-8.85615397e-04 -1.55755388e-05 9.99999608e-01 -6.33937316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:111.80, Z:-0.63 [[-8.28255592e-01 5.60350024e-01 -7.24983979e-04 1.72517711e+02] [-5.60349793e-01 -8.28255909e-01 -5.08876547e-04 1.11800482e+02] [-8.85621250e-04 -1.52352230e-05 9.99999608e-01 -6.33996731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:111.80, Z:-0.63 [[-8.28325211e-01 5.60247105e-01 -7.25181425e-04 1.72515921e+02] [-5.60246875e-01 -8.28325528e-01 -5.08595019e-04 1.11802478e+02] [-8.85625174e-04 -1.50014495e-05 9.99999608e-01 -6.33802999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:111.81, Z:-0.63 [[-8.28767703e-01 5.59592324e-01 -7.25378694e-04 1.72511457e+02] [-5.59592093e-01 -8.28768020e-01 -5.08313510e-04 1.11805846e+02] [-8.85619002e-04 -1.53576381e-05 9.99999608e-01 -6.34202952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:111.81, Z:-0.63 [[-8.29175645e-01 5.58987677e-01 -7.25575720e-04 1.72506854e+02] [-5.58987446e-01 -8.29175962e-01 -5.08032115e-04 1.11805906e+02] [-8.85613638e-04 -1.56601374e-05 9.99999608e-01 -6.34207823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:111.81, Z:-0.63 [[-8.29433027e-01 5.58605700e-01 -7.25772638e-04 1.72502032e+02] [-5.58605469e-01 -8.29433344e-01 -5.07750644e-04 1.11810244e+02] [-8.85612429e-04 -1.57245883e-05 9.99999608e-01 -6.34149316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.50, Y:111.81, Z:-0.63 [[-8.29435308e-01 5.58602311e-01 -7.25969513e-04 1.72497548e+02] [-5.58602081e-01 -8.29435626e-01 -5.07469001e-04 1.11811694e+02] [-8.85618334e-04 -1.53846265e-05 9.99999608e-01 -6.33615524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:111.81, Z:-0.63 [[-8.29407279e-01 5.58643928e-01 -7.26166211e-04 1.72494508e+02] [-5.58643698e-01 -8.29407597e-01 -5.07187377e-04 1.11813751e+02] [-8.85624921e-04 -1.49967246e-05 9.99999608e-01 -6.33406698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:111.81, Z:-0.63 [[-8.29407372e-01 5.58643789e-01 -7.26362801e-04 1.72489596e+02] [-5.58643559e-01 -8.29407690e-01 -5.06905677e-04 1.11814620e+02] [-8.85630601e-04 -1.46534049e-05 9.99999608e-01 -6.32056960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:111.82, Z:-0.63 [[-8.29142109e-01 5.59037418e-01 -7.26559281e-04 1.72484424e+02] [-5.59037189e-01 -8.29142427e-01 -5.06623900e-04 1.11818733e+02] [-8.85642843e-04 -1.38895509e-05 9.99999608e-01 -6.31456775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:111.82, Z:-0.63 [[-8.29233661e-01 5.58901607e-01 -7.26755652e-04 1.72476263e+02] [-5.58901378e-01 -8.29233980e-01 -5.06342048e-04 1.11816927e+02] [-8.85645866e-04 -1.36911344e-05 9.99999608e-01 -6.30978779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:111.82, Z:-0.63 [[-8.29333563e-01 5.58753356e-01 -7.26952278e-04 1.72477814e+02] [-5.58753127e-01 -8.29333881e-01 -5.06059596e-04 1.11821850e+02] [-8.85648652e-04 -1.35053490e-05 9.99999608e-01 -6.30709326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:111.82, Z:-0.63 [[-8.29541671e-01 5.58444346e-01 -7.27148696e-04 1.72475088e+02] [-5.58444117e-01 -8.29541990e-01 -5.05777208e-04 1.11823816e+02] [-8.85648798e-04 -1.34913593e-05 9.99999608e-01 -6.30562484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:111.83, Z:-0.63 [[-8.29934488e-01 5.57860392e-01 -7.27344443e-04 1.72468685e+02] [-5.57860163e-01 -8.29934806e-01 -5.05495554e-04 1.11826824e+02] [-8.85644417e-04 -1.37717041e-05 9.99999608e-01 -6.31047499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:111.83, Z:-0.63 [[-8.30186919e-01 5.57484664e-01 -7.27540080e-04 1.72464904e+02] [-5.57484435e-01 -8.30187237e-01 -5.05213823e-04 1.11827554e+02] [-8.85643448e-04 -1.38296364e-05 9.99999608e-01 -6.31665618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:111.83, Z:-0.63 [[-8.30283984e-01 5.57340090e-01 -7.27735741e-04 1.72459894e+02] [-5.57339862e-01 -8.30284303e-01 -5.04931826e-04 1.11830866e+02] [-8.85646312e-04 -1.36406711e-05 9.99999608e-01 -6.32886621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:111.83, Z:-0.63 [[-8.30529669e-01 5.56973912e-01 -7.27797358e-04 1.72454375e+02] [-5.56973684e-01 -8.30529988e-01 -5.04842997e-04 1.11830578e+02] [-8.85641910e-04 -1.39231117e-05 9.99999608e-01 -6.33378572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:111.83, Z:-0.63 [[-8.30631949e-01 5.56821368e-01 -7.27992941e-04 1.72452995e+02] [-5.56821140e-01 -8.30632268e-01 -5.04560805e-04 1.11833298e+02] [-8.85644665e-04 -1.37424655e-05 9.99999608e-01 -6.33217177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:111.84, Z:-0.63 [[-8.30699790e-01 5.56720153e-01 -7.28188415e-04 1.72448751e+02] [-5.56719924e-01 -8.30700109e-01 -5.04278537e-04 1.11837650e+02] [-8.85648220e-04 -1.35070757e-05 9.99999608e-01 -6.33194675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:111.84, Z:-0.63 [[-8.30949767e-01 5.56346973e-01 -7.28383515e-04 1.72441982e+02] [-5.56346745e-01 -8.30950086e-01 -5.03996575e-04 1.11836722e+02] [-8.85647313e-04 -1.35620392e-05 9.99999608e-01 -6.33218973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:111.84, Z:-0.63 [[-8.31180695e-01 5.56001908e-01 -7.28578638e-04 1.72436668e+02] [-5.56001680e-01 -8.31181014e-01 -5.03714347e-04 1.11836618e+02] [-8.85646869e-04 -1.35866950e-05 9.99999608e-01 -6.33049362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:111.84, Z:-0.63 [[-8.31831663e-01 5.55027524e-01 -7.28774079e-04 1.72432986e+02] [-5.55027296e-01 -8.31831982e-01 -5.03431424e-04 1.11841185e+02] [-8.85635884e-04 -1.42806928e-05 9.99999608e-01 -6.33006032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:111.84, Z:-0.63 [[-8.32341459e-01 5.54262721e-01 -7.28969410e-04 1.72421509e+02] [-5.54262493e-01 -8.32341778e-01 -5.03148426e-04 1.11836579e+02] [-8.85628110e-04 -1.47508928e-05 9.99999608e-01 -6.32460226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:111.84, Z:-0.63 [[-8.33318240e-01 5.52793072e-01 -7.29165224e-04 1.72426812e+02] [-5.52792843e-01 -8.33318558e-01 -5.02864491e-04 1.11843643e+02] [-8.85606920e-04 -1.59688354e-05 9.99999608e-01 -6.32429848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:111.84, Z:-0.63 [[-8.34451163e-01 5.51081413e-01 -7.29361563e-04 1.72420450e+02] [-5.51081185e-01 -8.34451482e-01 -5.02579556e-04 1.11842630e+02] [-8.85579089e-04 -1.74406615e-05 9.99999608e-01 -6.32553611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:111.85, Z:-0.63 [[-8.37133296e-01 5.46998457e-01 -7.29556497e-04 1.72414818e+02] [-5.46998227e-01 -8.37133614e-01 -5.02296426e-04 1.11845320e+02] [-8.85491637e-04 -2.14229523e-05 9.99999608e-01 -6.33466589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:111.84, Z:-0.63 [[-8.38789612e-01 5.44455190e-01 -7.29751683e-04 1.72408502e+02] [-5.44454959e-01 -8.38789929e-01 -5.02012694e-04 1.11843950e+02] [-8.85431779e-04 -2.37661105e-05 9.99999608e-01 -6.34368211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:111.84, Z:-0.63 [[-8.40452081e-01 5.41885382e-01 -7.29947054e-04 1.72405277e+02] [-5.41885151e-01 -8.40452397e-01 -5.01728455e-04 1.11844985e+02] [-8.85365067e-04 -2.61312542e-05 9.99999608e-01 -6.34951277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:111.84, Z:-0.64 [[-8.42992192e-01 5.37925302e-01 -7.30142514e-04 1.72395578e+02] [-5.37925069e-01 -8.42992508e-01 -5.01443849e-04 1.11844753e+02] [-8.85244003e-04 -2.99512868e-05 9.99999608e-01 -6.35791104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:111.84, Z:-0.64 [[-8.43913213e-01 5.36479223e-01 -7.30338326e-04 1.72384406e+02] [-5.36478990e-01 -8.43913528e-01 -5.01158493e-04 1.11840696e+02] [-8.85203512e-04 -3.11231072e-05 9.99999608e-01 -6.36030848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:111.84, Z:-0.64 [[-8.44505561e-01 5.35546285e-01 -7.30535126e-04 1.72384581e+02] [-5.35546052e-01 -8.44505877e-01 -5.00871454e-04 1.11844806e+02] [-8.85181054e-04 -3.17535263e-05 9.99999608e-01 -6.36187489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:111.84, Z:-0.64 [[-8.44701347e-01 5.35237424e-01 -7.30732084e-04 1.72373484e+02] [-5.35237190e-01 -8.44701663e-01 -5.00583943e-04 1.11841427e+02] [-8.85181866e-04 -3.17289438e-05 9.99999608e-01 -6.35772817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:111.86, Z:-0.63 [[-8.43766962e-01 5.36709213e-01 -7.30929231e-04 1.72381650e+02] [-5.36708981e-01 -8.43767278e-01 -5.00295912e-04 1.11855937e+02] [-8.85247593e-04 -2.98368797e-05 9.99999608e-01 -6.34871527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:111.86, Z:-0.64 [[-8.36190382e-01 5.48438793e-01 -7.31125594e-04 1.72394196e+02] [-5.48438566e-01 -8.36190702e-01 -5.00008786e-04 1.11860610e+02] [-8.85584638e-04 -1.71250660e-05 9.99999608e-01 -6.39893676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:111.86, Z:-0.63 [[-8.41849490e-01 5.39711880e-01 -7.22776237e-04 1.72374180e+02] [-5.39711639e-01 -8.41849799e-01 -5.12206678e-04 1.11860086e+02] [-8.84913059e-04 -4.11101830e-05 9.99999608e-01 -6.33800895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:111.86, Z:-0.64 [[-8.32844183e-01 5.53507030e-01 -7.31311013e-04 1.72376035e+02] [-5.53506804e-01 -8.32844504e-01 -4.99716443e-04 1.11861788e+02] [-8.85664922e-04 -1.14003113e-05 9.99999608e-01 -6.38177510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:111.87, Z:-0.63 [[-8.39218175e-01 5.43794385e-01 -7.22289945e-04 1.72368696e+02] [-5.43794145e-01 -8.39218485e-01 -5.12904801e-04 1.11869370e+02] [-8.85073824e-04 -3.76619881e-05 9.99999608e-01 -6.33249661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:111.87, Z:-0.63 [[-8.38842318e-01 5.44373981e-01 -7.31538561e-04 1.72365216e+02] [-5.44373752e-01 -8.38842637e-01 -4.99355909e-04 1.11871145e+02] [-8.85482100e-04 -2.06504768e-05 9.99999608e-01 -6.33682171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:111.87, Z:-0.63 [[-8.38588676e-01 5.44764626e-01 -7.31732604e-04 1.72362556e+02] [-5.44764397e-01 -8.38588995e-01 -4.99071407e-04 1.11873477e+02] [-8.85499357e-04 -1.98937595e-05 9.99999608e-01 -6.34341346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:111.87, Z:-0.64 [[-8.38055174e-01 5.45584997e-01 -7.31926404e-04 1.72347065e+02] [-5.45584769e-01 -8.38055494e-01 -4.98787022e-04 1.11870862e+02] [-8.85525660e-04 -1.86831470e-05 9.99999608e-01 -6.35324537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:111.88, Z:-0.64 [[-8.37975101e-01 5.45707975e-01 -7.32120880e-04 1.72356307e+02] [-5.45707748e-01 -8.37975421e-01 -4.98501406e-04 1.11880882e+02] [-8.85535495e-04 -1.82077291e-05 9.99999608e-01 -6.35217005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:111.88, Z:-0.64 [[-8.31295542e-01 5.55830176e-01 -7.32314950e-04 1.72357312e+02] [-5.55829953e-01 -8.31295865e-01 -4.98216148e-04 1.11876921e+02] [-8.85693959e-04 -7.12227832e-06 9.99999608e-01 -6.42124867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:111.88, Z:-0.64 [[-8.37121340e-01 5.47016762e-01 -7.24071261e-04 1.72344613e+02] [-5.47016524e-01 -8.37121653e-01 -5.10326946e-04 1.11883498e+02] [-8.85293124e-04 -3.11266327e-05 9.99999608e-01 -6.35525624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:111.89, Z:-0.64 [[-8.36613046e-01 5.47793825e-01 -7.32581447e-04 1.72342228e+02] [-5.47793599e-01 -8.36613367e-01 -4.97803111e-04 1.11885250e+02] [-8.85580901e-04 -1.51651503e-05 9.99999608e-01 -6.35216863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:111.89, Z:-0.63 [[-8.34872702e-01 5.50442581e-01 -7.32774658e-04 1.72334111e+02] [-5.50442356e-01 -8.34873024e-01 -4.97518539e-04 1.11886862e+02] [-8.85629182e-04 -1.20144379e-05 9.99999608e-01 -6.34253315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:111.88, Z:-0.63 [[-8.33312707e-01 5.52801406e-01 -7.32967920e-04 1.72324795e+02] [-5.52801183e-01 -8.33313030e-01 -4.97233653e-04 1.11883377e+02] [-8.85663180e-04 -9.16558869e-06 9.99999608e-01 -6.34083205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:111.89, Z:-0.63 [[-8.32127245e-01 5.54584268e-01 -7.33161856e-04 1.72329452e+02] [-5.54584045e-01 -8.32127568e-01 -4.96947533e-04 1.11888181e+02] [-8.85683476e-04 -6.92371335e-06 9.99999608e-01 -6.33462048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:111.89, Z:-0.63 [[-8.31236565e-01 5.55918371e-01 -7.33355549e-04 1.72330764e+02] [-5.55918149e-01 -8.31236889e-01 -4.96661532e-04 1.11889144e+02] [-8.85695454e-04 -5.15756668e-06 9.99999608e-01 -6.32641215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:111.88, Z:-0.63 [[-8.30043505e-01 5.57698163e-01 -7.33548186e-04 1.72326227e+02] [-5.57697942e-01 -8.30043829e-01 -4.96376852e-04 1.11884396e+02] [-8.85705604e-04 -2.91606841e-06 9.99999608e-01 -6.32280504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:111.89, Z:-0.63 [[-8.30187117e-01 5.57484360e-01 -7.33740777e-04 1.72334064e+02] [-5.57484140e-01 -8.30187442e-01 -4.96092001e-04 1.11887891e+02] [-8.85705910e-04 -2.80034251e-06 9.99999608e-01 -6.31781435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:111.72, Z:-0.63 [[-8.30172315e-01 5.57506402e-01 -7.33933458e-04 1.72081284e+02] [-5.57506182e-01 -8.30172639e-01 -4.95806780e-04 1.11715781e+02] [-8.85706930e-04 -2.43262221e-06 9.99999608e-01 -6.32743803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:111.70, Z:-0.63 [[-8.31759933e-01 5.55135009e-01 -7.31889116e-04 1.72058400e+02] [-5.55134785e-01 -8.31760255e-01 -4.98834157e-04 1.11697228e+02] [-8.85676582e-04 -8.61315828e-06 9.99999608e-01 -6.31782380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:111.70, Z:-0.63 [[-8.32047678e-01 5.54703637e-01 -7.32906530e-04 1.72056553e+02] [-5.54703414e-01 -8.32048000e-01 -4.97326208e-04 1.11695895e+02] [-8.85682070e-04 -7.25336188e-06 9.99999608e-01 -6.31785247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:111.69, Z:-0.63 [[-8.32637668e-01 5.53817638e-01 -7.33170722e-04 1.72051979e+02] [-5.53817415e-01 -8.32637991e-01 -4.96934197e-04 1.11691994e+02] [-8.85676721e-04 -7.72341681e-06 9.99999608e-01 -6.32662158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:111.87, Z:-0.63 [[-8.34804785e-01 5.50545579e-01 -7.32261301e-04 1.72318911e+02] [-5.50545353e-01 -8.34805106e-01 -4.98282553e-04 1.11870055e+02] [-8.85622730e-04 -1.28256029e-05 9.99999608e-01 -6.33525775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:111.87, Z:-0.63 [[-8.35482591e-01 5.49516423e-01 -7.35059051e-04 1.72313250e+02] [-5.49516201e-01 -8.35482915e-01 -4.94120590e-04 1.11865499e+02] [-8.85656658e-04 -8.90229333e-06 9.99999608e-01 -6.34236832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:111.86, Z:-0.63 [[-8.36210983e-01 5.48407376e-01 -7.35275534e-04 1.72310859e+02] [-5.48407154e-01 -8.36211307e-01 -4.93798242e-04 1.11863161e+02] [-8.85648314e-04 -9.68915004e-06 9.99999608e-01 -6.34400526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:111.86, Z:-0.64 [[-8.36899590e-01 5.47355949e-01 -7.35467706e-04 1.72313390e+02] [-5.47355727e-01 -8.36899913e-01 -4.93511853e-04 1.11863868e+02] [-8.85639508e-04 -1.04574061e-05 9.99999608e-01 -6.35296897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:111.86, Z:-0.64 [[-8.37344247e-01 5.46675471e-01 -7.35659476e-04 1.72315986e+02] [-5.46675248e-01 -8.37344571e-01 -4.93225824e-04 1.11864416e+02] [-8.85634927e-04 -1.08329798e-05 9.99999608e-01 -6.35297169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.63 [[-8.37702933e-01 5.46125676e-01 -7.35850490e-04 1.72295705e+02] [-5.46125454e-01 -8.37703256e-01 -4.92940682e-04 1.11850122e+02] [-8.85631915e-04 -1.10711726e-05 9.99999608e-01 -6.33185768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:111.86, Z:-0.63 [[-8.37763285e-01 5.46033092e-01 -7.36042620e-04 1.72311795e+02] [-5.46032870e-01 -8.37763608e-01 -4.92653634e-04 1.11860873e+02] [-8.85634907e-04 -1.08236626e-05 9.99999608e-01 -6.32219872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:111.86, Z:-0.63 [[-8.37617576e-01 5.46256583e-01 -7.36235394e-04 1.72307843e+02] [-5.46256361e-01 -8.37617899e-01 -4.92365378e-04 1.11858292e+02] [-8.85641773e-04 -1.02406270e-05 9.99999608e-01 -6.31528346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.63 [[-8.36965998e-01 5.47254397e-01 -7.36426010e-04 1.72297816e+02] [-5.47254176e-01 -8.36966322e-01 -4.92080110e-04 1.11851854e+02] [-8.85656773e-04 -8.84211165e-06 9.99999608e-01 -6.31315144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:111.86, Z:-0.63 [[-8.36461635e-01 5.48024991e-01 -7.36618038e-04 1.72309026e+02] [-5.48024770e-01 -8.36461959e-01 -4.91792486e-04 1.11859210e+02] [-8.85667540e-04 -7.68061669e-06 9.99999608e-01 -6.31309295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.63 [[-8.36088543e-01 5.48594026e-01 -7.36808849e-04 1.72301122e+02] [-5.48593806e-01 -8.36088868e-01 -4.91506444e-04 1.11853684e+02] [-8.85675175e-04 -6.73413624e-06 9.99999608e-01 -6.31751590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.63 [[-8.35341178e-01 5.49731365e-01 -7.36998909e-04 1.72303995e+02] [-5.49731146e-01 -8.35341503e-01 -4.91221289e-04 1.11854424e+02] [-8.85685526e-04 -5.18611512e-06 9.99999608e-01 -6.32879083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.63 [[-8.35429756e-01 5.49596742e-01 -7.37189018e-04 1.72299403e+02] [-5.49596523e-01 -8.35430082e-01 -4.90935822e-04 1.11851021e+02] [-8.85686610e-04 -4.98587334e-06 9.99999608e-01 -6.33470447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.63 [[-8.35431260e-01 5.49594456e-01 -7.37403144e-04 1.72303346e+02] [-5.49594237e-01 -8.35431586e-01 -4.90613986e-04 1.11853185e+02] [-8.85688605e-04 -4.60174252e-06 9.99999608e-01 -6.33839549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.64 [[-8.35511932e-01 5.49471808e-01 -7.37592509e-04 1.72300816e+02] [-5.49471589e-01 -8.35512258e-01 -4.90329127e-04 1.11851083e+02] [-8.85689615e-04 -4.38970864e-06 9.99999608e-01 -6.35114383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.85, Z:-0.64 [[-8.35639544e-01 5.49277715e-01 -7.37805505e-04 1.72299292e+02] [-5.49277497e-01 -8.35639870e-01 -4.90008420e-04 1.11849872e+02] [-8.85690401e-04 -4.21045235e-06 9.99999608e-01 -6.35567320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:111.84, Z:-0.64 [[-8.30396516e-01 5.57172398e-01 -7.37994161e-04 1.72298706e+02] [-5.57172183e-01 -8.30396844e-01 -4.89724123e-04 1.11842098e+02] [-8.85688786e-04 4.52461219e-06 9.99999608e-01 -6.42239811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:111.84, Z:-0.64 [[-8.35913850e-01 5.48860182e-01 -7.31871036e-04 1.72284021e+02] [-5.48859956e-01 -8.35914170e-01 -4.98951285e-04 1.11838697e+02] [-8.85635863e-04 -1.53855860e-05 9.99999608e-01 -6.37388661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:111.84, Z:-0.64 [[-8.36232207e-01 5.48375010e-01 -7.38278184e-04 1.72286530e+02] [-5.48374791e-01 -8.36232533e-01 -4.89283563e-04 1.11840501e+02] [-8.85683114e-04 -4.30152850e-06 9.99999608e-01 -6.37254437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:111.84, Z:-0.64 [[-8.36626341e-01 5.47773512e-01 -7.38468309e-04 1.72292939e+02] [-5.47773294e-01 -8.36626667e-01 -4.88996442e-04 1.11844686e+02] [-8.85681578e-04 -4.59408608e-06 9.99999608e-01 -6.36794170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:111.84, Z:-0.64 [[-8.37372147e-01 5.46632730e-01 -7.38657270e-04 1.72281691e+02] [-5.46632512e-01 -8.37372473e-01 -4.88710838e-04 1.11838033e+02] [-8.85676604e-04 -5.45876425e-06 9.99999608e-01 -6.36055993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:111.84, Z:-0.64 [[-8.37838970e-01 5.45916948e-01 -7.38846121e-04 1.72287562e+02] [-5.45916729e-01 -8.37839296e-01 -4.88425161e-04 1.11842085e+02] [-8.85673887e-04 -5.87317605e-06 9.99999608e-01 -6.36298471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:111.73, Z:-0.64 [[-8.38816860e-01 5.44413197e-01 -7.39034989e-04 1.72119083e+02] [-5.44412979e-01 -8.38817185e-01 -4.88139218e-04 1.11731537e+02] [-8.85664682e-04 -7.11916606e-06 9.99999608e-01 -6.35755867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:111.83, Z:-0.64 [[-8.34115335e-01 5.51589577e-01 -7.39213271e-04 1.72276816e+02] [-5.51589361e-01 -8.34115663e-01 -4.87869053e-04 1.11830226e+02] [-8.85692852e-04 8.03117282e-07 9.99999608e-01 -6.41338846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:111.83, Z:-0.64 [[-8.39645524e-01 5.43134290e-01 -7.33592533e-04 1.72265507e+02] [-5.43134063e-01 -8.39645844e-01 -4.96378659e-04 1.11828873e+02] [-8.85558192e-04 -1.83430261e-05 9.99999608e-01 -6.36128151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:111.83, Z:-0.64 [[-8.40444305e-01 5.41897429e-01 -7.39379205e-04 1.72272241e+02] [-5.41897210e-01 -8.40444630e-01 -4.87604030e-04 1.11833725e+02] [-8.85638652e-04 -9.13650207e-06 9.99999608e-01 -6.35914336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.64 [[-8.40971008e-01 5.41079676e-01 -7.39568389e-04 1.72259729e+02] [-5.41079457e-01 -8.40971334e-01 -4.87316916e-04 1.11825372e+02] [-8.85633094e-04 -9.65413597e-06 9.99999608e-01 -6.36123350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.64 [[-8.41693138e-01 5.39955660e-01 -7.39757621e-04 1.72261178e+02] [-5.39955441e-01 -8.41693463e-01 -4.87029489e-04 1.11826727e+02] [-8.85623483e-04 -1.04932266e-05 9.99999608e-01 -6.36188211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:111.82, Z:-0.64 [[-8.42543744e-01 5.38627414e-01 -7.39947286e-04 1.72251050e+02] [-5.38627194e-01 -8.42544069e-01 -4.86741160e-04 1.11820996e+02] [-8.85610329e-04 -1.15449889e-05 9.99999608e-01 -6.36145738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.64 [[-8.42736580e-01 5.38325654e-01 -7.40137191e-04 1.72263390e+02] [-5.38325434e-01 -8.42736905e-01 -4.86452219e-04 1.11829281e+02] [-8.85610634e-04 -1.15164047e-05 9.99999608e-01 -6.35933066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.82, Z:-0.64 [[-8.42859121e-01 5.38133769e-01 -7.40327181e-04 1.72256086e+02] [-5.38133550e-01 -8.42859446e-01 -4.86162902e-04 1.11824707e+02] [-8.85612433e-04 -1.13719424e-05 9.99999608e-01 -6.35877552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.63 [[-8.42419305e-01 5.38822017e-01 -7.40515615e-04 1.72260537e+02] [-5.38821798e-01 -8.42419630e-01 -4.85875713e-04 1.11828544e+02] [-8.85625423e-04 -1.03051252e-05 9.99999608e-01 -6.34822703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:111.82, Z:-0.63 [[-8.42092248e-01 5.39333012e-01 -7.40703780e-04 1.72245035e+02] [-5.39332794e-01 -8.42092573e-01 -4.85588691e-04 1.11818884e+02] [-8.85635164e-04 -9.42463316e-06 9.99999608e-01 -6.34469918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.63 [[-8.41575262e-01 5.40139361e-01 -7.40892340e-04 1.72255361e+02] [-5.40139143e-01 -8.41575589e-01 -4.85300823e-04 1.11825869e+02] [-8.85646983e-04 -8.23221401e-06 9.99999608e-01 -6.34614241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.64 [[-8.36982338e-01 5.47229401e-01 -7.41081592e-04 1.72262295e+02] [-5.47229186e-01 -8.36982666e-01 -4.85011653e-04 1.11827727e+02] [-8.85685082e-04 -4.04710846e-07 9.99999608e-01 -6.39230302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.64 [[-8.39793528e-01 5.42905412e-01 -7.37370212e-04 1.72255075e+02] [-5.42905191e-01 -8.39793852e-01 -4.90682460e-04 1.11826888e+02] [-8.85633134e-04 -1.17498384e-05 9.99999608e-01 -6.36224557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:111.82, Z:-0.64 [[-8.38942233e-01 5.44219975e-01 -7.41324502e-04 1.72243263e+02] [-5.44219759e-01 -8.38942560e-01 -4.84633744e-04 1.11820183e+02] [-8.85676040e-04 -3.13627381e-06 9.99999608e-01 -6.36601212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:111.82, Z:-0.64 [[-8.38603935e-01 5.44741122e-01 -7.41511776e-04 1.72248662e+02] [-5.44740907e-01 -8.38604263e-01 -4.84347037e-04 1.11823970e+02] [-8.85678685e-04 -2.24353371e-06 9.99999608e-01 -6.36594437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:111.82, Z:-0.64 [[-8.38294645e-01 5.45216964e-01 -7.41699159e-04 1.72244559e+02] [-5.45216749e-01 -8.38294973e-01 -4.84059920e-04 1.11821328e+02] [-8.85680357e-04 -1.39803552e-06 9.99999608e-01 -6.37004868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:111.83, Z:-0.64 [[-8.35815304e-01 5.49010225e-01 -7.41885929e-04 1.72259362e+02] [-5.49010012e-01 -8.35815633e-01 -4.83773500e-04 1.11828439e+02] [-8.85676456e-04 2.95750776e-06 9.99999608e-01 -6.38164098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:111.82, Z:-0.64 [[-8.37707036e-01 5.46119378e-01 -7.39687835e-04 1.72238769e+02] [-5.46119160e-01 -8.37707363e-01 -4.87145790e-04 1.11817701e+02] [-8.85681702e-04 -4.12775648e-06 9.99999608e-01 -6.37090506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:111.82, Z:-0.64 [[-8.37885601e-01 5.45845371e-01 -7.42212127e-04 1.72241964e+02] [-5.45845158e-01 -8.37885929e-01 -4.83268942e-04 1.11819870e+02] [-8.85679213e-04 2.08807539e-07 9.99999608e-01 -6.37254073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:111.82, Z:-0.64 [[-8.36019940e-01 5.48698560e-01 -7.42398748e-04 1.72248906e+02] [-5.48698347e-01 -8.36020269e-01 -4.82982086e-04 1.11822292e+02] [-8.85671976e-04 3.57031187e-06 9.99999608e-01 -6.36649834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:111.82, Z:-0.64 [[-8.38287562e-01 5.45227857e-01 -7.40166554e-04 1.72241661e+02] [-5.45227640e-01 -8.38287889e-01 -4.86413139e-04 1.11819378e+02] [-8.85678651e-04 -4.19482067e-06 9.99999608e-01 -6.36876201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:111.81, Z:-0.64 [[-8.38622646e-01 5.44712315e-01 -7.42641752e-04 1.72231056e+02] [-5.44712101e-01 -8.38622975e-01 -4.82604252e-04 1.11812253e+02] [-8.85676914e-04 -1.96905827e-07 9.99999608e-01 -6.36132613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:111.82, Z:-0.64 [[-8.39009326e-01 5.44116532e-01 -7.42827835e-04 1.72236810e+02] [-5.44116318e-01 -8.39009654e-01 -4.82317661e-04 1.11815817e+02] [-8.85676738e-04 -4.84269486e-07 9.99999608e-01 -6.35889475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:111.81, Z:-0.64 [[-8.36162620e-01 5.48481103e-01 -7.43013870e-04 1.72236559e+02] [-5.48480892e-01 -8.36162950e-01 -4.82030902e-04 1.11812006e+02] [-8.85665511e-04 4.47268755e-06 9.99999608e-01 -6.38818232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:111.81, Z:-0.64 [[-8.40201645e-01 5.42273595e-01 -7.38087092e-04 1.72227382e+02] [-5.42273374e-01 -8.40201969e-01 -4.89624922e-04 1.11809628e+02] [-8.85652894e-04 -1.11386874e-05 9.99999608e-01 -6.35142910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:111.81, Z:-0.64 [[-8.38484826e-01 5.44924439e-01 -7.43256121e-04 1.72225757e+02] [-5.44924226e-01 -8.38485155e-01 -4.81648330e-04 1.11805823e+02] [-8.85671170e-04 1.16345045e-06 9.99999608e-01 -6.37983172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:111.81, Z:-0.64 [[-8.41235279e-01 5.40668712e-01 -7.41008060e-04 1.72224213e+02] [-5.40668494e-01 -8.41235606e-01 -4.85117404e-04 1.11807068e+02] [-8.85650166e-04 -7.45816330e-06 9.99999608e-01 -6.35820602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:111.81, Z:-0.64 [[-8.41813487e-01 5.39768006e-01 -7.43492811e-04 1.72225019e+02] [-5.39767792e-01 -8.41813815e-01 -4.81278893e-04 1.11807255e+02] [-8.85661468e-04 -3.83359031e-06 9.99999608e-01 -6.35751429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:111.80, Z:-0.64 [[-8.38425590e-01 5.45015575e-01 -7.43679387e-04 1.72225829e+02] [-5.45015362e-01 -8.38425920e-01 -4.80990419e-04 1.11802486e+02] [-8.85667344e-04 2.04201454e-06 9.99999608e-01 -6.40942709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:111.80, Z:-0.64 [[-8.43480946e-01 5.37158588e-01 -7.38726133e-04 1.72221741e+02] [-5.37158366e-01 -8.43481269e-01 -4.88647784e-04 1.11804904e+02] [-8.85583010e-04 -1.53521720e-05 9.99999608e-01 -6.35160371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:111.80, Z:-0.63 [[-8.44632733e-01 5.35345676e-01 -7.43899390e-04 1.72221125e+02] [-5.35345461e-01 -8.44633061e-01 -4.80641013e-04 1.11804481e+02] [-8.85631107e-04 -7.72197069e-06 9.99999608e-01 -6.34473218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:111.80, Z:-0.63 [[-8.45313560e-01 5.34269998e-01 -7.44084841e-04 1.72220246e+02] [-5.34269782e-01 -8.45313888e-01 -4.80353744e-04 1.11803616e+02] [-8.85623843e-04 -8.50748753e-06 9.99999608e-01 -6.33177613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:111.80, Z:-0.63 [[-8.46130355e-01 5.32975486e-01 -7.44269993e-04 1.72216525e+02] [-5.32975269e-01 -8.46130682e-01 -4.80066694e-04 1.11800773e+02] [-8.85613456e-04 -9.52150186e-06 9.99999608e-01 -6.33570481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:111.80, Z:-0.63 [[-8.46861558e-01 5.31812888e-01 -7.44455159e-04 1.72215015e+02] [-5.31812671e-01 -8.46861885e-01 -4.79779378e-04 1.11798900e+02] [-8.85603556e-04 -1.03960248e-05 9.99999608e-01 -6.34277064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:111.78, Z:-0.64 [[-8.47778460e-01 5.30350006e-01 -7.44663952e-04 1.72190904e+02] [-5.30349789e-01 -8.47778787e-01 -4.79455092e-04 1.11782428e+02] [-8.85589313e-04 -1.15393293e-05 9.99999608e-01 -6.36053033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:111.79, Z:-0.64 [[-8.48149952e-01 5.29755702e-01 -7.44851399e-04 1.72210542e+02] [-5.29755485e-01 -8.48150279e-01 -4.79163710e-04 1.11794742e+02] [-8.85585629e-04 -1.18135637e-05 9.99999608e-01 -6.36363100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:111.79, Z:-0.64 [[-8.48460513e-01 5.29258162e-01 -7.45038826e-04 1.72196202e+02] [-5.29257945e-01 -8.48460841e-01 -4.78872107e-04 1.11785478e+02] [-8.85583239e-04 -1.19863554e-05 9.99999608e-01 -6.37137078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:110.89, Z:0.14 [[-7.88497792e-01 -6.15037135e-01 7.45224775e-04 1.72477172e+02] [-6.15036954e-01 7.88498140e-01 4.78582555e-04 1.10885091e+02] [-8.81954393e-04 -8.09794880e-05 -9.99999608e-01 1.38008414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:111.63, Z:-0.64 [[-8.04806660e-01 5.93536642e-01 -7.03091574e-04 1.71913529e+02] [-5.93536401e-01 -8.04806968e-01 -5.34105302e-04 1.11625067e+02] [-8.82864065e-04 -1.25410622e-05 9.99999610e-01 -6.39336598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:111.03, Z:0.14 [[-7.45268093e-01 -6.66764557e-01 7.03091574e-04 1.72602730e+02] [-6.66764347e-01 7.45268422e-01 5.34105302e-04 1.11025416e+02] [-8.80114433e-04 -7.07447538e-05 -9.99999610e-01 1.35843669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:111.72, Z:-0.64 [[-7.62868246e-01 6.46553632e-01 -6.64290828e-04 1.71987096e+02] [-6.46553373e-01 -7.62868535e-01 -5.78648703e-04 1.11724172e+02] [-8.80893991e-04 -1.19332459e-05 9.99999612e-01 -6.37179095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:111.73, Z:-0.64 [[-7.63184868e-01 6.46179864e-01 -6.64516592e-04 1.71993124e+02] [-6.46179605e-01 -7.63185157e-01 -5.78389321e-04 1.11729596e+02] [-8.80892732e-04 -1.20209084e-05 9.99999612e-01 -6.36736789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:111.73, Z:-0.64 [[-7.63503759e-01 6.45803041e-01 -6.64741683e-04 1.71991727e+02] [-6.45802782e-01 -7.63504048e-01 -5.78130508e-04 1.11728530e+02] [-8.80891406e-04 -1.21127880e-05 9.99999612e-01 -6.36776559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:111.72, Z:-0.64 [[-7.64213770e-01 6.44962691e-01 -6.64993412e-04 1.71983289e+02] [-6.44962432e-01 -7.64214059e-01 -5.77840812e-04 1.11721182e+02] [-8.80883079e-04 -1.26981366e-05 9.99999612e-01 -6.37335241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:111.72, Z:-0.64 [[-7.61435184e-01 6.48240710e-01 -6.65560027e-04 1.71983095e+02] [-6.48240453e-01 -7.61435475e-01 -5.77187444e-04 1.11717481e+02] [-8.80937413e-04 -8.04789402e-06 9.99999612e-01 -6.41375494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:111.72, Z:-0.64 [[-7.64980110e-01 6.44053563e-01 -6.63021619e-04 1.71979821e+02] [-6.44053302e-01 -7.64980397e-01 -5.80115833e-04 1.11718127e+02] [-8.80824210e-04 -1.67558113e-05 9.99999612e-01 -6.36965107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:111.71, Z:-0.64 [[-7.65396719e-01 6.43558403e-01 -6.65979238e-04 1.71966338e+02] [-6.43558145e-01 -7.65397009e-01 -5.76700346e-04 1.11706507e+02] [-8.80878870e-04 -1.28081897e-05 9.99999612e-01 -6.37817708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.70, Z:-0.64 [[-7.65730882e-01 6.43160767e-01 -6.66232501e-04 1.71954957e+02] [-6.43160509e-01 -7.65731172e-01 -5.76407615e-04 1.11697140e+02] [-8.80877758e-04 -1.28786777e-05 9.99999612e-01 -6.37769574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:111.71, Z:-0.64 [[-7.65600222e-01 6.43316296e-01 -6.66460010e-04 1.71967797e+02] [-6.43316038e-01 -7.65600512e-01 -5.76144442e-04 1.11708821e+02] [-8.80885233e-04 -1.23518996e-05 9.99999612e-01 -6.38225245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:111.71, Z:-0.64 [[-7.65085965e-01 6.43927808e-01 -6.66714835e-04 1.71971126e+02] [-6.43927551e-01 -7.65086255e-01 -5.75849407e-04 1.11713110e+02] [-8.80899803e-04 -1.12582477e-05 9.99999612e-01 -6.38587465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:111.71, Z:-0.64 [[-7.65204819e-01 6.43786564e-01 -6.66966785e-04 1.71964210e+02] [-6.43786307e-01 -7.65205110e-01 -5.75557443e-04 1.11707754e+02] [-8.80902540e-04 -1.10352457e-05 9.99999612e-01 -6.38737593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:111.71, Z:-0.64 [[-7.65396017e-01 6.43559237e-01 -6.67275885e-04 1.71961011e+02] [-6.43558980e-01 -7.65396308e-01 -5.75198863e-04 1.11705314e+02] [-8.80905040e-04 -1.08235309e-05 9.99999612e-01 -6.38371171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:111.69, Z:-0.64 [[-7.65807794e-01 6.43069186e-01 -6.67527550e-04 1.71943015e+02] [-6.43068929e-01 -7.65808084e-01 -5.74906653e-04 1.11690175e+02] [-8.80902748e-04 -1.10017691e-05 9.99999612e-01 -6.38680376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.70, Z:-0.64 [[-7.66274953e-01 6.42512451e-01 -6.67810071e-04 1.71951899e+02] [-6.42512195e-01 -7.66275244e-01 -5.74578290e-04 1.11697982e+02] [-8.80900031e-04 -1.12088377e-05 9.99999612e-01 -6.39051617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.70, Z:-0.64 [[-7.66612476e-01 6.42109699e-01 -6.68063820e-04 1.71954584e+02] [-6.42109442e-01 -7.66612767e-01 -5.74283103e-04 1.11700240e+02] [-8.80899004e-04 -1.12825045e-05 9.99999612e-01 -6.38656248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:111.69, Z:-0.64 [[-7.66750702e-01 6.41944635e-01 -6.68287728e-04 1.71943410e+02] [-6.41944378e-01 -7.66750994e-01 -5.74022425e-04 1.11691043e+02] [-8.80900895e-04 -1.11285481e-05 9.99999612e-01 -6.38608306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:111.69, Z:-0.64 [[-7.66793224e-01 6.41893842e-01 -6.68512104e-04 1.71938302e+02] [-6.41893585e-01 -7.66793516e-01 -5.73760996e-04 1.11687181e+02] [-8.80904396e-04 -1.08424131e-05 9.99999612e-01 -6.38033549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.70, Z:-0.64 [[-7.66363209e-01 6.42407180e-01 -6.68823598e-04 1.71951281e+02] [-6.42406924e-01 -7.66363501e-01 -5.73397662e-04 1.11699768e+02] [-8.80916769e-04 -9.77396179e-06 9.99999612e-01 -6.36988506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:111.69, Z:-0.64 [[-7.65968857e-01 6.42877331e-01 -6.69074941e-04 1.71940062e+02] [-6.42877075e-01 -7.65969149e-01 -5.73104230e-04 1.11690353e+02] [-8.80926481e-04 -8.84705078e-06 9.99999612e-01 -6.36786303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:111.69, Z:-0.64 [[-7.64874825e-01 6.44178589e-01 -6.69297710e-04 1.71938881e+02] [-6.44178335e-01 -7.64875117e-01 -5.72843951e-04 1.11690289e+02] [-8.80942973e-04 -7.00683242e-06 9.99999612e-01 -6.35923855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.70, Z:-0.64 [[-7.60864926e-01 6.48909944e-01 -6.69521284e-04 1.71950032e+02] [-6.48909692e-01 -7.60865221e-01 -5.72582527e-04 1.11696309e+02] [-8.80969955e-04 -1.19911191e-06 9.99999612e-01 -6.39407878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.69, Z:-0.64 [[-7.64172984e-01 6.45011014e-01 -6.65857477e-04 1.71933509e+02] [-6.45010756e-01 -7.64173274e-01 -5.76869590e-04 1.11685894e+02] [-8.80917727e-04 -1.13429215e-05 9.99999612e-01 -6.36382126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:111.69, Z:-0.64 [[-7.63997027e-01 6.45219415e-01 -6.70058150e-04 1.71942626e+02] [-6.45219162e-01 -7.63997321e-01 -5.71948349e-04 1.11693704e+02] [-8.80954811e-04 -4.63247969e-06 9.99999612e-01 -6.36397198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.68, Z:-0.64 [[-7.63231853e-01 6.46124360e-01 -6.70307466e-04 1.71922860e+02] [-6.46124107e-01 -7.63232148e-01 -5.71656009e-04 1.11676621e+02] [-8.80961080e-04 -3.20426216e-06 9.99999612e-01 -6.37008750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.69, Z:-0.64 [[-7.62966956e-01 6.46437139e-01 -6.70529934e-04 1.71934508e+02] [-6.46436887e-01 -7.62967250e-01 -5.71394943e-04 1.11686290e+02] [-8.80963292e-04 -2.50017661e-06 9.99999612e-01 -6.35916116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:111.69, Z:-0.64 [[-7.58609054e-01 6.51545741e-01 -6.70808834e-04 1.71948495e+02] [-6.51545491e-01 -7.58609351e-01 -5.71067330e-04 1.11694099e+02] [-8.80958341e-04 3.84562379e-06 9.99999612e-01 -6.36783798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:111.67, Z:-0.64 [[-7.62238317e-01 6.47296149e-01 -6.66061820e-04 1.71918823e+02] [-6.47295892e-01 -7.62238608e-01 -5.76646689e-04 1.11672448e+02] [-8.80959216e-04 -8.40312115e-06 9.99999612e-01 -6.36881826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.68, Z:-0.64 [[-7.61084591e-01 6.48652292e-01 -6.71347150e-04 1.71931005e+02] [-6.48652041e-01 -7.61084887e-01 -5.70426268e-04 1.11682074e+02] [-8.80960476e-04 1.32805638e-06 9.99999612e-01 -6.37731444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.68, Z:-0.64 [[-7.60524626e-01 6.49308742e-01 -6.71596263e-04 1.71929714e+02] [-6.49308492e-01 -7.60524922e-01 -5.70132823e-04 1.11680220e+02] [-8.80957922e-04 2.47310492e-06 9.99999612e-01 -6.38959307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:111.68, Z:-0.64 [[-7.60037268e-01 6.49879143e-01 -6.71843414e-04 1.71928066e+02] [-6.49878893e-01 -7.60037565e-01 -5.69841431e-04 1.11678769e+02] [-8.80954293e-04 3.51613024e-06 9.99999612e-01 -6.38593434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:171.45, Y:111.28, Z:-0.64 [[-7.58787594e-01 6.51337804e-01 -6.72063135e-04 1.71454130e+02] [-6.51337555e-01 -7.58787892e-01 -5.69582178e-04 1.11276831e+02] [-8.80943774e-04 5.54806874e-06 9.99999612e-01 -6.40685258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:110.93, Z:0.14 [[-7.22114161e-01 -6.91773581e-01 6.72063135e-04 1.72433963e+02] [-6.91773349e-01 7.22114471e-01 5.69582178e-04 1.10930170e+02] [-8.79328418e-04 -5.36120092e-05 -9.99999612e-01 1.36137150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:111.46, Z:-0.64 [[-7.11593467e-01 7.02591162e-01 -6.30000926e-04 1.71626846e+02] [-7.02590895e-01 -7.11593746e-01 -6.12823399e-04 1.11459178e+02] [-8.78869022e-04 6.55178665e-06 9.99999614e-01 -6.37567569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:110.88, Z:0.14 [[-6.76788814e-01 -7.36176952e-01 6.30000926e-04 1.72330407e+02] [-7.36176698e-01 6.76789106e-01 6.12823399e-04 1.10882653e+02] [-8.77524225e-04 -4.90399798e-05 -9.99999614e-01 1.37683049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:110.82, Z:0.14 [[-6.22627746e-01 -7.82517919e-01 6.30000926e-04 1.72238368e+02] [-7.82517687e-01 6.22628055e-01 6.12823399e-04 1.10824295e+02] [-8.71801541e-04 -1.11426016e-04 -9.99999614e-01 1.35302171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:111.40, Z:-0.64 [[-6.10437466e-01 7.92064273e-01 -5.36470813e-04 1.71497670e+02] [-7.92063976e-01 -6.10437702e-01 -6.85969746e-04 1.11397309e+02] [-8.70814138e-04 6.17757151e-06 9.99999621e-01 -6.37418629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.39, Z:-0.64 [[-6.11569115e-01 7.91190830e-01 -5.36835591e-04 1.71494415e+02] [-7.91190533e-01 -6.11569350e-01 -6.85684154e-04 1.11392069e+02] [-8.70819208e-04 5.39598608e-06 9.99999621e-01 -6.37458566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.38, Z:-0.64 [[-6.12991351e-01 7.90089435e-01 -5.37166403e-04 1.71489515e+02] [-7.90089138e-01 -6.12991586e-01 -6.85424897e-04 1.11384395e+02] [-8.70825455e-04 4.24980627e-06 9.99999621e-01 -6.37255614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.38, Z:-0.64 [[-6.15680083e-01 7.87996032e-01 -5.37532144e-04 1.71491961e+02] [-7.87995734e-01 -6.15680318e-01 -6.85137951e-04 1.11383599e+02] [-8.70833948e-04 1.74724548e-06 9.99999621e-01 -6.37307719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.38, Z:-0.64 [[-6.17316891e-01 7.86714412e-01 -5.37863428e-04 1.71490334e+02] [-7.86714114e-01 -6.17317125e-01 -6.84877780e-04 1.11379825e+02] [-8.70835525e-04 3.58128736e-07 9.99999621e-01 -6.37054825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.37, Z:-0.64 [[-6.08319571e-01 7.93692012e-01 -5.38228057e-04 1.71494855e+02] [-7.93691717e-01 -6.08319809e-01 -6.84591107e-04 1.11372183e+02] [-8.70769282e-04 1.07369821e-05 9.99999621e-01 -6.44400856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:111.35, Z:-0.65 [[-6.13735094e-01 7.89511848e-01 -5.26446840e-04 1.71480368e+02] [-7.89511543e-01 -6.13735319e-01 -6.93855543e-04 1.11352420e+02] [-8.70906191e-04 -1.02076393e-05 9.99999621e-01 -6.45426494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:111.37, Z:-0.64 [[-6.23236267e-01 7.82033422e-01 -5.31106023e-04 1.71485596e+02] [-7.82033118e-01 -6.23236493e-01 -6.90186809e-04 1.11366504e+02] [-8.70753808e-04 -1.48069514e-05 9.99999621e-01 -6.38876904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:111.35, Z:-0.64 [[-6.24845919e-01 7.80747902e-01 -5.39317171e-04 1.71476921e+02] [-7.80747603e-01 -6.24846151e-01 -6.83709773e-04 1.11354306e+02] [-8.70795230e-04 -6.14267248e-06 9.99999621e-01 -6.39017399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:171.47, Y:111.33, Z:-0.65 [[-6.11214676e-01 7.91464673e-01 -5.39683451e-04 1.71471774e+02] [-7.91464378e-01 -6.11214914e-01 -6.83420529e-04 1.11331323e+02] [-8.70765780e-04 9.42357003e-06 9.99999621e-01 -6.45035770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:111.34, Z:-0.64 [[-6.28204597e-01 7.78048013e-01 -5.22213187e-04 1.71470637e+02] [-7.78047702e-01 -6.28204814e-01 -6.97207729e-04 1.11342779e+02] [-8.70517926e-04 -3.16823313e-05 9.99999621e-01 -6.39078131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:111.34, Z:-0.64 [[-6.29245939e-01 7.77206058e-01 -5.40443374e-04 1.71469925e+02] [-7.77205758e-01 -6.29246171e-01 -6.82777878e-04 1.11340779e+02] [-8.70731026e-04 -9.59950446e-06 9.99999621e-01 -6.38481333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:111.34, Z:-0.65 [[-6.16744414e-01 7.87163283e-01 -5.40777325e-04 1.71480059e+02] [-7.87162988e-01 -6.16744652e-01 -6.82513277e-04 1.11338775e+02] [-8.70770915e-04 4.74364352e-06 9.99999621e-01 -6.46584160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:171.10, Y:110.87, Z:-0.64 [[-6.34571511e-01 7.72863969e-01 -5.32231216e-04 1.71099646e+02] [-7.72863662e-01 -6.34571733e-01 -6.89354950e-04 1.10872768e+02] [-8.70516488e-04 -2.61028456e-05 9.99999621e-01 -6.41766353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:110.73, Z:0.14 [[-5.72801879e-01 -8.19693677e-01 5.32231216e-04 1.72084265e+02] [-8.19693388e-01 5.72802125e-01 6.89354950e-04 1.10726636e+02] [-8.69923065e-04 -4.14025975e-05 -9.99999621e-01 1.43920041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:110.65, Z:0.14 [[-5.05142372e-01 -8.63035863e-01 5.32231216e-04 1.72004576e+02] [-8.63035595e-01 5.05142640e-01 6.89354950e-04 1.10651383e+02] [-8.63790726e-04 -1.11112090e-04 -9.99999621e-01 1.37781472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:111.12, Z:-0.65 [[-5.21815910e-01 8.53058003e-01 -4.46536520e-04 1.71232853e+02] [-8.53057682e-01 -5.21816101e-01 -7.40996005e-04 1.11122636e+02] [-8.65122518e-04 -5.74209567e-06 9.99999626e-01 -6.45723205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:111.12, Z:-0.64 [[-5.29658530e-01 8.48210851e-01 -4.39578748e-04 1.71226746e+02] [-8.48210524e-01 -5.29658712e-01 -7.45191823e-04 1.11119804e+02] [-8.64906504e-04 -2.18418851e-05 9.99999626e-01 -6.41509571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:111.11, Z:-0.64 [[-5.31133095e-01 8.47288283e-01 -4.47510476e-04 1.71218587e+02] [-8.47287960e-01 -5.31133284e-01 -7.40397736e-04 1.11105228e+02] [-8.65018035e-04 -1.40795027e-05 9.99999626e-01 -6.41478696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:111.11, Z:-0.64 [[-5.27420194e-01 8.49604460e-01 -4.47871433e-04 1.71227281e+02] [-8.49604138e-01 -5.27420384e-01 -7.40179326e-04 1.11113855e+02] [-8.65076180e-04 -9.87210123e-06 9.99999626e-01 -6.44234978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:111.09, Z:-0.64 [[-5.32685352e-01 8.46313251e-01 -4.43272628e-04 1.71207365e+02] [-8.46312925e-01 -5.32685536e-01 -7.42965386e-04 1.11085854e+02] [-8.64906369e-04 -2.06194234e-05 9.99999626e-01 -6.42573790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:111.09, Z:-0.64 [[-5.33215746e-01 8.45979176e-01 -4.48789903e-04 1.71207890e+02] [-8.45978853e-01 -5.33215935e-01 -7.39617579e-04 1.11087175e+02] [-8.65002998e-04 -1.47089718e-05 9.99999626e-01 -6.40935930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:111.10, Z:-0.64 [[-5.33382549e-01 8.45874018e-01 -4.49192159e-04 1.71212945e+02] [-8.45873695e-01 -5.33382738e-01 -7.39373196e-04 1.11095703e+02] [-8.65007920e-04 -1.44089284e-05 9.99999626e-01 -6.39859609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:111.09, Z:-0.64 [[-5.33916164e-01 8.45537301e-01 -4.49591159e-04 1.71208289e+02] [-8.45536978e-01 -5.33916353e-01 -7.39130496e-04 1.11087895e+02] [-8.65006477e-04 -1.44877684e-05 9.99999626e-01 -6.39852278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:111.09, Z:-0.64 [[-5.31468359e-01 8.47078025e-01 -4.49988539e-04 1.71208658e+02] [-8.47077703e-01 -5.31468549e-01 -7.38888489e-04 1.11086016e+02] [-8.65050958e-04 -1.15205940e-05 9.99999626e-01 -6.39437987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:111.08, Z:-0.64 [[-5.33550707e-01 8.45767960e-01 -4.47301147e-04 1.71201927e+02] [-8.45767636e-01 -5.33550895e-01 -7.40526762e-04 1.11078521e+02] [-8.64971736e-04 -1.67957440e-05 9.99999626e-01 -6.41011206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:111.07, Z:-0.64 [[-5.33323126e-01 8.45911485e-01 -4.50833274e-04 1.71199125e+02] [-8.45911162e-01 -5.33323317e-01 -7.38370120e-04 1.11074718e+02] [-8.65035661e-04 -1.24249622e-05 9.99999626e-01 -6.40756756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:111.07, Z:-0.64 [[-5.33822097e-01 8.45596692e-01 -4.51231094e-04 1.71196232e+02] [-8.45596370e-01 -5.33822287e-01 -7.38126924e-04 1.11069924e+02] [-8.65034900e-04 -1.24690869e-05 9.99999626e-01 -6.40761813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:111.07, Z:-0.64 [[-5.33567567e-01 8.45757322e-01 -4.51666411e-04 1.71196429e+02] [-8.45757000e-01 -5.33567758e-01 -7.37860454e-04 1.11071206e+02] [-8.65045516e-04 -1.16983791e-05 9.99999626e-01 -6.40002242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:111.06, Z:-0.64 [[-5.33456330e-01 8.45827488e-01 -4.52063107e-04 1.71189910e+02] [-8.45827167e-01 -5.33456521e-01 -7.37617331e-04 1.11062428e+02] [-8.65053027e-04 -1.11193770e-05 9.99999626e-01 -6.39940610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:111.04, Z:-0.64 [[-5.32671926e-01 8.46321697e-01 -4.52459673e-04 1.71173740e+02] [-8.46321376e-01 -5.32672118e-01 -7.37373995e-04 1.11038813e+02] [-8.65068262e-04 -9.85213343e-06 9.99999626e-01 -6.39427250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:111.06, Z:-0.64 [[-5.32216139e-01 8.46608396e-01 -4.53154149e-04 1.71184244e+02] [-8.46608075e-01 -5.32216332e-01 -7.36946956e-04 1.11056952e+02] [-8.65081519e-04 -8.57110090e-06 9.99999626e-01 -6.39379110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:111.05, Z:-0.64 [[-5.31910878e-01 8.46800220e-01 -4.53553765e-04 1.71180436e+02] [-8.46799899e-01 -5.31911071e-01 -7.36700930e-04 1.11051732e+02] [-8.65088779e-04 -7.78995645e-06 9.99999626e-01 -6.39819531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:111.06, Z:-0.64 [[-5.31369673e-01 8.47139932e-01 -4.53949679e-04 1.71182645e+02] [-8.47139612e-01 -5.31369867e-01 -7.36456890e-04 1.11057254e+02] [-8.65097220e-04 -6.77210167e-06 9.99999626e-01 -6.40193242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:111.06, Z:-0.64 [[-5.25991509e-01 8.50489698e-01 -4.54344147e-04 1.71185450e+02] [-8.50489379e-01 -5.25991706e-01 -7.36213449e-04 1.11056375e+02] [-8.65123207e-04 -8.27151722e-07 9.99999626e-01 -6.43282808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:111.04, Z:-0.64 [[-5.32194831e-01 8.46621794e-01 -4.48230307e-04 1.71168619e+02] [-8.46621470e-01 -5.32195019e-01 -7.39988905e-04 1.11035930e+02] [-8.65036671e-04 -1.43368684e-05 9.99999626e-01 -6.40400707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:111.04, Z:-0.64 [[-5.32810956e-01 8.46234174e-01 -4.55115885e-04 1.71173361e+02] [-8.46233854e-01 -5.32811151e-01 -7.35729547e-04 1.11044639e+02] [-8.65090304e-04 -6.87029423e-06 9.99999626e-01 -6.40390458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:111.04, Z:-0.64 [[-5.33236768e-01 8.45965922e-01 -4.55586720e-04 1.71170242e+02] [-8.45965603e-01 -5.33236962e-01 -7.35437876e-04 1.11039636e+02] [-8.65091059e-04 -6.75182200e-06 9.99999626e-01 -6.41278345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:111.03, Z:-0.65 [[-5.25670714e-01 8.50688011e-01 -4.56017120e-04 1.71172122e+02] [-8.50687694e-01 -5.25670912e-01 -7.35170904e-04 1.11034085e+02] [-8.65116009e-04 1.47033827e-06 9.99999626e-01 -6.45255801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:111.03, Z:-0.64 [[-5.33802055e-01 8.45609346e-01 -4.46294107e-04 1.71162443e+02] [-8.45609022e-01 -5.33802242e-01 -7.41204806e-04 1.11028461e+02] [-8.65002507e-04 -1.82663255e-05 9.99999626e-01 -6.39934318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:111.02, Z:-0.64 [[-5.34058557e-01 8.45447366e-01 -4.56837878e-04 1.71156734e+02] [-8.45447047e-01 -5.34058753e-01 -7.34648207e-04 1.11021821e+02] [-8.65084659e-04 -6.11292643e-06 9.99999626e-01 -6.38933054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:111.03, Z:-0.64 [[-5.26222630e-01 8.50346714e-01 -4.57232530e-04 1.71168532e+02] [-8.50346397e-01 -5.26222829e-01 -7.34402500e-04 1.11031260e+02] [-8.65102948e-04 2.34681980e-06 9.99999626e-01 -6.44232153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:111.02, Z:-0.64 [[-5.35580999e-01 8.44483744e-01 -4.47362662e-04 1.71156681e+02] [-8.44483419e-01 -5.35581185e-01 -7.40549498e-04 1.11021960e+02] [-8.64981037e-04 -1.88338891e-05 9.99999626e-01 -6.38299255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:111.02, Z:-0.64 [[-5.29301616e-01 8.48433609e-01 -4.58067462e-04 1.71159953e+02] [-8.48433292e-01 -5.29301814e-01 -7.33867748e-04 1.11018081e+02] [-8.65094001e-04 2.02299050e-07 9.99999626e-01 -6.43257345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:111.00, Z:-0.64 [[-5.31534349e-01 8.47036619e-01 -4.50408837e-04 1.71147282e+02] [-8.47036297e-01 -5.31534540e-01 -7.38651428e-04 1.10997077e+02] [-8.65072662e-04 -1.11059725e-05 9.99999626e-01 -6.43820882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:111.01, Z:-0.64 [[-5.39793458e-01 8.41797375e-01 -4.50659267e-04 1.71149758e+02] [-8.41797051e-01 -5.39793646e-01 -7.38494819e-04 1.11008692e+02] [-8.64926009e-04 -1.92710305e-05 9.99999626e-01 -6.38510926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:111.00, Z:-0.64 [[-5.41442906e-01 8.40737396e-01 -4.59371272e-04 1.71143900e+02] [-8.40737076e-01 -5.41443101e-01 -7.33035266e-04 1.10999277e+02] [-8.65013567e-04 -1.06862841e-05 9.99999626e-01 -6.38663058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:111.00, Z:-0.64 [[-5.36007008e-01 8.44213407e-01 -4.59763906e-04 1.71148667e+02] [-8.44213089e-01 -5.36007205e-01 -7.32788921e-04 1.10997336e+02] [-8.65066998e-04 -4.64129064e-06 9.99999626e-01 -6.43642628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:111.00, Z:-0.64 [[-5.38728582e-01 8.42479266e-01 -4.50013457e-04 1.71149034e+02] [-8.42478942e-01 -5.38728769e-01 -7.38908459e-04 1.10998572e+02] [-8.64950252e-04 -1.89442456e-05 9.99999626e-01 -6.43511299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:110.99, Z:-0.64 [[-5.46662797e-01 8.37352722e-01 -4.52723741e-04 1.71137257e+02] [-8.37352398e-01 -5.46662984e-01 -7.37204351e-04 1.10987078e+02] [-8.64787381e-04 -2.39128819e-05 9.99999626e-01 -6.39104398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:110.98, Z:-0.64 [[-5.47652531e-01 8.36705738e-01 -4.61148735e-04 1.71133840e+02] [-8.36705418e-01 -5.47652725e-01 -7.31895980e-04 1.10981126e+02] [-8.64930928e-04 -1.49790405e-05 9.99999626e-01 -6.40059222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:110.97, Z:-0.64 [[-5.48770819e-01 8.35972712e-01 -4.61541907e-04 1.71124759e+02] [-8.35972392e-01 -5.48771012e-01 -7.31647957e-04 1.10966743e+02] [-8.64918547e-04 -1.56707563e-05 9.99999626e-01 -6.41088930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:110.97, Z:-0.65 [[-5.41385233e-01 8.40774533e-01 -4.61900065e-04 1.71134621e+02] [-8.40774215e-01 -5.41385430e-01 -7.31421777e-04 1.10973751e+02] [-8.65026769e-04 -7.62728469e-06 9.99999626e-01 -6.47319189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:110.96, Z:-0.65 [[-5.41171287e-01 8.40912262e-01 -4.53502112e-04 1.71123844e+02] [-8.40911940e-01 -5.41171476e-01 -7.36728932e-04 1.10957006e+02] [-8.64946801e-04 -1.73412034e-05 9.99999626e-01 -6.47690372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:110.96, Z:-0.65 [[-5.40475278e-01 8.41359773e-01 -4.54024279e-04 1.71125290e+02] [-8.41359451e-01 -5.40475468e-01 -7.36398542e-04 1.10959830e+02] [-8.64965095e-04 -1.60075884e-05 9.99999626e-01 -6.46860019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:110.96, Z:-0.65 [[-5.38091335e-01 8.42886416e-01 -4.52120704e-04 1.71123435e+02] [-8.42886094e-01 -5.38091525e-01 -7.37604438e-04 1.10956530e+02] [-8.64999080e-04 -1.58123034e-05 9.99999626e-01 -6.46774900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:110.96, Z:-0.64 [[-5.48052874e-01 8.36443569e-01 -4.51323466e-04 1.71116388e+02] [-8.36443243e-01 -5.48053059e-01 -7.38109923e-04 1.10957829e+02] [-8.64736504e-04 -2.70168007e-05 9.99999626e-01 -6.39685023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:110.95, Z:-0.65 [[-5.36562882e-01 8.43860213e-01 -4.63930938e-04 1.71118659e+02] [-8.43859897e-01 -5.36563082e-01 -7.30098682e-04 1.10949402e+02] [-8.65029443e-04 -2.51139283e-07 9.99999626e-01 -6.47357854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:110.96, Z:-0.65 [[-5.33893687e-01 8.45551492e-01 -4.53007585e-04 1.71125745e+02] [-8.45551171e-01 -5.33893879e-01 -7.37039520e-04 1.10963793e+02] [-8.65062842e-04 -1.04596526e-05 9.99999626e-01 -6.46782667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:110.96, Z:-0.65 [[-5.32708244e-01 8.46298836e-01 -4.54555721e-04 1.71119341e+02] [-8.46298516e-01 -5.32708438e-01 -7.36054577e-04 1.10955774e+02] [-8.65067800e-04 -7.41250915e-06 9.99999626e-01 -6.46195224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97999999999996 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:170.78, Y:110.43, Z:-0.64 [[-5.41933579e-01 8.40421195e-01 -4.59791376e-04 1.70776660e+02] [-8.40420875e-01 -5.41933774e-01 -7.32696680e-04 1.10429681e+02] [-8.64950295e-04 -1.06546641e-05 9.99999626e-01 -6.44534137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:110.39, Z:0.14 [[-4.82627029e-01 -8.75825861e-01 4.59791376e-04 1.71811030e+02] [-8.75825556e-01 4.82627246e-01 7.32696680e-04 1.10393597e+02] [-8.63622547e-04 -4.90778151e-05 -9.99999626e-01 1.37816209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:110.83, Z:-0.64 [[-4.80030534e-01 8.77251682e-01 -4.15941321e-04 1.70984510e+02] [-8.77251355e-01 -4.80030714e-01 -7.56797001e-04 1.10834042e+02] [-8.63566052e-04 1.59941876e-06 9.99999627e-01 -6.40856500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:110.83, Z:-0.64 [[-4.79412270e-01 8.77589711e-01 -4.16641150e-04 1.70981642e+02] [-8.77589385e-01 -4.79412451e-01 -7.56411527e-04 1.10829022e+02] [-8.63561928e-04 3.00688354e-06 9.99999627e-01 -6.41873891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:110.81, Z:-0.64 [[-4.79043238e-01 8.77791206e-01 -4.17045569e-04 1.70972091e+02] [-8.77790881e-01 -4.79043420e-01 -7.56188486e-04 1.10811476e+02] [-8.63558539e-04 3.83181612e-06 9.99999627e-01 -6.41907305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:110.83, Z:-0.64 [[-4.79095136e-01 8.77762882e-01 -4.17452404e-04 1.70981576e+02] [-8.77762556e-01 -4.79095318e-01 -7.55963826e-04 1.10828922e+02] [-8.63556479e-04 4.24549768e-06 9.99999627e-01 -6.41645453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:110.79, Z:-0.64 [[-4.79128431e-01 8.77744708e-01 -4.17895759e-04 1.70961480e+02] [-8.77744383e-01 -4.79128613e-01 -7.55718661e-04 1.10793260e+02] [-8.63553870e-04 4.71935922e-06 9.99999627e-01 -6.41940734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:110.30, Z:0.14 [[-4.36122139e-01 -8.99887385e-01 4.17895759e-04 1.71719131e+02] [-8.99887069e-01 4.36122336e-01 7.55718661e-04 1.10301257e+02] [-8.62315364e-04 -4.64733516e-05 -9.99999627e-01 1.39241456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:110.20, Z:0.13 [[-3.66140744e-01 -9.30559392e-01 4.17895759e-04 1.71644660e+02] [-9.30559092e-01 3.66140965e-01 7.55718661e-04 1.10199954e+02] [-8.56249854e-04 -1.12177306e-04 -9.99999627e-01 1.33870766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:110.53, Z:-0.64 [[-3.56908652e-01 9.34139240e-01 -3.08617359e-04 1.70767088e+02] [-9.34138899e-01 -3.56908785e-01 -7.97981800e-04 1.10529580e+02] [-8.55574359e-04 3.48487126e-06 9.99999634e-01 -6.37168759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:110.51, Z:-0.64 [[-3.58193486e-01 9.33647327e-01 -3.09082796e-04 1.70761861e+02] [-9.33646986e-01 -3.58193619e-01 -7.97801482e-04 1.10514442e+02] [-8.55576706e-04 2.80692681e-06 9.99999634e-01 -6.35490552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:110.52, Z:-0.64 [[-3.59837323e-01 9.33015008e-01 -3.09550733e-04 1.70764909e+02] [-9.33014667e-01 -3.59837457e-01 -7.97619879e-04 1.10521197e+02] [-8.55579266e-04 1.80197164e-06 9.99999634e-01 -6.35593603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:110.53, Z:-0.64 [[-3.56636260e-01 9.34243267e-01 -3.10018075e-04 1.70772128e+02] [-9.34242927e-01 -3.56636395e-01 -7.97438191e-04 1.10525386e+02] [-8.55564989e-04 5.23681904e-06 9.99999634e-01 -6.36420473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:110.52, Z:-0.64 [[-3.57216461e-01 9.34021578e-01 -3.01974369e-04 1.70770119e+02] [-9.34021235e-01 -3.57216588e-01 -8.00567675e-04 1.10520180e+02] [-8.55617738e-04 -3.92547853e-06 9.99999634e-01 -6.36421258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:110.50, Z:-0.64 [[-3.66341881e-01 9.30480271e-01 -3.02437310e-04 1.70761497e+02] [-9.30479927e-01 -3.66342005e-01 -8.00387216e-04 1.10503183e+02] [-8.55540004e-04 -1.18035124e-05 9.99999634e-01 -6.36351689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:110.50, Z:-0.64 [[-3.60258758e-01 9.32852362e-01 -3.11522299e-04 1.70765922e+02] [-9.32852022e-01 -3.60258893e-01 -7.96835445e-04 1.10499748e+02] [-8.55558506e-04 3.53725811e-06 9.99999634e-01 -6.40273863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:110.49, Z:-0.64 [[-3.71158216e-01 9.28569592e-01 -3.01492464e-04 1.70757986e+02] [-9.28569247e-01 -3.71158338e-01 -8.00759108e-04 1.10488097e+02] [-8.55462000e-04 -1.72516921e-05 9.99999634e-01 -6.36490050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:110.48, Z:-0.64 [[-3.73044083e-01 9.27813566e-01 -3.12522594e-04 1.70756982e+02] [-9.27813225e-01 -3.73044214e-01 -7.96430841e-04 1.10483121e+02] [-8.55524085e-04 -7.14121752e-06 9.99999634e-01 -6.36784492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:110.46, Z:-0.64 [[-3.74924472e-01 9.27055307e-01 -3.12988561e-04 1.70749265e+02] [-9.27054965e-01 -3.74924603e-01 -7.96247679e-04 1.10460952e+02] [-8.55512748e-04 -8.37514207e-06 9.99999634e-01 -6.37324282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:110.46, Z:-0.64 [[-3.76933672e-01 9.26240200e-01 -3.13457335e-04 1.70750453e+02] [-9.26239858e-01 -3.76933802e-01 -7.96063095e-04 1.10461847e+02] [-8.55498306e-04 -9.72630822e-06 9.99999634e-01 -6.37677784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:110.45, Z:-0.64 [[-3.78792468e-01 9.25481587e-01 -3.13927957e-04 1.70748193e+02] [-9.25481245e-01 -3.78792598e-01 -7.95877461e-04 1.10453666e+02] [-8.55483522e-04 -1.09379509e-05 9.99999634e-01 -6.38606911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:110.44, Z:-0.64 [[-3.81655082e-01 9.24304765e-01 -3.14397781e-04 1.70745722e+02] [-9.24304423e-01 -3.81655212e-01 -7.95691822e-04 1.10443201e+02] [-8.55453295e-04 -1.30805687e-05 9.99999634e-01 -6.40182206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:110.45, Z:-0.64 [[-3.83461742e-01 9.23556708e-01 -3.14868875e-04 1.70747372e+02] [-9.23556366e-01 -3.83461871e-01 -7.95505359e-04 1.10446314e+02] [-8.55434518e-04 -1.42467171e-05 9.99999634e-01 -6.40893685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:110.44, Z:-0.64 [[-3.85677218e-01 9.22633722e-01 -3.15339167e-04 1.70745628e+02] [-9.22633379e-01 -3.85677347e-01 -7.95318891e-04 1.10440338e+02] [-8.55407201e-04 -1.57939359e-05 9.99999634e-01 -6.41819635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:110.44, Z:-0.64 [[-3.86220906e-01 9.22406262e-01 -3.15848640e-04 1.70743591e+02] [-9.22405919e-01 -3.86221035e-01 -7.95116510e-04 1.10435124e+02] [-8.55407836e-04 -1.57499640e-05 9.99999634e-01 -6.41824674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:110.43, Z:-0.64 [[-3.87542802e-01 9.21851657e-01 -3.16317133e-04 1.70743293e+02] [-9.21851314e-01 -3.87542930e-01 -7.94930088e-04 1.10433456e+02] [-8.55394087e-04 -1.64720681e-05 9.99999634e-01 -6.42194642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:110.42, Z:-0.64 [[-3.89510644e-01 9.21021909e-01 -3.16784833e-04 1.70739568e+02] [-9.21021567e-01 -3.89510773e-01 -7.94743663e-04 1.10424878e+02] [-8.55367431e-04 -1.77954532e-05 9.99999634e-01 -6.41524587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:110.41, Z:-0.64 [[-3.90799065e-01 9.20475958e-01 -3.17252422e-04 1.70732302e+02] [-9.20475616e-01 -3.90799194e-01 -7.94556963e-04 1.10407042e+02] [-8.55352572e-04 -1.84889996e-05 9.99999634e-01 -6.41285945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:110.42, Z:-0.64 [[-3.92338978e-01 9.19820649e-01 -3.17682345e-04 1.70735982e+02] [-9.19820306e-01 -3.92339106e-01 -7.94385032e-04 1.10415897e+02] [-8.55330963e-04 -1.94575399e-05 9.99999634e-01 -6.41465693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:110.39, Z:-0.64 [[-3.93456067e-01 9.19343365e-01 -3.18152664e-04 1.70725452e+02] [-9.19343022e-01 -3.93456195e-01 -7.94196624e-04 1.10390289e+02] [-8.55318533e-04 -1.99900487e-05 9.99999634e-01 -6.41993527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:110.38, Z:-0.64 [[-3.94525107e-01 9.18885106e-01 -3.18665056e-04 1.70721662e+02] [-9.18884764e-01 -3.94525235e-01 -7.93990978e-04 1.10380622e+02] [-8.55307890e-04 -2.04329109e-05 9.99999634e-01 -6.42002662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:110.39, Z:-0.64 [[-3.95234133e-01 9.18580360e-01 -3.19588130e-04 1.70723904e+02] [-9.18580018e-01 -3.95234261e-01 -7.93619258e-04 1.10386907e+02] [-8.55315243e-04 -2.00981488e-05 9.99999634e-01 -6.41674077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:110.39, Z:-0.64 [[-3.95779360e-01 9.18345575e-01 -3.20060666e-04 1.70724333e+02] [-9.18345233e-01 -3.95779489e-01 -7.93428642e-04 1.10389058e+02] [-8.55315130e-04 -2.00964937e-05 9.99999634e-01 -6.41742371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:110.36, Z:-0.64 [[-3.95436249e-01 9.18493370e-01 -3.20529535e-04 1.70711677e+02] [-9.18493027e-01 -3.95436379e-01 -7.93239184e-04 1.10359857e+02] [-8.55333969e-04 -1.92713847e-05 9.99999634e-01 -6.42089427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:110.38, Z:-0.64 [[-3.94830442e-01 9.18753949e-01 -3.20961002e-04 1.70719848e+02] [-9.18753607e-01 -3.94830572e-01 -7.93064565e-04 1.10381656e+02] [-8.55356417e-04 -1.82419544e-05 9.99999634e-01 -6.42100019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:110.37, Z:-0.64 [[-3.93869641e-01 9.19166254e-01 -3.21432903e-04 1.70714961e+02] [-9.19165912e-01 -3.93869772e-01 -7.92873255e-04 1.10372027e+02] [-8.55385043e-04 -1.68385369e-05 9.99999634e-01 -6.41702691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:110.35, Z:-0.64 [[-3.92414922e-01 9.19788250e-01 -3.21900458e-04 1.70704471e+02] [-9.19787909e-01 -3.92415054e-01 -7.92683385e-04 1.10349059e+02] [-8.55419450e-04 -1.49806400e-05 9.99999634e-01 -6.41467086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:110.36, Z:-0.64 [[-3.91129262e-01 9.20335698e-01 -3.22372328e-04 1.70709526e+02] [-9.20335357e-01 -3.91129395e-01 -7.92491436e-04 1.10364409e+02] [-8.55447453e-04 -1.32759393e-05 9.99999634e-01 -6.41426320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:110.36, Z:-0.64 [[-3.89139404e-01 9.21178821e-01 -3.23201808e-04 1.70706903e+02] [-9.21178480e-01 -3.89139538e-01 -7.92153005e-04 1.10361758e+02] [-8.55485173e-04 -1.05313980e-05 9.99999634e-01 -6.40686534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:110.36, Z:-0.64 [[-3.83911545e-01 9.23369818e-01 -3.23667679e-04 1.70703405e+02] [-9.23369478e-01 -3.83911682e-01 -7.91962608e-04 1.10361218e+02] [-8.55534172e-04 -5.17873276e-06 9.99999634e-01 -6.40708999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:110.35, Z:-0.64 [[-3.81304331e-01 9.24449513e-01 -3.24172670e-04 1.70697834e+02] [-9.24449174e-01 -3.81304469e-01 -7.91755847e-04 1.10351283e+02] [-8.55546795e-04 -2.21877672e-06 9.99999634e-01 -6.41287818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:110.37, Z:-0.65 [[-3.64711476e-01 9.31120526e-01 -3.24637246e-04 1.70714320e+02] [-9.31120190e-01 -3.64711620e-01 -7.91565315e-04 1.10374407e+02] [-8.55441688e-04 1.35833402e-05 9.99999634e-01 -6.48817580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.35, Z:-0.64 [[-3.76386766e-01 9.26462577e-01 -3.09433963e-04 1.70693025e+02] [-9.26462233e-01 -3.76386893e-01 -7.97800279e-04 1.10347051e+02] [-8.55598990e-04 -1.36025871e-05 9.99999634e-01 -6.40894326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.34, Z:-0.64 [[-3.73064783e-01 9.27805239e-01 -3.25590574e-04 1.70689091e+02] [-9.27804902e-01 -3.73064925e-01 -7.91151183e-04 1.10339053e+02] [-8.55500635e-04 6.93388570e-06 9.99999634e-01 -6.38947127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.35, Z:-0.64 [[-3.72913727e-01 9.27865963e-01 -3.26054500e-04 1.70692686e+02] [-9.27865626e-01 -3.72913870e-01 -7.90959940e-04 1.10345403e+02] [-8.55495052e-04 7.57494321e-06 9.99999634e-01 -6.38407662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.34, Z:-0.64 [[-3.73005374e-01 9.27829125e-01 -3.26556664e-04 1.70689506e+02] [-9.27828788e-01 -3.73005517e-01 -7.90752562e-04 1.10335307e+02] [-8.55490694e-04 8.03371899e-06 9.99999634e-01 -6.38245610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.33, Z:-0.64 [[-3.72997587e-01 9.27832255e-01 -3.27017023e-04 1.70691011e+02] [-9.27831918e-01 -3.72997731e-01 -7.90562134e-04 1.10333902e+02] [-8.55485655e-04 8.53906287e-06 9.99999634e-01 -6.38993206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.33, Z:-0.64 [[-3.73475293e-01 9.27640069e-01 -3.27745460e-04 1.70689059e+02] [-9.27639733e-01 -3.73475436e-01 -7.90260028e-04 1.10327074e+02] [-8.55481746e-04 8.88711517e-06 9.99999634e-01 -6.39356718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.32, Z:-0.64 [[-3.73636104e-01 9.27575309e-01 -3.28204392e-04 1.70685994e+02] [-9.27574973e-01 -3.73636248e-01 -7.90069382e-04 1.10317573e+02] [-8.55477909e-04 9.23573413e-06 9.99999634e-01 -6.39375232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.31, Z:-0.64 [[-3.73834045e-01 9.27495552e-01 -3.28664250e-04 1.70685428e+02] [-9.27495216e-01 -3.73834189e-01 -7.89878038e-04 1.10314394e+02] [-8.55474300e-04 9.55121817e-06 9.99999634e-01 -6.39103699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.30, Z:-0.64 [[-3.73961767e-01 9.27444062e-01 -3.29164165e-04 1.70681337e+02] [-9.27443726e-01 -3.73961912e-01 -7.89669654e-04 1.10302658e+02] [-8.55469292e-04 9.97498044e-06 9.99999634e-01 -6.38919516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:110.31, Z:-0.64 [[-3.73851386e-01 9.27488562e-01 -3.29624643e-04 1.70685260e+02] [-9.27488226e-01 -3.73851531e-01 -7.89477394e-04 1.10305440e+02] [-8.55461931e-04 1.05757581e-05 9.99999634e-01 -6.39337785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.30, Z:-0.64 [[-3.74351074e-01 9.27286992e-01 -3.30084446e-04 1.70683612e+02] [-9.27286656e-01 -3.74351219e-01 -7.89285102e-04 1.10298260e+02] [-8.55461322e-04 1.06131769e-05 9.99999634e-01 -6.39333743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.30, Z:-0.64 [[-3.75624110e-01 9.26772043e-01 -3.30542811e-04 1.70683823e+02] [-9.26771707e-01 -3.75624255e-01 -7.89093097e-04 1.10295912e+02] [-8.55469319e-04 9.93533319e-06 9.99999634e-01 -6.39357979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.28, Z:-0.64 [[-3.77092865e-01 9.26175394e-01 -3.31000692e-04 1.70679280e+02] [-9.26175059e-01 -3.77093011e-01 -7.88900983e-04 1.10281367e+02] [-8.55478727e-04 9.07565335e-06 9.99999634e-01 -6.39569485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.28, Z:-0.64 [[-3.79221108e-01 9.25306026e-01 -3.31459495e-04 1.70679709e+02] [-9.25305690e-01 -3.79221253e-01 -7.88708168e-04 1.10278358e+02] [-8.55492906e-04 7.60657175e-06 9.99999634e-01 -6.39622365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.27, Z:-0.64 [[-3.83845960e-01 9.23397081e-01 -3.31919412e-04 1.70681310e+02] [-9.23396744e-01 -3.83846104e-01 -7.88514570e-04 1.10271138e+02] [-8.55518025e-04 3.82517241e-06 9.99999634e-01 -6.40106526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:110.17, Z:-0.64 [[-3.86463722e-01 9.22304549e-01 -3.32378653e-04 1.70640750e+02] [-9.22304212e-01 -3.86463865e-01 -7.88320941e-04 1.10170151e+02] [-8.55524329e-04 1.89678710e-06 9.99999634e-01 -6.42711431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.25, Z:-0.64 [[-3.90063030e-01 9.20788100e-01 -3.28898513e-04 1.70678265e+02] [-9.20787761e-01 -3.90063168e-01 -7.89789833e-04 1.10251856e+02] [-8.55520275e-04 -5.22208940e-06 9.99999634e-01 -6.41189123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.25, Z:-0.64 [[-3.93033385e-01 9.19524142e-01 -3.33530670e-04 1.70677930e+02] [-9.19523804e-01 -3.93033527e-01 -7.87828789e-04 1.10245730e+02] [-8.55516327e-04 -2.95362509e-06 9.99999634e-01 -6.41831835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.24, Z:-0.64 [[-3.98903496e-01 9.16992851e-01 -3.33952812e-04 1.70679959e+02] [-9.16992513e-01 -3.98903636e-01 -7.87649807e-04 1.10241548e+02] [-8.55484233e-04 -7.96403293e-06 9.99999634e-01 -6.41535760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.23, Z:-0.64 [[-4.02018544e-01 9.15631464e-01 -3.34414492e-04 1.70678524e+02] [-9.15631126e-01 -4.02018683e-01 -7.87453741e-04 1.10234679e+02] [-8.55458296e-04 -1.03706888e-05 9.99999634e-01 -6.40758223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.23, Z:-0.64 [[-4.07137410e-01 9.13366858e-01 -3.34836152e-04 1.70678252e+02] [-9.13366519e-01 -4.07137547e-01 -7.87274405e-04 1.10226301e+02] [-8.55394719e-04 -1.47007321e-05 9.99999634e-01 -6.41173552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.22, Z:-0.64 [[-4.10055067e-01 9.12060705e-01 -3.35258500e-04 1.70676876e+02] [-9.12060366e-01 -4.10055204e-01 -7.87094508e-04 1.10219236e+02] [-8.55352464e-04 -1.69761012e-05 9.99999634e-01 -6.39651932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.22, Z:-0.64 [[-4.08185455e-01 9.12898966e-01 -3.35681540e-04 1.70681964e+02] [-9.12898627e-01 -4.08185592e-01 -7.86914048e-04 1.10221392e+02] [-8.55393389e-04 -1.47636520e-05 9.99999634e-01 -6.39941216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:110.21, Z:-0.64 [[-4.14662551e-01 9.09975197e-01 -3.30647996e-04 1.70675052e+02] [-9.09974855e-01 -4.14662682e-01 -7.89063395e-04 1.10208176e+02] [-8.55135504e-04 -2.63136782e-05 9.99999634e-01 -6.39790636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:110.19, Z:-0.64 [[-4.12087201e-01 9.11144350e-01 -3.36551197e-04 1.70672500e+02] [-9.11144010e-01 -4.12087338e-01 -7.86537477e-04 1.10187838e+02] [-8.55337665e-04 -1.74754196e-05 9.99999634e-01 -6.43531614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:110.20, Z:-0.64 [[-4.19615497e-01 9.07701893e-01 -3.29770399e-04 1.70673250e+02] [-9.07701550e-01 -4.19615626e-01 -7.89441556e-04 1.10196711e+02] [-8.54954406e-04 -3.19288089e-05 9.99999634e-01 -6.40602288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:110.19, Z:-0.64 [[-4.20752191e-01 9.07175551e-01 -3.37441463e-04 1.70672362e+02] [-9.07175210e-01 -4.20752326e-01 -7.86148878e-04 1.10192820e+02] [-8.55154321e-04 -2.46553328e-05 9.99999634e-01 -6.41251514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:110.19, Z:-0.64 [[-4.21680628e-01 9.06744360e-01 -3.37865237e-04 1.70669791e+02] [-9.06744019e-01 -4.21680763e-01 -7.85966709e-04 1.10185097e+02] [-8.55142151e-04 -2.50696530e-05 9.99999634e-01 -6.41637868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:110.18, Z:-0.64 [[-4.22025809e-01 9.06583753e-01 -3.38289252e-04 1.70669493e+02] [-9.06583413e-01 -4.22025944e-01 -7.85784166e-04 1.10181513e+02] [-8.55145999e-04 -2.49337738e-05 9.99999634e-01 -6.41827755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:110.17, Z:-0.64 [[-4.22130591e-01 9.06534969e-01 -3.38713453e-04 1.70663467e+02] [-9.06534629e-01 -4.22130726e-01 -7.85601271e-04 1.10167860e+02] [-8.55156379e-04 -2.45708543e-05 9.99999634e-01 -6.42256883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:110.17, Z:-0.64 [[-4.21884483e-01 9.06649529e-01 -3.39139035e-04 1.70665353e+02] [-9.06649189e-01 -4.21884618e-01 -7.85417506e-04 1.10172923e+02] [-8.55175955e-04 -2.38753270e-05 9.99999634e-01 -6.41979693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:110.17, Z:-0.64 [[-4.21073087e-01 9.07026648e-01 -3.39564518e-04 1.70663571e+02] [-9.07026308e-01 -4.21073224e-01 -7.85233512e-04 1.10169466e+02] [-8.55209246e-04 -2.26467478e-05 9.99999634e-01 -6.41366641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:110.16, Z:-0.64 [[-4.18579983e-01 9.08179873e-01 -3.39988137e-04 1.70660693e+02] [-9.08179534e-01 -4.18580121e-01 -7.85050052e-04 1.10164743e+02] [-8.55278932e-04 -1.98359693e-05 9.99999634e-01 -6.40802582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:110.16, Z:-0.64 [[-4.17127544e-01 9.08847895e-01 -3.40411487e-04 1.70657809e+02] [-9.08847556e-01 -4.17127683e-01 -7.84866436e-04 1.10158882e+02] [-8.55319263e-04 -1.80072611e-05 9.99999634e-01 -6.40537544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:110.16, Z:-0.64 [[-4.15647467e-01 9.09525737e-01 -3.40835192e-04 1.70657039e+02] [-9.09525399e-01 -4.15647606e-01 -7.84682396e-04 1.10158123e+02] [-8.55356166e-04 -1.61529856e-05 9.99999634e-01 -6.40552529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.15, Z:-0.64 [[-4.13861093e-01 9.10339980e-01 -3.41258514e-04 1.70653241e+02] [-9.10339642e-01 -4.13861234e-01 -7.84498250e-04 1.10150085e+02] [-8.55393791e-04 -1.40121504e-05 9.99999634e-01 -6.41464367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.14, Z:-0.64 [[-4.12052266e-01 9.11160147e-01 -3.41721609e-04 1.70650569e+02] [-9.11159810e-01 -4.12052407e-01 -7.84296477e-04 1.10144713e+02] [-8.55426905e-04 -1.18081446e-05 9.99999634e-01 -6.41425009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.15, Z:-0.64 [[-4.07162758e-01 9.13355556e-01 -3.42145345e-04 1.70653172e+02] [-9.13355219e-01 -4.07162902e-01 -7.84111581e-04 1.10153842e+02] [-8.55481560e-04 -6.76079705e-06 9.99999634e-01 -6.41536595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.15, Z:-0.64 [[-4.04535481e-01 9.14522240e-01 -3.42566947e-04 1.70648560e+02] [-9.14521904e-01 -4.04535626e-01 -7.83927346e-04 1.10145441e+02] [-8.55499527e-04 -3.84144908e-06 9.99999634e-01 -6.41529249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.14, Z:-0.64 [[-4.01401126e-01 9.15902297e-01 -3.42986883e-04 1.70647389e+02] [-9.15901962e-01 -4.01401273e-01 -7.83743571e-04 1.10144339e+02] [-8.55507908e-04 -4.53193104e-07 9.99999634e-01 -6.41695970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.15, Z:-0.64 [[-3.93778697e-01 9.19205211e-01 -3.43446561e-04 1.70647689e+02] [-9.19204877e-01 -3.93778846e-01 -7.83542082e-04 1.10148099e+02] [-8.55477956e-04 7.15557381e-06 9.99999634e-01 -6.41347751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.15, Z:-0.64 [[-3.89901955e-01 9.20856312e-01 -3.43864403e-04 1.70647044e+02] [-9.20855979e-01 -3.89902107e-01 -7.83358666e-04 1.10148708e+02] [-8.55434227e-04 1.12165155e-05 9.99999634e-01 -6.41285378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:110.15, Z:-0.64 [[-3.86018112e-01 9.22491137e-01 -3.44280167e-04 1.70644286e+02] [-9.22490805e-01 -3.86018265e-01 -7.83175898e-04 1.10145080e+02] [-8.55371258e-04 1.52752064e-05 9.99999634e-01 -6.40372736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:110.15, Z:-0.64 [[-3.82183950e-01 9.24086203e-01 -3.44694906e-04 1.70643354e+02] [-9.24085871e-01 -3.82184105e-01 -7.82993319e-04 1.10145109e+02] [-8.55290236e-04 1.92802131e-05 9.99999634e-01 -6.39780660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:110.15, Z:-0.64 [[-3.74627572e-01 9.27175314e-01 -3.45108949e-04 1.70642877e+02] [-9.27174984e-01 -3.74627730e-01 -7.82810784e-04 1.10146633e+02] [-8.55090217e-04 2.67138817e-05 9.99999634e-01 -6.38697994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:110.13, Z:-0.64 [[-3.72350901e-01 9.28091960e-01 -3.45560031e-04 1.70636437e+02] [-9.28091631e-01 -3.72351060e-01 -7.82611610e-04 1.10132312e+02] [-8.55005187e-04 2.93052343e-05 9.99999634e-01 -6.38141830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:110.15, Z:-0.64 [[-3.62665699e-01 9.31919240e-01 -3.46439812e-04 1.70647014e+02] [-9.31918913e-01 -3.62665863e-01 -7.82221962e-04 1.10145096e+02] [-8.54609590e-04 3.91687377e-05 9.99999634e-01 -6.42802908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:110.13, Z:-0.64 [[-3.68151331e-01 9.29765822e-01 -3.37811648e-04 1.70637817e+02] [-9.29765490e-01 -3.68151485e-01 -7.86045618e-04 1.10133650e+02] [-8.55204210e-04 2.47018720e-05 9.99999634e-01 -6.37581757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:110.13, Z:-0.64 [[-3.65886490e-01 9.30659420e-01 -3.47256491e-04 1.70637554e+02] [-9.30659092e-01 -3.65886653e-01 -7.81850722e-04 1.10129733e+02] [-8.54693254e-04 3.71087939e-05 9.99999634e-01 -6.36904283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:110.11, Z:-0.64 [[-3.67663347e-01 9.29958893e-01 -3.47703558e-04 1.70630577e+02] [-9.29958565e-01 -3.67663510e-01 -7.81651852e-04 1.10111692e+02] [-8.54742001e-04 3.59651662e-05 9.99999634e-01 -6.36858405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:110.04, Z:-0.64 [[-3.78043937e-01 9.25787589e-01 -3.49450989e-04 1.70602048e+02] [-9.25787260e-01 -3.78044097e-01 -7.80869850e-04 1.10040470e+02] [-8.55027500e-04 2.83141610e-05 9.99999634e-01 -6.36978528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:110.03, Z:-0.64 [[-3.80772372e-01 9.24668737e-01 -3.57946224e-04 1.70601870e+02] [-9.24668411e-01 -3.80772538e-01 -7.76956068e-04 1.10033813e+02] [-8.54723078e-04 3.51381610e-05 9.99999634e-01 -6.37129184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:110.03, Z:-0.64 [[-3.81256065e-01 9.24469407e-01 -3.58352278e-04 1.70599897e+02] [-9.24469082e-01 -3.81256231e-01 -7.76768740e-04 1.10029436e+02] [-8.54722975e-04 3.51378089e-05 9.99999634e-01 -6.37133486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:110.02, Z:-0.64 [[-3.83586270e-01 9.23504978e-01 -3.58758551e-04 1.70598709e+02] [-9.23504652e-01 -3.83586437e-01 -7.76581053e-04 1.10023153e+02] [-8.54791383e-04 3.34293608e-05 9.99999634e-01 -6.37305552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:110.02, Z:-0.64 [[-3.86207038e-01 9.22412053e-01 -3.59164831e-04 1.70597252e+02] [-9.22411727e-01 -3.86207203e-01 -7.76393105e-04 1.10015450e+02] [-8.54866403e-04 3.14493706e-05 9.99999634e-01 -6.37370832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:110.01, Z:-0.64 [[-3.89214574e-01 9.21147049e-01 -3.59610119e-04 1.70597500e+02] [-9.21146722e-01 -3.89214739e-01 -7.76186802e-04 1.10010897e+02] [-8.54947741e-04 2.91504667e-05 9.99999634e-01 -6.37783906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:110.00, Z:-0.64 [[-3.95590809e-01 9.18426798e-01 -3.60016932e-04 1.70596409e+02] [-9.18426470e-01 -3.95590972e-01 -7.75998065e-04 1.09997881e+02] [-8.55116865e-04 2.36713779e-05 9.99999634e-01 -6.38331713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:109.99, Z:-0.64 [[-3.99512879e-01 9.16727511e-01 -3.60463083e-04 1.70595850e+02] [-9.16727183e-01 -3.99513041e-01 -7.75790765e-04 1.09991048e+02] [-8.55198440e-04 2.05079047e-05 9.99999634e-01 -6.37879193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.98, Z:-0.64 [[-4.03958974e-01 9.14777031e-01 -3.60910294e-04 1.70591288e+02] [-9.14776703e-01 -4.03959135e-01 -7.75582660e-04 1.09975566e+02] [-8.55278213e-04 1.68487535e-05 9.99999634e-01 -6.37647011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.98, Z:-0.64 [[-4.08425838e-01 9.12791435e-01 -3.61320522e-04 1.70594014e+02] [-9.12791106e-01 -4.08425997e-01 -7.75391500e-04 1.09975074e+02] [-8.55343415e-04 1.31202365e-05 9.99999634e-01 -6.37518561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.96, Z:-0.64 [[-4.17189024e-01 9.08819667e-01 -3.61731566e-04 1.70593837e+02] [-9.08819336e-01 -4.17189181e-01 -7.75199694e-04 1.09960862e+02] [-8.55427224e-04 5.34383739e-06 9.99999634e-01 -6.37429610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:109.96, Z:-0.64 [[-4.21667551e-01 9.06750432e-01 -3.62104390e-04 1.70595166e+02] [-9.06750101e-01 -4.21667706e-01 -7.75025505e-04 1.09956536e+02] [-8.55442439e-04 1.53508520e-06 9.99999634e-01 -6.37639629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.95, Z:-0.64 [[-4.26182676e-01 9.04637052e-01 -3.62478220e-04 1.70594101e+02] [-9.04636720e-01 -4.26182830e-01 -7.74850626e-04 1.09948068e+02] [-8.55440579e-04 -2.31680495e-06 9.99999634e-01 -6.37787833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.94, Z:-0.64 [[-4.30281902e-01 9.02694496e-01 -3.62852513e-04 1.70593643e+02] [-9.02694164e-01 -4.30282055e-01 -7.74675309e-04 1.09941320e+02] [-8.55424063e-04 -5.78391939e-06 9.99999634e-01 -6.37836272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.93, Z:-0.64 [[-4.36513427e-01 8.99697669e-01 -3.63227556e-04 1.70594087e+02] [-8.99697336e-01 -4.36513578e-01 -7.74499420e-04 1.09931810e+02] [-8.55369084e-04 -1.12845317e-05 9.99999634e-01 -6.37829797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.93, Z:-0.64 [[-4.38951356e-01 8.98510754e-01 -3.63603496e-04 1.70593758e+02] [-8.98510420e-01 -4.38951506e-01 -7.74322888e-04 1.09926102e+02] [-8.55341744e-04 -1.31885519e-05 9.99999634e-01 -6.38214873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.92, Z:-0.64 [[-4.40837929e-01 8.97586646e-01 -3.63980171e-04 1.70591187e+02] [-8.97586313e-01 -4.40838080e-01 -7.74145787e-04 1.09916122e+02] [-8.55319240e-04 -1.45692066e-05 9.99999634e-01 -6.38841186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.92, Z:-0.64 [[-4.42431791e-01 8.96802084e-01 -3.64357750e-04 1.70592789e+02] [-8.96801750e-01 -4.42431940e-01 -7.73968035e-04 1.09916141e+02] [-8.55299653e-04 -1.56713959e-05 9.99999634e-01 -6.39358703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.91, Z:-0.64 [[-4.43599251e-01 8.96225179e-01 -3.64774502e-04 1.70590280e+02] [-8.96224845e-01 -4.43599400e-01 -7.73771568e-04 1.09905533e+02] [-8.55287313e-04 -1.63245163e-05 9.99999634e-01 -6.40934217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.91, Z:-0.64 [[-4.43541438e-01 8.96253792e-01 -3.65152188e-04 1.70591870e+02] [-8.96253458e-01 -4.43541588e-01 -7.73593293e-04 1.09907366e+02] [-8.55296103e-04 -1.58517701e-05 9.99999634e-01 -6.41495347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.91, Z:-0.64 [[-4.43158949e-01 8.96442978e-01 -3.65529788e-04 1.70591262e+02] [-8.96442644e-01 -4.43159100e-01 -7.73414832e-04 1.09905091e+02] [-8.55310147e-04 -1.50692154e-05 9.99999634e-01 -6.41282524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.90, Z:-0.64 [[-4.42672387e-01 8.96683346e-01 -3.65906164e-04 1.70589564e+02] [-8.96683013e-01 -4.42672538e-01 -7.73236726e-04 1.09900603e+02] [-8.55325105e-04 -1.41887053e-05 9.99999634e-01 -6.40828593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.90, Z:-0.64 [[-4.41405089e-01 8.97307870e-01 -3.66282310e-04 1.70588293e+02] [-8.97307537e-01 -4.41405240e-01 -7.73058504e-04 1.09897589e+02] [-8.55350411e-04 -1.25640800e-05 9.99999634e-01 -6.40113038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.90, Z:-0.64 [[-4.41139228e-01 8.97438603e-01 -3.66658369e-04 1.70587641e+02] [-8.97438271e-01 -4.41139380e-01 -7.72880100e-04 1.09896953e+02] [-8.55359883e-04 -1.18944779e-05 9.99999634e-01 -6.39578044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:109.89, Z:-0.64 [[-4.40863319e-01 8.97574175e-01 -3.67033931e-04 1.70585333e+02] [-8.97573843e-01 -4.40863471e-01 -7.72701708e-04 1.09892863e+02] [-8.55368951e-04 -1.12157833e-05 9.99999634e-01 -6.39163399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:109.89, Z:-0.64 [[-4.40844735e-01 8.97583302e-01 -3.67408997e-04 1.70583831e+02] [-8.97582970e-01 -4.40844888e-01 -7.72523328e-04 1.09890364e+02] [-8.55374418e-04 -1.07827836e-05 9.99999634e-01 -6.38998069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:109.88, Z:-0.64 [[-4.40597909e-01 8.97704488e-01 -3.67783976e-04 1.70579613e+02] [-8.97704156e-01 -4.40598062e-01 -7.72344766e-04 1.09882430e+02] [-8.55382270e-04 -1.01322855e-05 9.99999634e-01 -6.38568463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:109.88, Z:-0.64 [[-4.40909781e-01 8.97551352e-01 -3.68198139e-04 1.70578918e+02] [-8.97551020e-01 -4.40909935e-01 -7.72147273e-04 1.09881465e+02] [-8.55384046e-04 -9.97067009e-06 9.99999634e-01 -6.38516296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:109.88, Z:-0.64 [[-4.41099562e-01 8.97458100e-01 -3.68573487e-04 1.70577888e+02] [-8.97457768e-01 -4.41099716e-01 -7.71968064e-04 1.09879213e+02] [-8.55386652e-04 -9.73563546e-06 9.99999634e-01 -6.39019625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:109.87, Z:-0.64 [[-4.41693898e-01 8.97165740e-01 -3.68948197e-04 1.70575557e+02] [-8.97165408e-01 -4.41694052e-01 -7.71788937e-04 1.09874895e+02] [-8.55384816e-04 -9.88690465e-06 9.99999634e-01 -6.40296835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:109.87, Z:-0.64 [[-4.42182996e-01 8.96924780e-01 -3.69322676e-04 1.70573729e+02] [-8.96924448e-01 -4.42183150e-01 -7.71609697e-04 1.09871981e+02] [-8.55384122e-04 -9.93815024e-06 9.99999634e-01 -6.41423736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:109.87, Z:-0.64 [[-4.42648609e-01 8.96695083e-01 -3.69697068e-04 1.70570470e+02] [-8.96694751e-01 -4.42648763e-01 -7.71430274e-04 1.09866516e+02] [-8.55383684e-04 -9.96711774e-06 9.99999634e-01 -6.41756728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:109.85, Z:-0.64 [[-4.43157083e-01 8.96443898e-01 -3.70071638e-04 1.70563180e+02] [-8.96443567e-01 -4.43157237e-01 -7.71250543e-04 1.09852436e+02] [-8.55382768e-04 -1.00368020e-05 9.99999634e-01 -6.41443941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72999999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.57, Y:109.86, Z:-0.64 [[-4.42834007e-01 8.96603538e-01 -3.70565666e-04 1.70566507e+02] [-8.96603207e-01 -4.42834162e-01 -7.71013102e-04 1.09860202e+02] [-8.55392212e-04 -9.18045672e-06 9.99999634e-01 -6.42236415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:109.86, Z:-0.64 [[-4.42737594e-01 8.96651150e-01 -3.70941304e-04 1.70564830e+02] [-8.96650819e-01 -4.42737749e-01 -7.70832337e-04 1.09857862e+02] [-8.55397420e-04 -8.67163009e-06 9.99999634e-01 -6.41965372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:109.85, Z:-0.64 [[-4.42754131e-01 8.96642985e-01 -3.71314891e-04 1.70560309e+02] [-8.96642654e-01 -4.42754286e-01 -7.70652336e-04 1.09850100e+02] [-8.55401270e-04 -8.27273610e-06 9.99999634e-01 -6.42546887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:109.84, Z:-0.64 [[-4.42353498e-01 8.96840702e-01 -3.71727541e-04 1.70556149e+02] [-8.96840371e-01 -4.42353654e-01 -7.70453241e-04 1.09843283e+02] [-8.55408862e-04 -7.43242091e-06 9.99999634e-01 -6.42158132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:109.85, Z:-0.64 [[-4.42052795e-01 8.96988956e-01 -3.72180257e-04 1.70555872e+02] [-8.96988626e-01 -4.42052952e-01 -7.70234487e-04 1.09845012e+02] [-8.55415210e-04 -6.64285092e-06 9.99999634e-01 -6.40216788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:109.84, Z:-0.64 [[-4.41743602e-01 8.97141266e-01 -3.72593122e-04 1.70552376e+02] [-8.97140936e-01 -4.41743759e-01 -7.70034716e-04 1.09840103e+02] [-8.55420606e-04 -5.88936649e-06 9.99999634e-01 -6.39131996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:109.84, Z:-0.64 [[-4.41286313e-01 8.97366286e-01 -3.72966464e-04 1.70551300e+02] [-8.97365956e-01 -4.41286471e-01 -7.69853845e-04 1.09841511e+02] [-8.55425940e-04 -5.03855756e-06 9.99999634e-01 -6.38516364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:109.84, Z:-0.64 [[-4.41774818e-01 8.97125895e-01 -3.73377921e-04 1.70547872e+02] [-8.97125564e-01 -4.41774976e-01 -7.69654237e-04 1.09835764e+02] [-8.55425768e-04 -5.04698279e-06 9.99999634e-01 -6.37965062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:109.83, Z:-0.64 [[-4.42526917e-01 8.96755144e-01 -3.73750247e-04 1.70545337e+02] [-8.96754814e-01 -4.42527075e-01 -7.69473391e-04 1.09831732e+02] [-8.55423824e-04 -5.35035451e-06 9.99999634e-01 -6.38067529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:109.83, Z:-0.64 [[-4.44545308e-01 8.95756289e-01 -3.74122910e-04 1.70541618e+02] [-8.95755959e-01 -4.44545465e-01 -7.69292157e-04 1.09827057e+02] [-8.55412930e-04 -6.86239247e-06 9.99999634e-01 -6.38519730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:109.82, Z:-0.64 [[-4.46032952e-01 8.95016461e-01 -3.74495891e-04 1.70539918e+02] [-8.95016131e-01 -4.46033109e-01 -7.69110544e-04 1.09824819e+02] [-8.55404164e-04 -7.86878236e-06 9.99999634e-01 -6.38981388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:109.82, Z:-0.64 [[-4.47769814e-01 8.94148787e-01 -3.74868785e-04 1.70536843e+02] [-8.94148456e-01 -4.47769971e-01 -7.68928751e-04 1.09819656e+02] [-8.55391695e-04 -9.11473885e-06 9.99999634e-01 -6.39573876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:109.82, Z:-0.64 [[-4.49841159e-01 8.93108499e-01 -3.75241732e-04 1.70534322e+02] [-8.93108168e-01 -4.49841315e-01 -7.68746708e-04 1.09816639e+02] [-8.55373452e-04 -1.06824541e-05 9.99999634e-01 -6.39780272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:109.81, Z:-0.64 [[-4.51731186e-01 8.92154020e-01 -3.75614875e-04 1.70530312e+02] [-8.92153689e-01 -4.51731342e-01 -7.68564344e-04 1.09810515e+02] [-8.55354780e-04 -1.20782858e-05 9.99999634e-01 -6.39961974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:109.80, Z:-0.64 [[-4.53966150e-01 8.91018851e-01 -3.76107730e-04 1.70524585e+02] [-8.91018520e-01 -4.53966305e-01 -7.68323083e-04 1.09802553e+02] [-8.55330587e-04 -1.36737190e-05 9.99999634e-01 -6.40429255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:109.79, Z:-0.64 [[-4.55045138e-01 8.90468293e-01 -3.76481625e-04 1.70518050e+02] [-8.90467962e-01 -4.55045294e-01 -7.68139829e-04 1.09792233e+02] [-8.55320354e-04 -1.42934689e-05 9.99999634e-01 -6.40666312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:109.80, Z:-0.64 [[-4.55682596e-01 8.90142252e-01 -3.76935237e-04 1.70518706e+02] [-8.90141921e-01 -4.55682752e-01 -7.67917172e-04 1.09796867e+02] [-8.55318407e-04 -1.44006348e-05 9.99999634e-01 -6.39461094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:109.79, Z:-0.64 [[-4.56015672e-01 8.89971665e-01 -3.77427543e-04 1.70514737e+02] [-8.89971334e-01 -4.56015828e-01 -7.67675129e-04 1.09792335e+02] [-8.55322046e-04 -1.41721954e-05 9.99999634e-01 -6.39500677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:109.79, Z:-0.64 [[-4.56361598e-01 8.89794330e-01 -3.77878338e-04 1.70510240e+02] [-8.89793999e-01 -4.56361754e-01 -7.67453167e-04 1.09786907e+02] [-8.55324697e-04 -1.40022761e-05 9.99999634e-01 -6.39074596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:109.79, Z:-0.64 [[-4.56105635e-01 8.89925562e-01 -3.78290313e-04 1.70505693e+02] [-8.89925232e-01 -4.56105792e-01 -7.67250044e-04 1.09785547e+02] [-8.55335830e-04 -1.32969742e-05 9.99999634e-01 -6.38599442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:109.78, Z:-0.64 [[-4.56409774e-01 8.89769619e-01 -3.78663829e-04 1.70502638e+02] [-8.89769288e-01 -4.56409931e-01 -7.67065657e-04 1.09782716e+02] [-8.55337649e-04 -1.31728171e-05 9.99999634e-01 -6.38196327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:109.77, Z:-0.64 [[-4.57192186e-01 8.89367844e-01 -3.79037112e-04 1.70495212e+02] [-8.89367513e-01 -4.57192343e-01 -7.66881159e-04 1.09770440e+02] [-8.55332308e-04 -1.35087797e-05 9.99999634e-01 -6.38228867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:109.76, Z:-0.64 [[-4.58181452e-01 8.88858602e-01 -3.79450320e-04 1.70486709e+02] [-8.88858271e-01 -4.58181608e-01 -7.66676650e-04 1.09755866e+02] [-8.55324293e-04 -1.39994650e-05 9.99999634e-01 -6.38753267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:109.78, Z:-0.64 [[-4.48819564e-01 8.93622322e-01 -3.79827914e-04 1.70502270e+02] [-8.93621994e-01 -4.48819725e-01 -7.66489537e-04 1.09775246e+02] [-8.55426419e-04 -4.59292193e-06 9.99999634e-01 -6.44432124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:109.76, Z:-0.65 [[-4.47411489e-01 8.94328140e-01 -3.70012078e-04 1.70496869e+02] [-8.94327808e-01 -4.47411642e-01 -7.71354906e-04 1.09764493e+02] [-8.55392110e-04 -1.42009567e-05 9.99999634e-01 -6.45770123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:109.76, Z:-0.65 [[-4.52172418e-01 8.91930475e-01 -3.64454275e-04 1.70490065e+02] [-8.91930139e-01 -4.52172565e-01 -7.74111579e-04 1.09757607e+02] [-8.55249932e-04 -2.49641526e-05 9.99999634e-01 -6.47613943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:109.76, Z:-0.64 [[-4.65922478e-01 8.84825468e-01 -3.67880731e-04 1.70481019e+02] [-8.84825132e-01 -4.65922622e-01 -7.72409202e-04 1.09757981e+02] [-8.54851289e-04 -3.43726927e-05 9.99999634e-01 -6.41286103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:109.75, Z:-0.64 [[-4.67522535e-01 8.83981071e-01 -3.81533284e-04 1.70477561e+02] [-8.83980740e-01 -4.67522690e-01 -7.65605564e-04 1.09754107e+02] [-8.55156294e-04 -2.06697792e-05 9.99999634e-01 -6.42114891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:109.75, Z:-0.64 [[-4.69627541e-01 8.82864557e-01 -3.81946134e-04 1.70471061e+02] [-8.82864226e-01 -4.69627696e-01 -7.65399546e-04 1.09747488e+02] [-8.55116614e-04 -2.22461290e-05 9.99999634e-01 -6.43309139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:109.74, Z:-0.64 [[-4.70548012e-01 8.82374310e-01 -3.82359481e-04 1.70467311e+02] [-8.82373978e-01 -4.70548167e-01 -7.65193000e-04 1.09743314e+02] [-8.55105198e-04 -2.26759884e-05 9.99999634e-01 -6.42995649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:109.74, Z:-0.64 [[-4.71391046e-01 8.81924223e-01 -3.82851893e-04 1.70464438e+02] [-8.81923891e-01 -4.71391201e-01 -7.64946550e-04 1.09741745e+02] [-8.55097906e-04 -2.29427238e-05 9.99999634e-01 -6.43518194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:109.74, Z:-0.64 [[-4.71936678e-01 8.81632364e-01 -3.83285896e-04 1.70460275e+02] [-8.81632033e-01 -4.71936833e-01 -7.64729026e-04 1.09738029e+02] [-8.55096591e-04 -2.29865523e-05 9.99999634e-01 -6.42114651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:109.73, Z:-0.64 [[-4.72506410e-01 8.81327150e-01 -3.83698715e-04 1.70457414e+02] [-8.81326819e-01 -4.72506565e-01 -7.64521840e-04 1.09732275e+02] [-8.55094016e-04 -2.30775025e-05 9.99999634e-01 -6.42120349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:109.72, Z:-0.64 [[-4.73024348e-01 8.81049271e-01 -3.84192693e-04 1.70450849e+02] [-8.81048940e-01 -4.73024504e-01 -7.64273522e-04 1.09723109e+02] [-8.55095188e-04 -2.30274197e-05 9.99999634e-01 -6.41419723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:109.72, Z:-0.64 [[-4.73431059e-01 8.80830792e-01 -3.84606373e-04 1.70449668e+02] [-8.80830461e-01 -4.73431215e-01 -7.64065289e-04 1.09724286e+02] [-8.55096896e-04 -2.29592306e-05 9.99999634e-01 -6.40561502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:109.72, Z:-0.64 [[-4.74090436e-01 8.80476070e-01 -3.85020106e-04 1.70442305e+02] [-8.80475739e-01 -4.74090592e-01 -7.63856748e-04 1.09716037e+02] [-8.55091997e-04 -2.31363160e-05 9.99999634e-01 -6.39547955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:109.71, Z:-0.64 [[-4.74719166e-01 8.80137242e-01 -3.85433726e-04 1.70438238e+02] [-8.80136911e-01 -4.74719322e-01 -7.63647982e-04 1.09710775e+02] [-8.55087866e-04 -2.32838842e-05 9.99999634e-01 -6.38938651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:109.72, Z:-0.64 [[-4.68387034e-01 8.83523309e-01 -3.85848459e-04 1.70446040e+02] [-8.83522979e-01 -4.68387193e-01 -7.63438373e-04 1.09720249e+02] [-8.55242074e-04 -1.66786556e-05 9.99999634e-01 -6.43260785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:109.72, Z:-0.64 [[-4.69801226e-01 8.82772148e-01 -3.79479782e-04 1.70441297e+02] [-8.82771815e-01 -4.69801378e-01 -7.66658820e-04 1.09717218e+02] [-8.55065178e-04 -2.51831968e-05 9.99999634e-01 -6.42180827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:109.71, Z:-0.64 [[-4.71446608e-01 8.81894524e-01 -3.79526413e-04 1.70436753e+02] [-8.81894191e-01 -4.71446760e-01 -7.66635206e-04 1.09712783e+02] [-8.55017888e-04 -2.67254280e-05 9.99999634e-01 -6.40464503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:109.71, Z:-0.64 [[-4.75181668e-01 8.79887627e-01 -3.82218633e-04 1.70429386e+02] [-8.79887295e-01 -4.75181821e-01 -7.65269819e-04 1.09705083e+02] [-8.54974792e-04 -2.73328698e-05 9.99999634e-01 -6.40486955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:109.71, Z:-0.64 [[-4.71356711e-01 8.81942572e-01 -3.87527299e-04 1.70431281e+02] [-8.81942243e-01 -4.71356870e-01 -7.62572038e-04 1.09705891e+02] [-8.55208399e-04 -1.76667525e-05 9.99999634e-01 -6.42303969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:109.69, Z:-0.64 [[-4.72156921e-01 8.81514432e-01 -3.84543510e-04 1.70418044e+02] [-8.81514101e-01 -4.72157077e-01 -7.64090186e-04 1.09688836e+02] [-8.55121466e-04 -2.17899430e-05 9.99999634e-01 -6.42986452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:109.67, Z:-0.64 [[-4.69215660e-01 8.83083526e-01 -3.88414898e-04 1.70410204e+02] [-8.83083197e-01 -4.69215820e-01 -7.62117123e-04 1.09673893e+02] [-8.55263491e-04 -1.45946189e-05 9.99999634e-01 -6.43317826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:109.69, Z:-0.64 [[-4.69561729e-01 8.82899560e-01 -3.87088072e-04 1.70417720e+02] [-8.82899230e-01 -4.69561888e-01 -7.62794372e-04 1.09693401e+02] [-8.55232622e-04 -1.64192839e-05 9.99999634e-01 -6.42920978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:109.68, Z:-0.64 [[-4.68533986e-01 8.83445387e-01 -3.89397792e-04 1.70409600e+02] [-8.83445059e-01 -4.68534148e-01 -7.61613458e-04 1.09680270e+02] [-8.55290059e-04 -1.28302341e-05 9.99999634e-01 -6.42552194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:109.67, Z:-0.64 [[-4.67646924e-01 8.83915269e-01 -3.89846515e-04 1.70405280e+02] [-8.83914941e-01 -4.67647087e-01 -7.61383702e-04 1.09674323e+02] [-8.55309266e-04 -1.14675876e-05 9.99999634e-01 -6.42079923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:109.68, Z:-0.64 [[-4.65305013e-01 8.85150322e-01 -3.90258297e-04 1.70403952e+02] [-8.85149995e-01 -4.65305177e-01 -7.61172578e-04 1.09675442e+02] [-8.55341358e-04 -8.74028716e-06 9.99999634e-01 -6.40960202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:109.67, Z:-0.64 [[-4.64960367e-01 8.85331410e-01 -3.90176414e-04 1.70399800e+02] [-8.85331083e-01 -4.64960530e-01 -7.61214629e-04 1.09669584e+02] [-8.55343853e-04 -8.49932625e-06 9.99999634e-01 -6.41275376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:109.68, Z:-0.64 [[-4.64158114e-01 8.85752275e-01 -3.91121655e-04 1.70402207e+02] [-8.85751948e-01 -4.64158279e-01 -7.60728642e-04 1.09675903e+02] [-8.55359479e-04 -6.66160352e-06 9.99999634e-01 -6.41204937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:109.66, Z:-0.64 [[-4.63196907e-01 8.86255308e-01 -3.91569017e-04 1.70394771e+02] [-8.86254982e-01 -4.63197073e-01 -7.60498302e-04 1.09662405e+02] [-8.55369279e-04 -5.23046939e-06 9.99999634e-01 -6.41463283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:109.66, Z:-0.64 [[-4.63583893e-01 8.86052944e-01 -3.92015875e-04 1.70396205e+02] [-8.86052618e-01 -4.63584059e-01 -7.60267889e-04 1.09663730e+02] [-8.55369912e-04 -5.10125549e-06 9.99999634e-01 -6.41128079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:109.64, Z:-0.64 [[-4.64548990e-01 8.85547334e-01 -3.92462966e-04 1.70385486e+02] [-8.85547008e-01 -4.64549156e-01 -7.60037023e-04 1.09641973e+02] [-8.55367099e-04 -5.53002687e-06 9.99999634e-01 -6.41327285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:109.64, Z:-0.64 [[-4.64246388e-01 8.85706010e-01 -3.92873137e-04 1.70388447e+02] [-8.85705685e-01 -4.64246554e-01 -7.59824941e-04 1.09642644e+02] [-8.55371517e-04 -4.77601338e-06 9.99999634e-01 -6.44465340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:109.65, Z:-0.64 [[-4.67133332e-01 8.84186800e-01 -3.92043573e-04 1.70390290e+02] [-8.84186473e-01 -4.67133496e-01 -7.60254330e-04 1.09647405e+02] [-8.55343527e-04 -8.50051405e-06 9.99999634e-01 -6.43576758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:109.64, Z:-0.65 [[-4.68818788e-01 8.83294282e-01 -3.93729840e-04 1.70389199e+02] [-8.83293956e-01 -4.68818953e-01 -7.59380019e-04 1.09643426e+02] [-8.55344041e-04 -8.23243176e-06 9.99999634e-01 -6.45576588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:109.62, Z:-0.65 [[-4.67446243e-01 8.84021411e-01 -3.94193483e-04 1.70380704e+02] [-8.84021085e-01 -4.67446409e-01 -7.59139267e-04 1.09622611e+02] [-8.55359693e-04 -6.38144739e-06 9.99999634e-01 -6.49026652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:109.63, Z:-0.65 [[-4.69430780e-01 8.82969189e-01 -3.92361152e-04 1.70383732e+02] [-8.82968862e-01 -4.69430943e-01 -7.60091969e-04 1.09628680e+02] [-8.55324255e-04 -1.03678854e-05 9.99999634e-01 -6.48759875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:109.62, Z:-0.65 [[-4.73106614e-01 8.81005095e-01 -3.93363948e-04 1.70379439e+02] [-8.81004767e-01 -4.73106777e-01 -7.59569983e-04 1.09622216e+02] [-8.55288175e-04 -1.28020694e-05 9.99999634e-01 -6.46211027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:109.12, Z:0.14 [[-3.88809638e-01 -9.21318029e-01 3.93363948e-04 1.71115132e+02] [-9.21317719e-01 3.88809831e-01 7.59569983e-04 1.09118099e+02] [-8.52749290e-04 -6.70850450e-05 -9.99999634e-01 1.41203017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:109.48, Z:-0.65 [[-4.15250577e-01 9.09707009e-01 -3.42481518e-04 1.70274485e+02] [-9.09706673e-01 -4.15250718e-01 -7.81858284e-04 1.09478752e+02] [-8.53477657e-04 -1.31093809e-05 9.99999636e-01 -6.46396377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:109.48, Z:-0.65 [[-4.16794174e-01 9.09000824e-01 -3.42943436e-04 1.70273720e+02] [-9.09000488e-01 -4.16794315e-01 -7.81655623e-04 1.09475947e+02] [-8.53462480e-04 -1.40537591e-05 9.99999636e-01 -6.45912077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:109.46, Z:-0.64 [[-4.20346205e-01 9.07363736e-01 -3.43445087e-04 1.70267637e+02] [-9.07363400e-01 -4.20346345e-01 -7.81435144e-04 1.09460341e+02] [-8.53411799e-04 -1.68437961e-05 9.99999636e-01 -6.44798987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:109.46, Z:-0.65 [[-4.18767040e-01 9.08093634e-01 -3.44742492e-04 1.70267839e+02] [-9.08093298e-01 -4.18767182e-01 -7.80862354e-04 1.09455487e+02] [-8.53462974e-04 -1.39410698e-05 9.99999636e-01 -6.46833423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:109.45, Z:-0.65 [[-4.20338100e-01 9.07367491e-01 -3.43188500e-04 1.70263622e+02] [-9.07367155e-01 -4.20338240e-01 -7.81549430e-04 1.09446412e+02] [-8.53407796e-04 -1.71170302e-05 9.99999636e-01 -6.46307935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:109.45, Z:-0.65 [[-4.18481063e-01 9.08225457e-01 -3.44216925e-04 1.70266147e+02] [-9.08225122e-01 -4.18481205e-01 -7.81094149e-04 1.09450052e+02] [-8.53457904e-04 -1.42466515e-05 9.99999636e-01 -6.46948040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:109.43, Z:-0.65 [[-4.20914357e-01 9.07100318e-01 -3.43087587e-04 1.70256192e+02] [-9.07099981e-01 -4.20914496e-01 -7.81594776e-04 1.09431859e+02] [-8.53395409e-04 -1.77697184e-05 9.99999636e-01 -6.45482405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:109.44, Z:-0.65 [[-4.20117485e-01 9.07469657e-01 -3.46503554e-04 1.70258059e+02] [-9.07469322e-01 -4.20117628e-01 -7.80077434e-04 1.09435586e+02] [-8.53468852e-04 -1.32828245e-05 9.99999636e-01 -6.45789296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:109.43, Z:-0.65 [[-4.16864399e-01 9.08968620e-01 -3.46966262e-04 1.70258871e+02] [-9.08968286e-01 -4.16864543e-01 -7.79871574e-04 1.09434416e+02] [-8.53516721e-04 -9.71936666e-06 9.99999636e-01 -6.47461312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:109.43, Z:-0.65 [[-4.15938677e-01 9.09392597e-01 -3.47858383e-04 1.70258758e+02] [-9.09392263e-01 -4.15938822e-01 -7.79473444e-04 1.09430769e+02] [-8.53535186e-04 -7.87343063e-06 9.99999636e-01 -6.48621252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:109.42, Z:-0.65 [[-4.12128592e-01 9.11125624e-01 -3.48315452e-04 1.70258612e+02] [-9.11125291e-01 -4.12128739e-01 -7.79269144e-04 1.09423284e+02] [-8.53562893e-04 -3.80007747e-06 9.99999636e-01 -6.48327285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:109.42, Z:-0.65 [[-4.14423441e-01 9.10084113e-01 -3.45680793e-04 1.70254471e+02] [-9.10083778e-01 -4.14423585e-01 -7.80448125e-04 1.09416480e+02] [-8.53531713e-04 -8.83751489e-06 9.99999636e-01 -6.49162172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:109.42, Z:-0.65 [[-4.12084474e-01 9.11145578e-01 -3.49250033e-04 1.70254193e+02] [-9.11145245e-01 -4.12084622e-01 -7.78847610e-04 1.09416825e+02] [-8.53564124e-04 -2.73350015e-06 9.99999636e-01 -6.47639182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:109.41, Z:-0.65 [[-4.09344169e-01 9.12379980e-01 -3.49706548e-04 1.70250649e+02] [-9.12379648e-01 -4.09344319e-01 -7.78642579e-04 1.09405376e+02] [-8.53568290e-04 3.32337105e-07 9.99999636e-01 -6.46601684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:109.39, Z:-0.65 [[-4.09734565e-01 9.12204727e-01 -3.50123649e-04 1.70241879e+02] [-9.12204395e-01 -4.09734715e-01 -7.78454980e-04 1.09387880e+02] [-8.53568126e-04 4.24418739e-07 9.99999636e-01 -6.47588569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:109.40, Z:-0.65 [[-4.08892016e-01 9.12582707e-01 -3.50583656e-04 1.70250642e+02] [-9.12582375e-01 -4.08892166e-01 -7.78247757e-04 1.09404825e+02] [-8.53566355e-04 1.71717142e-06 9.99999636e-01 -6.47781859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:109.40, Z:-0.65 [[-4.07336302e-01 9.13278169e-01 -3.51041818e-04 1.70251613e+02] [-9.13277838e-01 -4.07336453e-01 -7.78041041e-04 1.09404172e+02] [-8.53560026e-04 3.67435208e-06 9.99999636e-01 -6.47560282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:109.40, Z:-0.65 [[-4.07088403e-01 9.13388696e-01 -3.50353051e-04 1.70251004e+02] [-9.13388364e-01 -4.07088554e-01 -7.78352213e-04 1.09402297e+02] [-8.53562829e-04 3.15024117e-06 9.99999636e-01 -6.47061215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:109.06, Z:-0.65 [[-4.05246665e-01 9.14207316e-01 -3.51687443e-04 1.70095501e+02] [-9.14206985e-01 -4.05246818e-01 -7.77748028e-04 1.09055604e+02] [-8.53543154e-04 6.33532210e-06 9.99999636e-01 -6.47788498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:109.12, Z:-0.65 [[-4.10666407e-01 9.11785600e-01 -3.47893830e-04 1.70123838e+02] [-9.11785267e-01 -4.10666554e-01 -7.79470858e-04 1.09120863e+02] [-8.53578664e-04 -2.89802760e-06 9.99999636e-01 -6.48496451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:108.66, Z:0.14 [[-3.57859255e-01 -9.33775472e-01 3.47893830e-04 1.70873073e+02] [-9.33775148e-01 3.57859421e-01 7.79470858e-04 1.08656977e+02] [-8.52347853e-04 -4.59137525e-05 -9.99999636e-01 1.41874060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:109.25, Z:-0.65 [[-3.46234962e-01 9.38147782e-01 -2.99838737e-04 1.70142772e+02] [-9.38147443e-01 -3.46235091e-01 -7.97550618e-04 1.09253948e+02] [-8.52035036e-04 5.15303727e-06 9.99999637e-01 -6.47097865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:109.25, Z:-0.65 [[-3.46252354e-01 9.38141363e-01 -3.01407171e-04 1.70141006e+02] [-9.38141024e-01 -3.46252485e-01 -7.96957440e-04 1.09246047e+02] [-8.52021721e-04 6.81404308e-06 9.99999637e-01 -6.46934716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:109.26, Z:-0.65 [[-3.40132908e-01 9.40377325e-01 -3.01873937e-04 1.70151146e+02] [-9.40376988e-01 -3.40133041e-01 -7.96780598e-04 1.09260873e+02] [-8.51951708e-04 1.28640015e-05 9.99999637e-01 -6.48237991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:109.24, Z:-0.65 [[-3.46254378e-01 9.38140618e-01 -2.93820782e-04 1.70140565e+02] [-9.38140277e-01 -3.46254503e-01 -7.99834069e-04 1.09239204e+02] [-8.52093597e-04 -1.30093878e-06 9.99999637e-01 -6.45720096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:109.24, Z:-0.65 [[-3.46018621e-01 9.38227596e-01 -3.02818579e-04 1.70140622e+02] [-9.38227258e-01 -3.46018753e-01 -7.96412853e-04 1.09238428e+02] [-8.51997424e-04 8.53896815e-06 9.99999637e-01 -6.45208997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:109.24, Z:-0.64 [[-3.43645424e-01 9.39099425e-01 -3.03283000e-04 1.70141188e+02] [-9.39099088e-01 -3.43645558e-01 -7.96235957e-04 1.09239282e+02] [-8.51966586e-04 1.11899451e-05 9.99999637e-01 -6.44883829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:108.95, Z:-0.65 [[-3.26377056e-01 9.45239613e-01 -3.03745224e-04 1.70040720e+02] [-9.45239278e-01 -3.26377196e-01 -7.96059591e-04 1.08950547e+02] [-8.51602574e-04 2.72963302e-05 9.99999637e-01 -6.48693742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:109.23, Z:-0.64 [[-3.42792921e-01 9.39410950e-01 -2.83941002e-04 1.70136695e+02] [-9.39410606e-01 -3.42793038e-01 -8.03607547e-04 1.09225574e+02] [-8.52250728e-04 -8.73378941e-06 9.99999637e-01 -6.44168345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:109.22, Z:-0.64 [[-3.42148449e-01 9.39645862e-01 -3.05391628e-04 1.70135411e+02] [-9.39645525e-01 -3.42148585e-01 -7.95371342e-04 1.09221245e+02] [-8.51856703e-04 1.48248061e-05 9.99999637e-01 -6.43904495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.21, Z:-0.64 [[-3.41487407e-01 9.39886300e-01 -3.05852311e-04 1.70134125e+02] [-9.39885964e-01 -3.41487544e-01 -7.95194151e-04 1.09214112e+02] [-8.51836843e-04 1.59175052e-05 9.99999637e-01 -6.43569729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.21, Z:-0.64 [[-3.42437364e-01 9.39540610e-01 -3.06273261e-04 1.70133881e+02] [-9.39540274e-01 -3.42437500e-01 -7.95031987e-04 1.09211097e+02] [-8.51844288e-04 1.55074061e-05 9.99999637e-01 -6.44008107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.20, Z:-0.64 [[-3.43911425e-01 9.39002044e-01 -3.06733934e-04 1.70131994e+02] [-9.39001707e-01 -3.43911561e-01 -7.94854213e-04 1.09204350e+02] [-8.51859077e-04 1.46642427e-05 9.99999637e-01 -6.44515606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.20, Z:-0.64 [[-3.45916967e-01 9.38265078e-01 -3.07194130e-04 1.70129437e+02] [-9.38264742e-01 -3.45917104e-01 -7.94676318e-04 1.09196056e+02] [-8.51880741e-04 1.33373991e-05 9.99999637e-01 -6.44145914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.19, Z:-0.65 [[-3.50961155e-01 9.36389969e-01 -3.07695135e-04 1.70128320e+02] [-9.36389632e-01 -3.50961289e-01 -7.94482283e-04 1.09190089e+02] [-8.51934322e-04 9.29011502e-06 9.99999637e-01 -6.45514458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.19, Z:-0.65 [[-3.43980189e-01 9.38976855e-01 -3.08116482e-04 1.70133984e+02] [-9.38976519e-01 -3.43980327e-01 -7.94318843e-04 1.09185133e+02] [-8.51833017e-04 1.60841965e-05 9.99999637e-01 -6.52791281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.18, Z:-0.65 [[-3.44525515e-01 9.38776907e-01 -2.97140151e-04 1.70132275e+02] [-9.38776567e-01 -3.44525643e-01 -7.98581393e-04 1.09180670e+02] [-8.52062172e-04 3.81654466e-06 9.99999637e-01 -6.52790286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.17, Z:-0.65 [[-3.49416469e-01 9.36967472e-01 -2.97456845e-04 1.70129034e+02] [-9.36967131e-01 -3.49416596e-01 -7.98458190e-04 1.09171249e+02] [-8.52065710e-04 -2.87154745e-07 9.99999637e-01 -6.52762144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.17, Z:-0.65 [[-3.53517008e-01 9.35428049e-01 -2.99997007e-04 1.70128187e+02] [-9.35427709e-01 -3.53517135e-01 -7.97468276e-04 1.09168426e+02] [-8.52028276e-04 -1.29308570e-06 9.99999637e-01 -6.52449606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:109.16, Z:-0.65 [[-3.63374693e-01 9.31643034e-01 -3.00324156e-04 1.70125597e+02] [-9.31642693e-01 -3.63374817e-01 -7.97340577e-04 1.09162873e+02] [-8.51967029e-04 -9.93858160e-06 9.99999637e-01 -6.50623985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:109.16, Z:-0.65 [[-3.71794917e-01 9.28314842e-01 -3.05655294e-04 1.70120264e+02] [-9.28314502e-01 -3.71795043e-01 -7.95254928e-04 1.09155450e+02] [-8.51888076e-04 -1.19274984e-05 9.99999637e-01 -6.45389299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:109.14, Z:-0.65 [[-3.68840589e-01 9.29492616e-01 -3.11003430e-04 1.70117968e+02] [-9.29492278e-01 -3.68840720e-01 -7.93157882e-04 1.09139379e+02] [-8.51945124e-04 -3.47353438e-06 9.99999637e-01 -6.48963320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:109.14, Z:-0.65 [[-3.74548210e-01 9.27207391e-01 -3.04138745e-04 1.70119050e+02] [-9.27207049e-01 -3.74548334e-01 -7.95851855e-04 1.09144932e+02] [-8.51834382e-04 -1.60852995e-05 9.99999637e-01 -6.47663188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:109.14, Z:-0.65 [[-3.77998804e-01 9.25806032e-01 -3.08150251e-04 1.70118149e+02] [-9.25805692e-01 -3.77998929e-01 -7.94274570e-04 1.09142724e+02] [-8.51824653e-04 -1.49475813e-05 9.99999637e-01 -6.45874580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:109.13, Z:-0.64 [[-3.85577437e-01 9.22675428e-01 -3.09265435e-04 1.70112436e+02] [-9.22675086e-01 -3.85577560e-01 -7.93835478e-04 1.09129924e+02] [-8.51698301e-04 -2.07335363e-05 9.99999637e-01 -6.43422273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:109.10, Z:-0.64 [[-3.87353451e-01 9.21931237e-01 -3.12708950e-04 1.70102154e+02] [-9.21930897e-01 -3.87353577e-01 -7.92476677e-04 1.09103203e+02] [-8.51737934e-04 -1.86725331e-05 9.99999637e-01 -6.43768602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:109.12, Z:-0.64 [[-3.88577854e-01 9.21415842e-01 -3.13219920e-04 1.70107537e+02] [-9.21415501e-01 -3.88577980e-01 -7.92274669e-04 1.09117544e+02] [-8.51724795e-04 -1.92547012e-05 9.99999637e-01 -6.44019798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:109.11, Z:-0.64 [[-3.88974683e-01 9.21248391e-01 -3.13649415e-04 1.70103317e+02] [-9.21248051e-01 -3.88974809e-01 -7.92104602e-04 1.09110475e+02] [-8.51726811e-04 -1.91597241e-05 9.99999637e-01 -6.44255685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:109.10, Z:-0.64 [[-3.89299366e-01 9.21111234e-01 -3.14076236e-04 1.70096737e+02] [-9.21110894e-01 -3.89299492e-01 -7.91935327e-04 1.09096509e+02] [-8.51730246e-04 -1.90008779e-05 9.99999637e-01 -6.44502127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:109.10, Z:-0.65 [[-3.89346862e-01 9.21091158e-01 -3.14545690e-04 1.70098848e+02] [-9.21090818e-01 -3.89346989e-01 -7.91748823e-04 1.09104396e+02] [-8.51740258e-04 -1.85397728e-05 9.99999637e-01 -6.45523634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:109.08, Z:-0.65 [[-3.89200642e-01 9.21152952e-01 -3.14973921e-04 1.70089520e+02] [-9.21152612e-01 -3.89200769e-01 -7.91578427e-04 1.09084165e+02] [-8.51752897e-04 -1.79437812e-05 9.99999637e-01 -6.45784603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:109.09, Z:-0.65 [[-3.88923531e-01 9.21269986e-01 -3.15402750e-04 1.70090378e+02] [-9.21269646e-01 -3.88923659e-01 -7.91407524e-04 1.09090217e+02] [-8.51767590e-04 -1.72260297e-05 9.99999637e-01 -6.45280902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:109.10, Z:-0.65 [[-3.88404801e-01 9.21488801e-01 -3.15832583e-04 1.70091144e+02] [-9.21488462e-01 -3.88404929e-01 -7.91235951e-04 1.09095573e+02] [-8.51786000e-04 -1.62837608e-05 9.99999637e-01 -6.45952584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:109.09, Z:-0.65 [[-3.87231157e-01 9.21982609e-01 -3.16299175e-04 1.70086491e+02] [-9.21982270e-01 -3.87231286e-01 -7.91049385e-04 1.09091871e+02] [-8.51814712e-04 -1.46967377e-05 9.99999637e-01 -6.45112603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:109.08, Z:-0.65 [[-3.87158079e-01 9.22013298e-01 -3.16763720e-04 1.70079068e+02] [-9.22012959e-01 -3.87158209e-01 -7.90863321e-04 1.09077715e+02] [-8.51824173e-04 -1.41288692e-05 9.99999637e-01 -6.45376552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:109.08, Z:-0.64 [[-3.84566143e-01 9.23097384e-01 -3.17229899e-04 1.70080941e+02] [-9.23097046e-01 -3.84566274e-01 -7.90676284e-04 1.09084307e+02] [-8.51867130e-04 -1.12333460e-05 9.99999637e-01 -6.42829247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:109.08, Z:-0.64 [[-3.87000253e-01 9.22079555e-01 -3.14452896e-04 1.70075502e+02] [-9.22079215e-01 -3.87000380e-01 -7.91791644e-04 1.09077852e+02] [-8.51788277e-04 -1.64730869e-05 9.99999637e-01 -6.44802511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:109.08, Z:-0.64 [[-3.86066435e-01 9.22470925e-01 -3.18123685e-04 1.70071029e+02] [-9.22470586e-01 -3.86066566e-01 -7.90314048e-04 1.09075837e+02] [-8.51858649e-04 -1.16539852e-05 9.99999637e-01 -6.44409608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:109.07, Z:-0.64 [[-3.85550410e-01 9.22686718e-01 -3.18587798e-04 1.70067449e+02] [-9.22686380e-01 -3.85550542e-01 -7.90126913e-04 1.09071721e+02] [-8.51871306e-04 -1.06771336e-05 9.99999637e-01 -6.44610063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:109.07, Z:-0.64 [[-3.85335589e-01 9.22776453e-01 -3.19051229e-04 1.70064615e+02] [-9.22776115e-01 -3.85335721e-01 -7.89939736e-04 1.09070664e+02] [-8.51879623e-04 -9.97903934e-06 9.99999637e-01 -6.44713189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:109.06, Z:-0.64 [[-3.84703295e-01 9.23040234e-01 -3.19513877e-04 1.70058291e+02] [-9.23039896e-01 -3.84703428e-01 -7.89752560e-04 1.09060417e+02] [-8.51891471e-04 -8.89635648e-06 9.99999637e-01 -6.44190744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:109.06, Z:-0.64 [[-3.84106739e-01 9.23288639e-01 -3.19976985e-04 1.70055496e+02] [-9.23288301e-01 -3.84106872e-01 -7.89564882e-04 1.09059241e+02] [-8.51901644e-04 -7.84618474e-06 9.99999637e-01 -6.44653535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:109.06, Z:-0.65 [[-3.75297576e-01 9.26904325e-01 -3.20440467e-04 1.70057158e+02] [-9.26903989e-01 -3.75297712e-01 -7.89376736e-04 1.09064363e+02] [-8.51937284e-04 7.66371906e-07 9.99999637e-01 -6.49448064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:109.05, Z:-0.64 [[-3.81145054e-01 9.24515197e-01 -3.13521877e-04 1.70045290e+02] [-9.24514858e-01 -3.81145183e-01 -7.92188209e-04 1.09048982e+02] [-8.51887391e-04 -1.20829836e-05 9.99999637e-01 -6.44897213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:109.04, Z:-0.65 [[-3.78140113e-01 9.25748320e-01 -3.21457672e-04 1.70044989e+02] [-9.25747983e-01 -3.78140250e-01 -7.88954789e-04 1.09041935e+02] [-8.51929654e-04 -7.46661226e-07 9.99999637e-01 -6.46598630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:109.03, Z:-0.64 [[-3.82893278e-01 9.23792529e-01 -3.18615407e-04 1.70038396e+02] [-9.23792191e-01 -3.82893410e-01 -7.90120492e-04 1.09030362e+02] [-8.51903147e-04 -8.19739999e-06 9.99999637e-01 -6.44057347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:109.03, Z:-0.64 [[-3.83028264e-01 9.23736566e-01 -3.23852648e-04 1.70036732e+02] [-9.23736230e-01 -3.83028401e-01 -7.87968000e-04 1.09025007e+02] [-8.51919617e-04 -2.65959052e-06 9.99999637e-01 -6.43531473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:109.02, Z:-0.64 [[-3.82312255e-01 9.24033135e-01 -3.24313281e-04 1.70035885e+02] [-9.24032799e-01 -3.82312392e-01 -7.87778367e-04 1.09021537e+02] [-8.51922300e-04 -1.50121456e-06 9.99999637e-01 -6.42404230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:109.02, Z:-0.64 [[-3.82011097e-01 9.24157680e-01 -3.24773512e-04 1.70034881e+02] [-9.24157344e-01 -3.82011235e-01 -7.87588584e-04 1.09019241e+02] [-8.51923168e-04 -7.25752479e-07 9.99999637e-01 -6.41091971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:109.01, Z:-0.64 [[-3.81330476e-01 9.24438728e-01 -3.25232778e-04 1.70032188e+02] [-9.24438393e-01 -3.81330615e-01 -7.87398885e-04 1.09013068e+02] [-8.51923239e-04 3.98474428e-07 9.99999637e-01 -6.40644820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:109.00, Z:-0.64 [[-3.80342689e-01 9.24845573e-01 -3.25691558e-04 1.70028502e+02] [-9.24845238e-01 -3.80342828e-01 -7.87209075e-04 1.09004633e+02] [-8.51921276e-04 1.80507063e-06 9.99999637e-01 -6.39839160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:109.01, Z:-0.64 [[-3.76971071e-01 9.26224975e-01 -3.26151080e-04 1.70029684e+02] [-9.26224641e-01 -3.76971213e-01 -7.87018643e-04 1.09006842e+02] [-8.51905891e-04 5.40590596e-06 9.99999637e-01 -6.40191585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.98, Z:-0.64 [[-3.75108911e-01 9.26980689e-01 -3.26609638e-04 1.70018300e+02] [-9.26980355e-01 -3.75109053e-01 -7.86828297e-04 1.08978654e+02] [-8.51888869e-04 7.61441290e-06 9.99999637e-01 -6.41055311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.99, Z:-0.64 [[-3.73341307e-01 9.27694002e-01 -3.27071029e-04 1.70024171e+02] [-9.27693669e-01 -3.73341450e-01 -7.86636458e-04 1.08991896e+02] [-8.51867096e-04 9.73783940e-06 9.99999637e-01 -6.41406622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:108.99, Z:-0.64 [[-3.71521034e-01 9.28424480e-01 -3.27573257e-04 1.70025072e+02] [-9.28424147e-01 -3.71521178e-01 -7.86427263e-04 1.08993854e+02] [-8.51838725e-04 1.19526513e-05 9.99999637e-01 -6.41322255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.99, Z:-0.64 [[-3.67685873e-01 9.29949994e-01 -3.28030149e-04 1.70021836e+02] [-9.29949662e-01 -3.67686019e-01 -7.86236641e-04 1.08985148e+02] [-8.51772859e-04 1.59634204e-05 9.99999637e-01 -6.41343505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.99, Z:-0.64 [[-3.66312151e-01 9.30491967e-01 -3.28751924e-04 1.70022563e+02] [-9.30491635e-01 -3.66312298e-01 -7.85934726e-04 1.08985879e+02] [-8.51731822e-04 1.80034756e-05 9.99999637e-01 -6.40122531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.97, Z:-0.64 [[-3.65002123e-01 9.31006628e-01 -3.29206847e-04 1.70018568e+02] [-9.31006297e-01 -3.65002271e-01 -7.85744125e-04 1.08973689e+02] [-8.51694235e-04 1.96953746e-05 9.99999637e-01 -6.40850290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.97, Z:-0.64 [[-3.60346094e-01 9.32818623e-01 -3.29661760e-04 1.70020590e+02] [-9.32818293e-01 -3.60346244e-01 -7.85553218e-04 1.08968933e+02] [-8.51571049e-04 2.44434866e-05 9.99999637e-01 -6.43366126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.97, Z:-0.64 [[-3.61999635e-01 9.32178179e-01 -3.26230357e-04 1.70022405e+02] [-9.32177847e-01 -3.61999781e-01 -7.86995208e-04 1.08973662e+02] [-8.51715078e-04 1.92127346e-05 9.99999637e-01 -6.39871937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.97, Z:-0.64 [[-3.61280597e-01 9.32457088e-01 -3.30664147e-04 1.70021225e+02] [-9.32456758e-01 -3.61280747e-01 -7.85127874e-04 1.08968219e+02] [-8.51560642e-04 2.46785517e-05 9.99999637e-01 -6.39434843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.96, Z:-0.64 [[-3.60944212e-01 9.32587351e-01 -3.31115559e-04 1.70019111e+02] [-9.32587021e-01 -3.60944363e-01 -7.84937452e-04 1.08961173e+02] [-8.51537033e-04 2.54754426e-05 9.99999637e-01 -6.38704393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.96, Z:-0.64 [[-3.60719007e-01 9.32674481e-01 -3.31606369e-04 1.70018575e+02] [-9.32674152e-01 -3.60719158e-01 -7.84730049e-04 1.08957664e+02] [-8.51514462e-04 2.62136453e-05 9.99999637e-01 -6.38393271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.95, Z:-0.64 [[-3.61117321e-01 9.32520332e-01 -3.32057552e-04 1.70015052e+02] [-9.32520003e-01 -3.61117472e-01 -7.84539085e-04 1.08945707e+02] [-8.51510432e-04 2.63396572e-05 9.99999637e-01 -6.38056748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.93, Z:-0.64 [[-3.61610627e-01 9.32329150e-01 -3.33062230e-04 1.70011646e+02] [-9.32328820e-01 -3.61610780e-01 -7.84112334e-04 1.08928038e+02] [-8.51489679e-04 2.69801628e-05 9.99999637e-01 -6.38830427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.93, Z:-0.64 [[-3.62460426e-01 9.31999103e-01 -3.33778088e-04 1.70014684e+02] [-9.31998774e-01 -3.62460578e-01 -7.83807492e-04 1.08929590e+02] [-8.51489278e-04 2.69815719e-05 9.99999637e-01 -6.39031298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.92, Z:-0.64 [[-3.63767209e-01 9.31489831e-01 -3.34230395e-04 1.70013562e+02] [-9.31489502e-01 -3.63767362e-01 -7.83614572e-04 1.08921882e+02] [-8.51511115e-04 2.62788181e-05 9.99999637e-01 -6.39307822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.92, Z:-0.64 [[-3.65299654e-01 9.30889924e-01 -3.34642609e-04 1.70014902e+02] [-9.30889595e-01 -3.65299806e-01 -7.83438497e-04 1.08919824e+02] [-8.51539883e-04 2.53255112e-05 9.99999637e-01 -6.40136428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.91, Z:-0.64 [[-3.66935527e-01 9.30246315e-01 -3.35093593e-04 1.70014032e+02] [-9.30245986e-01 -3.66935679e-01 -7.83245554e-04 1.08912297e+02] [-8.51569085e-04 2.43188499e-05 9.99999637e-01 -6.40330240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.91, Z:-0.64 [[-3.70071279e-01 9.29003302e-01 -3.35505182e-04 1.70015604e+02] [-9.29002973e-01 -3.70071431e-01 -7.83069208e-04 1.08906398e+02] [-8.51634763e-04 2.18938881e-05 9.99999637e-01 -6.41572833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.90, Z:-0.64 [[-3.71822838e-01 9.28303649e-01 -3.35917001e-04 1.70014404e+02] [-9.28303319e-01 -3.71822989e-01 -7.82892509e-04 1.08899002e+02] [-8.51663636e-04 2.07355522e-05 9.99999637e-01 -6.41717539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.89, Z:-0.64 [[-3.73432147e-01 9.27657436e-01 -3.36367950e-04 1.70014302e+02] [-9.27657106e-01 -3.73432298e-01 -7.82698712e-04 1.08894131e+02] [-8.51686936e-04 1.97492594e-05 9.99999637e-01 -6.41926990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:108.89, Z:-0.64 [[-3.75803706e-01 9.26699229e-01 -3.36780004e-04 1.70015538e+02] [-9.26698899e-01 -3.75803856e-01 -7.82521373e-04 1.08887605e+02] [-8.51725177e-04 1.80192269e-05 9.99999637e-01 -6.41008884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.88, Z:-0.64 [[-3.77095734e-01 9.26174224e-01 -3.37192125e-04 1.70014684e+02] [-9.26173894e-01 -3.77095884e-01 -7.82343747e-04 1.08882009e+02] [-8.51740376e-04 1.72800538e-05 9.99999637e-01 -6.40091020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.88, Z:-0.64 [[-3.78223459e-01 9.25714266e-01 -3.37604314e-04 1.70013955e+02] [-9.25713935e-01 -3.78223609e-01 -7.82165835e-04 1.08877020e+02] [-8.51751994e-04 1.66915504e-05 9.99999637e-01 -6.39242677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.87, Z:-0.64 [[-3.79316730e-01 9.25266829e-01 -3.38016517e-04 1.70013068e+02] [-9.25266498e-01 -3.79316880e-01 -7.81987659e-04 1.08871206e+02] [-8.51762612e-04 1.61343580e-05 9.99999637e-01 -6.38464500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.86, Z:-0.64 [[-3.81345891e-01 9.24432365e-01 -3.38428789e-04 1.70013442e+02] [-9.24432034e-01 -3.81346041e-01 -7.81809196e-04 1.08863583e+02] [-8.51788202e-04 1.47146888e-05 9.99999637e-01 -6.38033802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:108.86, Z:-0.64 [[-3.82864275e-01 9.23804542e-01 -3.38841450e-04 1.70012791e+02] [-9.23804212e-01 -3.82864425e-01 -7.81630304e-04 1.08857355e+02] [-8.51803962e-04 1.37648390e-05 9.99999637e-01 -6.38208796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.63, Z:-0.64 [[-3.87674900e-01 9.21796104e-01 -3.39254450e-04 1.69914228e+02] [-9.21795772e-01 -3.87675049e-01 -7.81451007e-04 1.08630940e+02] [-8.51858979e-04 9.77437658e-06 9.99999637e-01 -6.37577730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:108.22, Z:0.13 [[-3.45849983e-01 -9.38289760e-01 3.39254450e-04 1.70627689e+02] [-9.38289436e-01 3.45850146e-01 7.81451007e-04 1.08220676e+02] [-8.50558679e-04 -4.80540495e-05 -9.99999637e-01 1.30221887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:108.72, Z:-0.64 [[-3.23129508e-01 9.46354713e-01 -2.79294688e-04 1.69915052e+02] [-9.46354373e-01 -3.23129628e-01 -8.02737886e-04 1.08718688e+02] [-8.49923170e-04 4.92345141e-06 9.99999639e-01 -6.38846837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.71, Z:-0.64 [[-3.25438633e-01 9.45563120e-01 -2.85555336e-04 1.69914348e+02] [-9.45562782e-01 -3.25438758e-01 -8.00504592e-04 1.08710623e+02] [-8.49858394e-04 9.49537803e-06 9.99999639e-01 -6.39306374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:108.70, Z:-0.64 [[-3.29734038e-01 9.44073823e-01 -2.85979271e-04 1.69915417e+02] [-9.44073483e-01 -3.29734162e-01 -8.00353114e-04 1.08702312e+02] [-8.49889558e-04 6.08178245e-06 9.99999639e-01 -6.40488954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:108.70, Z:-0.64 [[-3.32031784e-01 9.43268155e-01 -2.86444080e-04 1.69915724e+02] [-9.43267816e-01 -3.32031907e-01 -8.00186725e-04 1.08696824e+02] [-8.49899230e-04 4.50605621e-06 9.99999639e-01 -6.40856828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:108.69, Z:-0.64 [[-3.34226024e-01 9.42492909e-01 -2.86868907e-04 1.69916074e+02] [-9.42492569e-01 -3.34226147e-01 -8.00034395e-04 1.08691214e+02] [-8.49905833e-04 2.97949807e-06 9.99999639e-01 -6.41241614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:108.68, Z:-0.64 [[-3.36588803e-01 9.41651685e-01 -2.87293820e-04 1.69915543e+02] [-9.41651345e-01 -3.36588926e-01 -7.99881778e-04 1.08683477e+02] [-8.49909942e-04 1.29936151e-06 9.99999639e-01 -6.41922980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:108.68, Z:-0.64 [[-3.39922038e-01 9.40453574e-01 -2.87719155e-04 1.69917986e+02] [-9.40453234e-01 -3.39922159e-01 -7.99728755e-04 1.08678942e+02] [-8.49909883e-04 -1.25901803e-06 9.99999639e-01 -6.41321023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:108.67, Z:-0.64 [[-3.41505030e-01 9.39879903e-01 -2.88104774e-04 1.69916831e+02] [-9.39879563e-01 -3.41505152e-01 -7.99589810e-04 1.08670200e+02] [-8.49907658e-04 -2.28015293e-06 9.99999639e-01 -6.40977459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.92, Y:108.67, Z:-0.64 [[-3.42621112e-01 9.39473624e-01 -2.88530741e-04 1.69917483e+02] [-9.39473284e-01 -3.42621234e-01 -7.99436072e-04 1.08667021e+02] [-8.49905862e-04 -2.83675347e-06 9.99999639e-01 -6.41264668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.65, Z:-0.64 [[-3.44736926e-01 9.38699296e-01 -2.88917077e-04 1.69913650e+02] [-9.38698956e-01 -3.44737047e-01 -7.99296425e-04 1.08652055e+02] [-8.49899411e-04 -4.34083407e-06 9.99999639e-01 -6.41167426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.65, Z:-0.64 [[-3.45706069e-01 9.38342810e-01 -2.90229209e-04 1.69914563e+02] [-9.38342470e-01 -3.45706191e-01 -7.98819698e-04 1.08645752e+02] [-8.49900754e-04 -3.82242414e-06 9.99999639e-01 -6.40512218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.64, Z:-0.64 [[-3.46656659e-01 9.37992045e-01 -2.90615541e-04 1.69914499e+02] [-9.37991705e-01 -3.46656781e-01 -7.98679123e-04 1.08640917e+02] [-8.49898512e-04 -4.27246947e-06 9.99999639e-01 -6.40194026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.63, Z:-0.64 [[-3.47727832e-01 9.37595473e-01 -2.91002077e-04 1.69914138e+02] [-9.37595132e-01 -3.47727954e-01 -7.98538262e-04 1.08634235e+02] [-8.49895416e-04 -4.83184745e-06 9.99999639e-01 -6.39987169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.62, Z:-0.64 [[-3.49138749e-01 9.37070995e-01 -2.91741461e-04 1.69912498e+02] [-9.37070655e-01 -3.49138871e-01 -7.98268041e-04 1.08624477e+02] [-8.49892111e-04 -5.32394351e-06 9.99999639e-01 -6.39974073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:108.61, Z:-0.64 [[-3.51739841e-01 9.36097750e-01 -2.92563542e-04 1.69906502e+02] [-9.36097410e-01 -3.51739963e-01 -7.97966636e-04 1.08606603e+02] [-8.49881063e-04 -6.80868350e-06 9.99999639e-01 -6.41962652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:108.26, Z:0.13 [[-2.74344551e-01 -9.61631417e-01 2.92563542e-04 1.70569580e+02] [-9.61631088e-01 2.74344699e-01 7.97966636e-04 1.08262118e+02] [-8.47613044e-04 -6.24203995e-05 -9.99999639e-01 1.32530052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:108.44, Z:-0.64 [[-2.89157370e-01 9.57281546e-01 -2.37760084e-04 1.69824992e+02] [-9.57281200e-01 -2.89157467e-01 -8.13974600e-04 1.08443427e+02] [-8.47952968e-04 -7.76349563e-06 9.99999640e-01 -6.43832387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:108.16, Z:0.13 [[-2.08121749e-01 -9.78102899e-01 2.37760084e-04 1.70504681e+02] [-9.78102562e-01 2.08121875e-01 8.13974600e-04 1.08159740e+02] [-8.45633991e-04 -6.31479299e-05 -9.99999640e-01 1.33806607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:108.31, Z:-0.64 [[-2.23105900e-01 9.74794196e-01 -1.82038315e-04 1.69765432e+02] [-9.74793846e-01 -2.23105974e-01 -8.26251132e-04 1.08312807e+02] [-8.46038643e-04 -6.89167322e-06 9.99999642e-01 -6.42962650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:108.28, Z:-0.65 [[-2.29381652e-01 9.73336542e-01 -1.82481269e-04 1.69757047e+02] [-9.73336192e-01 -2.29381724e-01 -8.26153292e-04 1.08280792e+02] [-8.45983056e-04 -1.18887831e-05 9.99999642e-01 -6.46897025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:108.05, Z:0.14 [[-1.42226052e-01 -9.89834187e-01 1.82481269e-04 1.70440985e+02] [-9.89833844e-01 1.42226155e-01 8.26153292e-04 1.08046260e+02] [-8.43708381e-04 -6.31256153e-05 -9.99999642e-01 1.36141363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:108.15, Z:-0.64 [[-1.56370881e-01 9.87698401e-01 -1.26141417e-04 1.69707703e+02] [-9.87698049e-01 -1.56370931e-01 -8.34667805e-04 1.08153867e+02] [-8.44124907e-04 -5.92810831e-06 9.99999644e-01 -6.44235003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:107.90, Z:0.14 [[-7.36047017e-02 -9.97287478e-01 1.84550700e-04 1.70390770e+02] [-9.97287144e-01 7.36048298e-02 8.25811535e-04 1.07900991e+02] [-8.37155326e-04 -1.23266428e-04 -9.99999642e-01 1.40216582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:107.95, Z:-0.65 [[-9.55217285e-02 9.95427343e-01 -5.86356671e-05 1.69652305e+02] [-9.95426992e-01 -9.55217441e-02 -8.36445541e-04 1.07948426e+02] [-8.38221744e-04 -2.15311982e-05 9.99999648e-01 -6.48782932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:107.78, Z:0.14 [[-1.08081236e-02 -9.99941589e-01 5.86356671e-05 1.70352110e+02] [-9.99941240e-01 1.08081689e-02 8.36445541e-04 1.07784622e+02] [-8.37030428e-04 -4.95918148e-05 -9.99999648e-01 1.40195686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:107.79, Z:-0.65 [[-2.94286848e-02 9.99566882e-01 -4.24392836e-07 1.69615385e+02] [-9.99566532e-01 -2.94286749e-02 -8.37563345e-04 1.07786317e+02] [-8.37213071e-04 -2.42241788e-05 9.99999649e-01 -6.48499518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:107.66, Z:0.14 [[ 5.08344146e-02 -9.98707095e-01 4.24392836e-07 1.70321089e+02] [-9.98706745e-01 -5.08343964e-02 8.37563345e-04 1.07660936e+02] [-8.36458882e-04 -4.30008864e-05 -9.99999649e-01 1.40107973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:107.57, Z:-0.65 [[ 5.41124735e-02 9.98534845e-01 6.38799008e-05 1.69590876e+02] [-9.98534496e-01 5.41125080e-02 -8.34220693e-04 1.07574009e+02] [-8.36455131e-04 -1.86445394e-05 9.99999650e-01 -6.48063957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:107.60, Z:0.14 [[ 1.20492594e-01 -9.92714226e-01 -2.61970516e-05 1.70307796e+02] [-9.92713877e-01 -1.20492574e-01 8.35851702e-04 1.07599576e+02] [-8.32918425e-04 -7.47077635e-05 -9.99999650e-01 1.39522925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:107.46, Z:-0.65 [[ 1.29028513e-01 9.91640876e-01 1.27144900e-04 1.69594414e+02] [-9.91640534e-01 1.29028574e-01 -8.23120747e-04 1.07457940e+02] [-8.32645504e-04 -1.98759906e-05 9.99999653e-01 -6.48767567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:107.53, Z:0.14 [[ 1.91682838e-01 -9.81456918e-01 -8.69045479e-05 1.70300800e+02] [-9.81456572e-01 -1.91682844e-01 8.27825628e-04 1.07533476e+02] [-8.29133301e-04 -7.33869265e-05 -9.99999654e-01 1.39068685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:107.34, Z:-0.65 [[ 1.98995687e-01 9.80000348e-01 1.87721459e-04 1.69607120e+02] [-9.80000015e-01 1.98995774e-01 -8.07600237e-04 1.07338895e+02] [-8.28804290e-04 -2.32580687e-05 9.99999656e-01 -6.47620975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:107.46, Z:0.14 [[ 2.64691773e-01 -9.64333057e-01 -1.43779092e-04 1.70297677e+02] [-9.64332715e-01 -2.64691800e-01 8.15945569e-04 1.07461391e+02] [-8.24900432e-04 -7.73231968e-05 -9.99999657e-01 1.37400981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:107.22, Z:-0.65 [[ 2.63374765e-01 9.64693564e-01 2.47049665e-04 1.69633320e+02] [-9.64693243e-01 2.63374879e-01 -7.87465207e-04 1.07216118e+02] [-8.24729293e-04 -3.09286788e-05 9.99999659e-01 -6.46127433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:107.38, Z:0.14 [[ 3.35453376e-01 -9.42056788e-01 -1.99517685e-04 1.70302397e+02] [-9.42056452e-01 -3.35453426e-01 7.99985800e-04 1.07379366e+02] [-8.20560945e-04 -8.04010147e-05 -9.99999660e-01 1.38269809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.67, Y:107.09, Z:-0.65 [[ 3.26865371e-01 9.45070864e-01 3.02921537e-04 1.69668153e+02] [-9.45070556e-01 3.26865509e-01 -7.63456391e-04 1.07090113e+02] [-8.20534994e-04 -3.67347689e-05 9.99999663e-01 -6.48388915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:107.29, Z:0.14 [[ 4.04737141e-01 -9.14433039e-01 -2.54062493e-04 1.70312330e+02] [-9.14432710e-01 -4.04737212e-01 7.80063780e-04 1.07294195e+02] [-8.16144638e-04 -8.33977298e-05 -9.99999663e-01 1.38549113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:106.97, Z:-0.65 [[ 3.87094304e-01 9.22040061e-01 3.55447546e-04 1.69715786e+02] [-9.22039768e-01 3.87094465e-01 -7.35868454e-04 1.06968048e+02] [-8.16091972e-04 -4.28862856e-05 9.99999666e-01 -6.48415046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:107.21, Z:0.14 [[ 4.74297824e-01 -8.80364402e-01 -3.08014839e-04 1.70325935e+02] [-8.80364082e-01 -4.74297916e-01 7.55861282e-04 1.07208863e+02] [-8.11524161e-04 -8.73381604e-05 -9.99999667e-01 1.37938535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:106.85, Z:-0.65 [[ 4.46906935e-01 8.94580364e-01 4.03986850e-04 1.69771944e+02] [-8.94580087e-01 4.46907115e-01 -7.05636021e-04 1.06846914e+02] [-8.11792726e-04 -4.60449605e-05 9.99999669e-01 -6.49021212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:107.12, Z:0.14 [[ 5.41199447e-01 -8.40894185e-01 -3.57346503e-04 1.70353100e+02] [-8.40893874e-01 -5.41199557e-01 7.29324989e-04 1.07123669e+02] [-8.06680911e-04 -9.42197956e-05 -9.99999670e-01 1.38801773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:106.74, Z:-0.65 [[ 5.05217459e-01 8.62991954e-01 4.53709634e-04 1.69842766e+02] [-8.62991696e-01 5.05217660e-01 -6.69746438e-04 1.06739716e+02] [-8.07207907e-04 -5.31800524e-05 9.99999673e-01 -6.45670479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:107.05, Z:0.14 [[ 6.05739146e-01 -7.95663194e-01 -4.10209462e-04 1.70378556e+02] [-7.95662896e-01 -6.05739277e-01 6.96000711e-04 1.07047863e+02] [-8.02262132e-04 -9.52064277e-05 -9.99999674e-01 1.37625286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:106.64, Z:-0.65 [[ 5.61238349e-01 8.27654076e-01 4.95988637e-04 1.69913450e+02] [-8.27653835e-01 5.61238566e-01 -6.34064521e-04 1.06637876e+02] [-8.03154037e-04 -5.46455720e-05 9.99999676e-01 -6.47681104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:106.61, Z:-0.65 [[ 5.60431607e-01 8.28200592e-01 4.40628648e-04 1.69936624e+02] [-8.28200318e-01 5.60431780e-01 -6.73905947e-04 1.06612606e+02] [-8.05071601e-04 1.27494068e-05 9.99999676e-01 -6.49637415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.96, Y:106.59, Z:-0.65 [[ 5.60694910e-01 8.28022355e-01 4.44391396e-04 1.69959751e+02] [-8.28022083e-01 5.60695086e-01 -6.71185098e-04 1.06589685e+02] [-8.04924337e-04 8.36417789e-06 9.99999676e-01 -6.49836510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:106.56, Z:-0.65 [[ 5.59118888e-01 8.29087372e-01 4.45220358e-04 1.69981964e+02] [-8.29087101e-01 5.59119065e-01 -6.70584949e-04 1.06563346e+02] [-8.04904704e-04 5.81025486e-06 9.99999676e-01 -6.51256557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:106.56, Z:-0.65 [[ 5.64949891e-01 8.25125097e-01 4.42758104e-04 1.70005755e+02] [-8.25124823e-01 5.64950064e-01 -6.72368231e-04 1.06564230e+02] [-8.04924121e-04 1.45236567e-05 9.99999676e-01 -6.46656288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:106.52, Z:-0.65 [[ 5.59063931e-01 8.29124416e-01 4.72807749e-04 1.70025971e+02] [-8.29124161e-01 5.59064131e-01 -6.50527963e-04 1.06521132e+02] [-8.03698471e-04 -2.83296080e-05 9.99999677e-01 -6.51028909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:106.52, Z:-0.65 [[ 5.64840929e-01 8.25199689e-01 4.44282232e-04 1.70046102e+02] [-8.25199416e-01 5.64841104e-01 -6.71182890e-04 1.06518600e+02] [-8.04808779e-04 1.24901293e-05 9.99999676e-01 -6.48263030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:106.48, Z:-0.65 [[ 5.58645525e-01 8.29406387e-01 4.72632686e-04 1.70067191e+02] [-8.29406132e-01 5.58645724e-01 -6.50587107e-04 1.06475227e+02] [-8.03635331e-04 -2.85568718e-05 9.99999677e-01 -6.51044471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:106.45, Z:-0.65 [[ 5.59833448e-01 8.28605041e-01 4.43054172e-04 1.70087038e+02] [-8.28604769e-01 5.59833623e-01 -6.71986515e-04 1.06451887e+02] [-8.04848036e-04 9.08372778e-06 9.99999676e-01 -6.50758415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:106.45, Z:-0.65 [[ 5.66029727e-01 8.24384712e-01 4.41133596e-04 1.70106772e+02] [-8.24384437e-01 5.66029899e-01 -6.73369402e-04 1.06450868e+02] [-8.04810245e-04 1.74834279e-05 9.99999676e-01 -6.51619583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:106.43, Z:-0.65 [[ 5.67576010e-01 8.23320867e-01 4.70956093e-04 1.70125223e+02] [-8.23320609e-01 5.67576206e-01 -6.51821975e-04 1.06427824e+02] [-8.03962106e-04 -1.77893410e-05 9.99999677e-01 -6.53534420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:106.39, Z:-0.65 [[ 5.63140057e-01 8.26361334e-01 4.70979613e-04 1.70140181e+02] [-8.26361077e-01 5.63140254e-01 -6.51804980e-04 1.06385553e+02] [-8.03854012e-04 -2.21417260e-05 9.99999677e-01 -6.47264909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:106.36, Z:-0.65 [[ 5.66175608e-01 8.24284527e-01 4.46321461e-04 1.70158812e+02] [-8.24284255e-01 5.66175784e-01 -6.69594739e-04 1.06362380e+02] [-8.04632986e-04 1.12124564e-05 9.99999676e-01 -6.49163215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:106.67, Z:0.14 [[ 6.57281990e-01 -7.53644602e-01 -4.47048605e-04 1.70611645e+02] [-7.53644312e-01 -6.57282134e-01 6.69079092e-04 1.06666499e+02] [-7.98084907e-04 -1.02857998e-04 -9.99999676e-01 1.41836493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:106.30, Z:-0.66 [[ 6.32867020e-01 7.74260324e-01 5.34601189e-04 1.70234631e+02] [-7.74260096e-01 6.32867245e-01 -5.95449022e-04 1.06297871e+02] [-7.99364134e-04 -3.70803201e-05 9.99999680e-01 -6.58581806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:106.25, Z:-0.65 [[ 6.32063557e-01 7.74916380e-01 5.13954716e-04 1.70255281e+02] [-7.74916138e-01 6.32063766e-01 -6.12766154e-04 1.06254539e+02] [-7.99694683e-04 -1.09646490e-05 9.99999680e-01 -6.53554165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:170.69, Y:106.59, Z:0.14 [[ 7.02113377e-01 -7.12065000e-01 -4.92607112e-04 1.70687508e+02] [-7.12064727e-01 -7.02113543e-01 6.30233322e-04 1.06590756e+02] [-7.94633215e-04 -9.17270967e-05 -9.99999680e-01 1.43260086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:170.35, Y:106.19, Z:-0.66 [[ 6.91314704e-01 7.22553564e-01 5.72326258e-04 1.70345054e+02] [-7.22553353e-01 6.91314940e-01 -5.52843593e-04 1.06185448e+02] [-7.95116801e-04 -3.13473519e-05 9.99999683e-01 -6.58279580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:170.75, Y:106.56, Z:0.15 [[ 7.48987279e-01 -6.62584157e-01 -5.39577069e-04 1.70754242e+02] [-6.62583905e-01 -7.48987469e-01 5.83888859e-04 1.06556995e+02] [-7.91011970e-04 -7.98102464e-05 -9.99999684e-01 1.46322299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:170.44, Y:106.13, Z:-0.66 [[ 7.44842951e-01 6.67239543e-01 6.09548955e-04 1.70443518e+02] [-6.67239352e-01 7.44843199e-01 -5.05067189e-04 1.06129201e+02] [-7.91019194e-04 -3.05193144e-05 9.99999687e-01 -6.57864628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41999999999996 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:170.83, Y:106.53, Z:0.15 [[ 7.94769920e-01 -6.06910568e-01 -5.80195104e-04 1.70828691e+02] [-6.06910334e-01 -7.94770129e-01 5.37461191e-04 1.06533060e+02] [-7.87312614e-04 -7.50315830e-05 -9.99999687e-01 1.46589202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:170.55, Y:106.08, Z:-0.66 [[ 7.91959061e-01 6.10573858e-01 6.40486028e-04 1.70549115e+02] [-6.10573686e-01 7.91959319e-01 -4.58724710e-04 1.06084926e+02] [-7.87324194e-04 -2.77727246e-05 9.99999690e-01 -6.57247847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47999999999996 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:170.90, Y:106.52, Z:0.15 [[ 8.43498047e-01 -5.37131886e-01 -6.17700130e-04 1.70899753e+02] [-5.37131671e-01 -8.43498269e-01 4.88127001e-04 1.06519777e+02] [-7.83217568e-04 -7.99478693e-05 -9.99999690e-01 1.46372952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:170.64, Y:106.05, Z:-0.66 [[ 8.32549130e-01 5.53950814e-01 6.65275866e-04 1.70644083e+02] [-5.53950659e-01 8.32549395e-01 -4.14897073e-04 1.06046715e+02] [-7.83707592e-04 -2.31078072e-05 9.99999693e-01 -6.58067975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53999999999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:170.67, Y:106.04, Z:-0.66 [[ 8.32513886e-01 5.54003799e-01 6.47907814e-04 1.70665676e+02] [-5.54003623e-01 8.32514138e-01 -4.41563711e-04 1.06036052e+02] [-7.84020389e-04 8.66464494e-06 9.99999693e-01 -6.63735051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:106.02, Z:-0.66 [[ 8.31799924e-01 5.55075179e-01 6.57150110e-04 1.70692649e+02] [-5.55075014e-01 8.31800184e-01 -4.27351582e-04 1.06017453e+02] [-7.83829839e-04 -9.29659319e-06 9.99999693e-01 -6.64279117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:106.00, Z:-0.66 [[ 8.29576463e-01 5.58392747e-01 6.57026579e-04 1.70719196e+02] [-5.58392583e-01 8.29576724e-01 -4.27541420e-04 1.05998183e+02] [-7.83789984e-04 -1.22004690e-05 9.99999693e-01 -6.64215983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.75, Y:105.98, Z:-0.66 [[ 8.28075642e-01 5.60616001e-01 6.56900524e-04 1.70746611e+02] [-5.60615838e-01 8.28075902e-01 -4.27735010e-04 1.05979509e+02] [-7.83758585e-04 -1.40718949e-05 9.99999693e-01 -6.63963821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:105.96, Z:-0.66 [[ 8.26290958e-01 5.63243127e-01 6.56774235e-04 1.70772648e+02] [-5.63242965e-01 8.26291219e-01 -4.27928835e-04 1.05961759e+02] [-7.83714759e-04 -1.63297403e-05 9.99999693e-01 -6.63369278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:170.80, Y:105.94, Z:-0.66 [[ 8.23487707e-01 5.67333734e-01 6.56656733e-04 1.70798877e+02] [-5.67333573e-01 8.23487968e-01 -4.28109067e-04 1.05940061e+02] [-7.83629634e-04 -2.00008564e-05 9.99999693e-01 -6.61053470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71999999999997 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:170.83, Y:105.92, Z:-0.66 [[ 8.24197866e-01 5.66301555e-01 6.53203922e-04 1.70829360e+02] [-5.66301390e-01 8.24198124e-01 -4.33400293e-04 1.05920889e+02] [-7.83804707e-04 -1.27026918e-05 9.99999693e-01 -6.57204229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:170.86, Y:105.90, Z:-0.66 [[ 8.21973165e-01 5.69525854e-01 6.46097261e-04 1.70858273e+02] [-5.69525681e-01 8.21973419e-01 -4.44275020e-04 1.05902455e+02] [-7.84100885e-04 -2.78683775e-06 9.99999693e-01 -6.60133267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:171.18, Y:106.37, Z:0.15 [[ 8.90532667e-01 -4.54918844e-01 -6.43605736e-04 1.71184438e+02] [-4.54918636e-01 -8.90532893e-01 4.48035139e-04 1.06372820e+02] [-7.76971706e-04 -1.06201683e-04 -9.99999693e-01 1.49104276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:171.21, Y:106.39, Z:0.15 [[ 9.24209930e-01 -3.81884129e-01 -7.19629580e-04 1.71207061e+02] [-3.81884004e-01 -9.24210210e-01 3.08418243e-04 1.06385860e+02] [-7.82869037e-04 -1.02281774e-05 -9.99999694e-01 1.50522618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:171.22, Y:106.40, Z:0.15 [[ 9.54156600e-01 -2.99306963e-01 -7.23870922e-04 1.71220351e+02] [-2.99306822e-01 -9.54156872e-01 2.98927270e-04 1.06404648e+02] [-7.80157428e-04 -6.85639231e-05 -9.99999693e-01 1.51030894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:106.40, Z:0.15 [[ 9.74959905e-01 -2.22379501e-01 -7.35199213e-04 1.71227281e+02] [-2.22379361e-01 -9.74960178e-01 2.67698261e-04 1.06396430e+02] [-7.76320561e-04 -9.75019397e-05 -9.99999694e-01 1.51942797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:106.39, Z:0.15 [[ 9.89885307e-01 -1.41867942e-01 -7.51777180e-04 1.71235726e+02] [-1.41867824e-01 -9.89885588e-01 2.07691219e-04 1.06387295e+02] [-7.73638122e-04 -9.89374928e-05 -9.99999696e-01 1.46881450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:106.37, Z:0.15 [[ 9.98057037e-01 -6.23022142e-02 -7.64460985e-04 1.71242199e+02] [-6.23021234e-02 -9.98057326e-01 1.41955422e-04 1.06374893e+02] [-7.71820024e-04 -9.40520654e-05 -9.99999698e-01 1.52000183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:106.37, Z:0.15 [[ 9.99859273e-01 1.67582828e-02 -7.70643816e-04 1.71251200e+02] [ 1.67583552e-02 -9.99859565e-01 8.75027260e-05 1.06372462e+02] [-7.69069195e-04 -1.00405135e-04 -9.99999699e-01 1.52725523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:106.36, Z:0.15 [[ 9.95225446e-01 9.75997636e-02 -7.72753301e-04 1.71256454e+02] [ 9.75998133e-02 -9.95225741e-01 2.68969435e-05 1.06362997e+02] [-7.66438841e-04 -1.02189101e-04 -9.99999701e-01 1.52278829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:106.35, Z:0.15 [[ 9.84588274e-01 1.74886644e-01 -7.70317346e-04 1.71261574e+02] [ 1.74886674e-01 -9.84588569e-01 -2.95704693e-05 1.06354521e+02] [-7.63617134e-04 -1.05603501e-04 -9.99999703e-01 1.53776881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:106.35, Z:0.16 [[ 9.68270931e-01 2.49901623e-01 -7.63000627e-04 1.71265993e+02] [ 2.49901628e-01 -9.68271227e-01 -8.95014748e-05 1.06346882e+02] [-7.61158117e-04 -1.04013423e-04 -9.99999705e-01 1.55226314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:106.34, Z:0.15 [[ 9.45858788e-01 3.24577554e-01 -7.52043223e-04 1.71272452e+02] [ 3.24577540e-01 -9.45859080e-01 -1.43708012e-04 1.06338831e+02] [-7.57971306e-04 -1.08168853e-04 -9.99999707e-01 1.51886510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:106.33, Z:0.15 [[ 9.18510965e-01 3.95394824e-01 -7.35683663e-04 1.71279603e+02] [ 3.95394787e-01 -9.18511253e-01 -2.01049152e-04 1.06330826e+02] [-7.55227517e-04 -1.06219634e-04 -9.99999709e-01 1.50893335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:106.32, Z:0.15 [[ 8.86033329e-01 4.63620997e-01 -7.14714393e-04 1.71287143e+02] [ 4.63620937e-01 -8.86033612e-01 -2.57360776e-04 1.06323492e+02] [-7.52578834e-04 -1.03326331e-04 -9.99999711e-01 1.50474049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:106.32, Z:0.15 [[ 8.49292393e-01 5.27922300e-01 -6.90399706e-04 1.71293989e+02] [ 5.27922219e-01 -8.49292668e-01 -3.09737328e-04 1.06315804e+02] [-7.49868651e-04 -1.01419788e-04 -9.99999714e-01 1.50487026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:106.31, Z:0.15 [[ 8.10046553e-01 5.86365195e-01 -6.63515288e-04 1.71300009e+02] [ 5.86365095e-01 -8.10046818e-01 -3.57524692e-04 1.06312780e+02] [-7.47118484e-04 -9.94505600e-05 -9.99999716e-01 1.49892826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:106.31, Z:0.15 [[ 7.64649899e-01 6.44445603e-01 -6.29986008e-04 1.71307026e+02] [ 6.44445481e-01 -7.64650153e-01 -4.07475175e-04 1.06307591e+02] [-7.44314482e-04 -9.44157848e-05 -9.99999719e-01 1.49380729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:106.30, Z:0.15 [[ 7.14627426e-01 6.99505032e-01 -5.93193188e-04 1.71317547e+02] [ 6.99504891e-01 -7.14627667e-01 -4.53900349e-04 1.06299569e+02] [-7.41417842e-04 -9.05718981e-05 -9.99999721e-01 1.46722078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:106.30, Z:0.15 [[ 6.60101241e-01 7.51176441e-01 -5.53241269e-04 1.71327582e+02] [ 7.51176282e-01 -6.60101467e-01 -4.96902666e-04 1.06295874e+02] [-7.38456949e-04 -8.75756535e-05 -9.99999724e-01 1.47477368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:106.29, Z:0.15 [[ 6.02683670e-01 7.97980040e-01 -5.00100299e-04 1.71335477e+02] [ 7.97979856e-01 -6.02683874e-01 -5.45611023e-04 1.06294076e+02] [-7.36789091e-04 -7.02391113e-05 -9.99999726e-01 1.45553032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:106.29, Z:0.15 [[ 5.38874408e-01 8.42385996e-01 -4.54444190e-04 1.71344345e+02] [ 8.42385798e-01 -5.38874595e-01 -5.81303487e-04 1.06290369e+02] [-7.34570346e-04 -6.95677598e-05 -9.99999728e-01 1.46679054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:106.29, Z:0.15 [[ 4.70823237e-01 8.82227473e-01 -4.06283351e-04 1.71352027e+02] [ 8.82227263e-01 -4.70823407e-01 -6.13212411e-04 1.06288626e+02] [-7.32280548e-04 -6.97195965e-05 -9.99999729e-01 1.45903914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:106.29, Z:0.14 [[ 3.98857539e-01 9.17012834e-01 -3.55948292e-04 1.71363411e+02] [ 9.17012612e-01 -3.98857691e-01 -6.41156717e-04 1.06286007e+02] [-7.29921652e-04 -7.06788832e-05 -9.99999731e-01 1.44431290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:106.28, Z:0.14 [[ 3.23692423e-01 9.46162313e-01 -3.03707973e-04 1.71375421e+02] [ 9.46162082e-01 -3.23692558e-01 -6.65014544e-04 1.06284572e+02] [-7.27519710e-04 -7.20967986e-05 -9.99999733e-01 1.44576605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:106.28, Z:0.14 [[ 2.46176487e-01 9.69224987e-01 -2.49905753e-04 1.71387457e+02] [ 9.69224748e-01 -2.46176603e-01 -6.84652940e-04 1.06284066e+02] [-7.25103686e-04 -7.36693848e-05 -9.99999734e-01 1.44576808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:106.28, Z:0.14 [[ 1.63514282e-01 9.86540948e-01 -1.94921203e-04 1.71399008e+02] [ 9.86540703e-01 -1.63514379e-01 -6.99964649e-04 1.06283985e+02] [-7.22416208e-04 -7.78434842e-05 -9.99999736e-01 1.43779148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:106.28, Z:0.14 [[ 8.28906466e-02 9.96558639e-01 -1.39076000e-04 1.71410244e+02] [ 9.96558389e-01 -8.28907250e-02 -7.10890008e-04 1.06284529e+02] [-7.19971690e-04 -7.96712222e-05 -9.99999738e-01 1.43261979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.42, Y:106.29, Z:0.14 [[-8.49576794e-04 9.99999636e-01 -8.27242271e-05 1.71420885e+02] [ 9.99999382e-01 8.49517232e-04 -7.17388105e-04 1.06285388e+02] [-7.17317568e-04 -8.33336523e-05 -9.99999739e-01 1.43765955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.43, Y:106.29, Z:0.14 [[-8.15775880e-02 9.96666994e-01 -2.62089611e-05 1.71430679e+02] [ 9.96666738e-01 8.15775482e-02 -7.19446919e-04 1.06287908e+02] [-7.14910935e-04 -8.48123441e-05 -9.99999741e-01 1.43495977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:106.26, Z:0.14 [[-1.61461217e-01 9.86879058e-01 3.01262450e-05 1.71467691e+02] [ 9.86878801e-01 1.61461197e-01 -7.17080144e-04 1.06263166e+02] [-7.12535596e-04 -8.60496804e-05 -9.99999742e-01 1.43035645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:106.25, Z:0.14 [[-2.40068200e-01 9.70756021e-01 8.59377350e-05 1.71506008e+02] [ 9.70755765e-01 2.40068200e-01 -7.10327893e-04 1.06246731e+02] [-7.10185996e-04 -8.71025872e-05 -9.99999744e-01 1.44245513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:106.23, Z:0.14 [[-3.17087313e-01 9.48396339e-01 1.40903131e-04 1.71546220e+02] [ 9.48396085e-01 3.17087332e-01 -6.99252065e-04 1.06229102e+02] [-7.07846697e-04 -8.80919800e-05 -9.99999746e-01 1.43592502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:106.22, Z:0.14 [[-3.91973197e-01 9.19976616e-01 1.94650553e-04 1.71586849e+02] [ 9.19976367e-01 3.91973235e-01 -6.83955807e-04 1.06217343e+02] [-7.05521156e-04 -8.90184358e-05 -9.99999747e-01 1.44576931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:106.21, Z:0.15 [[-4.65439201e-01 8.85079821e-01 2.46844098e-04 1.71630220e+02] [ 8.85079576e-01 4.65439257e-01 -6.64569315e-04 1.06206408e+02] [-7.03087824e-04 -9.08399410e-05 -9.99999749e-01 1.45710215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.67, Y:106.20, Z:0.15 [[-5.34164475e-01 8.45380521e-01 2.97227618e-04 1.71673160e+02] [ 8.45380283e-01 5.34164550e-01 -6.41214618e-04 1.06198517e+02] [-7.00838805e-04 -9.12437024e-05 -9.99999750e-01 1.47319801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:106.19, Z:0.15 [[-5.98896149e-01 8.00826625e-01 3.45468250e-04 1.71716177e+02] [ 8.00826395e-01 5.98896242e-01 -6.14075264e-04 1.06193963e+02] [-6.98667458e-04 -9.11072177e-05 -9.99999752e-01 1.46737928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:106.19, Z:0.15 [[-6.59440006e-01 7.51757092e-01 3.91285120e-04 1.71761644e+02] [ 7.51756871e-01 6.59440116e-01 -5.83342986e-04 1.06189363e+02] [-6.96561332e-04 -9.05284244e-05 -9.99999753e-01 1.48111823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:106.19, Z:0.15 [[-7.15880914e-01 6.98222263e-01 4.34434385e-04 1.71801163e+02] [ 6.98222053e-01 7.15881040e-01 -5.49211270e-04 1.06194683e+02] [-6.94474875e-04 -8.98381976e-05 -9.99999755e-01 1.50532212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:106.20, Z:0.15 [[-7.66223076e-01 6.42574488e-01 4.74658971e-04 1.71843456e+02] [ 6.42574290e-01 7.66223218e-01 -5.11914073e-04 1.06198847e+02] [-6.92637647e-04 -8.72367243e-05 -9.99999756e-01 1.50435108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:106.20, Z:0.15 [[-8.13342014e-01 5.81785619e-01 5.11707418e-04 1.71888622e+02] [ 5.81785435e-01 8.13342170e-01 -4.71725524e-04 1.06204005e+02] [-6.90636348e-04 -8.59702653e-05 -9.99999758e-01 1.47719233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:171.93, Y:106.22, Z:0.15 [[-8.55712642e-01 5.17451038e-01 5.45392440e-04 1.71926925e+02] [ 5.17450867e-01 8.55712812e-01 -4.28890446e-04 1.06217259e+02] [-6.88629105e-04 -8.47931854e-05 -9.99999759e-01 1.46443579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:106.23, Z:0.15 [[-8.93175759e-01 4.49707385e-01 5.75549408e-04 1.71971053e+02] [ 4.49707229e-01 8.93175941e-01 -3.83649032e-04 1.06229025e+02] [-6.86596687e-04 -8.38372855e-05 -9.99999761e-01 1.45508889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:106.25, Z:0.15 [[-9.25319068e-01 3.79188951e-01 6.01976760e-04 1.72011058e+02] [ 3.79188811e-01 9.25319260e-01 -3.36351309e-04 1.06245763e+02] [-6.84561390e-04 -8.29694278e-05 -9.99999762e-01 1.45099084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:106.27, Z:0.14 [[-9.51511304e-01 3.07613146e-01 6.24546801e-04 1.72045323e+02] [ 3.07613023e-01 9.51511506e-01 -2.87284868e-04 1.06266283e+02] [-6.82636069e-04 -8.12360703e-05 -9.99999764e-01 1.43454793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:106.29, Z:0.14 [[-9.72498136e-01 2.32909773e-01 6.43145960e-04 1.72081884e+02] [ 2.32909667e-01 9.72498345e-01 -2.36761582e-04 1.06289377e+02] [-6.80602468e-04 -8.04552866e-05 -9.99999765e-01 1.44316534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:106.32, Z:0.14 [[-9.87632326e-01 1.56786337e-01 6.57695578e-04 1.72117627e+02] [ 1.56786248e-01 9.87632542e-01 -1.85050071e-04 1.06315260e+02] [-6.78574878e-04 -7.96438103e-05 -9.99999767e-01 1.44140694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:106.34, Z:0.14 [[-9.96866013e-01 7.91056611e-02 6.68111475e-04 1.72147330e+02] [ 7.91055897e-02 9.96866234e-01 -1.32548807e-04 1.06344123e+02] [-6.76503131e-04 -7.92820486e-05 -9.99999768e-01 1.43816154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:106.38, Z:0.15 [[-9.99999005e-01 1.23934248e-03 6.74362101e-04 1.72176928e+02] [ 1.23928909e-03 9.99999229e-01 -7.95827368e-05 1.06375354e+02] [-6.74460212e-04 -7.87469280e-05 -9.99999769e-01 1.46058841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:106.41, Z:0.14 [[-9.97052788e-01 -7.67155807e-02 6.76440020e-04 1.72206811e+02] [-7.67156161e-02 9.97053014e-01 -2.64584678e-05 1.06408846e+02] [-6.72416784e-04 -7.82740020e-05 -9.99999771e-01 1.43118685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21999999999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.23, Y:106.44, Z:0.14 [[-9.88016294e-01 -1.54348140e-01 6.74358177e-04 1.72233193e+02] [-1.54348157e-01 9.88016521e-01 2.65064053e-05 1.06443549e+02] [-6.70368235e-04 -7.78971817e-05 -9.99999772e-01 1.42579644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:107.09, Z:-0.66 [[-9.96779272e-01 8.01912507e-02 -6.68150405e-04 1.72156008e+02] [-8.01912157e-02 -9.96779496e-01 -7.90055671e-05 1.07092260e+02] [-6.72334179e-04 -2.51713184e-05 9.99999774e-01 -6.55571079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:106.48, Z:0.14 [[-9.73023227e-01 -2.30706204e-01 6.68154248e-04 1.72252274e+02] [-2.30706204e-01 9.73023454e-01 7.89730583e-05 1.06479808e+02] [-6.68349328e-04 -7.73047100e-05 -9.99999774e-01 1.42200358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:107.12, Z:-0.66 [[-9.87452691e-01 1.57913742e-01 -6.57919605e-04 1.72122873e+02] [-1.57913690e-01 -9.87452910e-01 -1.30551116e-04 1.07122399e+02] [-6.70280443e-04 -2.50185380e-05 9.99999775e-01 -6.55313735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:106.52, Z:0.14 [[-9.52101276e-01 -3.05782157e-01 6.57970470e-04 1.72266173e+02] [-3.05782139e-01 9.52101500e-01 1.30294252e-04 1.06517866e+02] [-6.66296329e-04 -7.71422946e-05 -9.99999775e-01 1.42096539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:106.56, Z:0.14 [[-9.25332860e-01 -3.79155224e-01 6.43790816e-04 1.72276306e+02] [-3.79155188e-01 9.25333081e-01 1.80788292e-04 1.06556812e+02] [-6.64267765e-04 -7.68072809e-05 -9.99999776e-01 1.39743940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:106.60, Z:0.14 [[-8.92964613e-01 -4.50126436e-01 6.25767855e-04 1.72286819e+02] [-4.50126384e-01 8.92964829e-01 2.29854865e-04 1.06598225e+02] [-6.62252437e-04 -7.64223611e-05 -9.99999778e-01 1.40280922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:107.20, Z:-0.65 [[-9.23542179e-01 3.83496387e-01 -6.04032649e-04 1.72011169e+02] [-3.83496287e-01 -9.23542376e-01 -2.77214491e-04 1.07196905e+02] [-6.64160504e-04 -2.43749969e-05 9.99999779e-01 -6.53227166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:107.20, Z:-0.65 [[-9.23502343e-01 3.83592307e-01 -6.04127157e-04 1.72006244e+02] [-3.83592207e-01 -9.23502540e-01 -2.77008378e-04 1.07195411e+02] [-6.64171247e-04 -2.40794165e-05 9.99999779e-01 -6.53392511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:106.63, Z:0.14 [[-8.56358168e-01 -5.16381954e-01 6.04235408e-04 1.72284114e+02] [-5.16381885e-01 8.56358378e-01 2.76772051e-04 1.06632512e+02] [-6.60362146e-04 -7.50002123e-05 -9.99999779e-01 1.39996701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:107.21, Z:-0.65 [[-8.90256555e-01 4.55459033e-01 -5.79058883e-04 1.71963284e+02] [-4.55458919e-01 -8.90256743e-01 -3.22041635e-04 1.07213850e+02] [-6.62187847e-04 -2.29621439e-05 9.99999780e-01 -6.53338871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:107.21, Z:-0.65 [[-8.89888066e-01 4.56178577e-01 -5.79184473e-04 1.71955779e+02] [-4.56178464e-01 -8.89888254e-01 -3.21815605e-04 1.07210432e+02] [-6.62214845e-04 -2.21683832e-05 9.99999780e-01 -6.54787496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:107.21, Z:-0.66 [[-8.88637218e-01 4.58610467e-01 -5.79310061e-04 1.71958761e+02] [-4.58610354e-01 -8.88637406e-01 -3.21589372e-04 1.07213723e+02] [-6.62280842e-04 -2.00986930e-05 9.99999780e-01 -6.56385834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:107.21, Z:-0.66 [[-8.88061943e-01 4.59723448e-01 -5.79435517e-04 1.71957630e+02] [-4.59723336e-01 -8.88062132e-01 -3.21363168e-04 1.07213708e+02] [-6.62312924e-04 -1.90103700e-05 9.99999780e-01 -6.55893442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.87514312e-01 4.60779785e-01 -5.79560525e-04 1.71954029e+02] [-4.60779673e-01 -8.87514501e-01 -3.21137565e-04 1.07212391e+02] [-6.62342068e-04 -1.79644762e-05 9.99999780e-01 -6.54740211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.86894440e-01 4.61971771e-01 -5.79685444e-04 1.71952025e+02] [-4.61971660e-01 -8.86894629e-01 -3.20911914e-04 1.07212055e+02] [-6.62372152e-04 -1.68167456e-05 9.99999780e-01 -6.54573358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.85589918e-01 4.64467611e-01 -5.79810318e-04 1.71953972e+02] [-4.64467500e-01 -8.85590107e-01 -3.20686138e-04 1.07214606e+02] [-6.62422606e-04 -1.46933611e-05 9.99999780e-01 -6.53588346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.85061002e-01 4.65474688e-01 -5.79919087e-04 1.71952103e+02] [-4.65474578e-01 -8.85061192e-01 -3.20489323e-04 1.07213713e+02] [-6.62443547e-04 -1.37150087e-05 9.99999780e-01 -6.54207287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.84694286e-01 4.66171304e-01 -5.80043335e-04 1.71951032e+02] [-4.66171194e-01 -8.84694476e-01 -3.20264293e-04 1.07213371e+02] [-6.62459157e-04 -1.29364952e-05 9.99999780e-01 -6.52670802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.84513761e-01 4.66513741e-01 -5.80167454e-04 1.71950908e+02] [-4.66513631e-01 -8.84513951e-01 -3.20039290e-04 1.07213461e+02] [-6.62468933e-04 -1.24231306e-05 9.99999780e-01 -6.52305063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.84450991e-01 4.66632734e-01 -5.80291298e-04 1.71947948e+02] [-4.66632625e-01 -8.84451181e-01 -3.19814580e-04 1.07212001e+02] [-6.62475275e-04 -1.20774709e-05 9.99999780e-01 -6.51738209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:107.21, Z:-0.65 [[-8.84555031e-01 4.66435483e-01 -5.80415013e-04 1.71945257e+02] [-4.66435374e-01 -8.84555222e-01 -3.19589898e-04 1.07210586e+02] [-6.62477199e-04 -1.19687589e-05 9.99999780e-01 -6.52502476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:107.21, Z:-0.65 [[-8.85374953e-01 4.64877247e-01 -5.80538683e-04 1.71941382e+02] [-4.64877138e-01 -8.85375144e-01 -3.19365092e-04 1.07208161e+02] [-6.62460085e-04 -1.28786921e-05 9.99999780e-01 -6.52478318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:107.21, Z:-0.65 [[-8.86181976e-01 4.63336993e-01 -5.80662391e-04 1.71940843e+02] [-4.63336883e-01 -8.86182166e-01 -3.19140010e-04 1.07207243e+02] [-6.62442028e-04 -1.37738218e-05 9.99999780e-01 -6.53275605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:107.20, Z:-0.65 [[-8.87134932e-01 4.61509777e-01 -5.80786074e-04 1.71937909e+02] [-4.61509667e-01 -8.87135122e-01 -3.18914768e-04 1.07204764e+02] [-6.62418008e-04 -1.48820432e-05 9.99999780e-01 -6.54074311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:107.20, Z:-0.65 [[-8.88355988e-01 4.59154985e-01 -5.80909669e-04 1.71931696e+02] [-4.59154875e-01 -8.88356178e-01 -3.18689478e-04 1.07200724e+02] [-6.62382556e-04 -1.63821994e-05 9.99999780e-01 -6.54442835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:107.20, Z:-0.66 [[-8.90554323e-01 4.54876533e-01 -5.81033447e-04 1.71930684e+02] [-4.54876422e-01 -8.90554512e-01 -3.18463645e-04 1.07198496e+02] [-6.62303597e-04 -1.93107602e-05 9.99999780e-01 -6.55840427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:107.19, Z:-0.66 [[-8.91678328e-01 4.52669218e-01 -5.81141695e-04 1.71921095e+02] [-4.52669107e-01 -8.91678517e-01 -3.18265988e-04 1.07192293e+02] [-6.62260781e-04 -2.07259921e-05 9.99999780e-01 -6.55490706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:107.19, Z:-0.66 [[-8.92796884e-01 4.50459083e-01 -5.81266001e-04 1.71926973e+02] [-4.50458972e-01 -8.92797073e-01 -3.18038800e-04 1.07194664e+02] [-6.62216051e-04 -2.21075648e-05 9.99999780e-01 -6.55954917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:107.19, Z:-0.65 [[-8.93732185e-01 4.48600539e-01 -5.81390218e-04 1.71919930e+02] [-4.48600427e-01 -8.93732374e-01 -3.17811563e-04 1.07189874e+02] [-6.62177698e-04 -2.32265233e-05 9.99999780e-01 -6.54939970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:106.63, Z:0.14 [[-8.18094827e-01 -5.75083051e-01 5.81514241e-04 1.72219188e+02] [-5.75082968e-01 8.18095031e-01 3.17584470e-04 1.06631970e+02] [-6.58371357e-04 -7.46047239e-05 -9.99999780e-01 1.42151855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:107.19, Z:-0.65 [[-8.58004708e-01 5.13641524e-01 -5.53782190e-04 1.71856652e+02] [-5.13641398e-01 -8.58004886e-01 -3.60218376e-04 1.07190635e+02] [-6.60170941e-04 -2.46236036e-05 9.99999782e-01 -6.53913447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:107.19, Z:-0.65 [[-8.58391908e-01 5.12994178e-01 -5.53923208e-04 1.71855670e+02] [-5.12994052e-01 -8.58392086e-01 -3.60001396e-04 1.07189307e+02] [-6.60161918e-04 -2.48629736e-05 9.99999782e-01 -6.54843085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:107.19, Z:-0.65 [[-8.58404817e-01 5.12972575e-01 -5.54063926e-04 1.71850731e+02] [-5.12972449e-01 -8.58404996e-01 -3.59784692e-04 1.07185835e+02] [-6.60170922e-04 -2.46213829e-05 9.99999782e-01 -6.54552510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:107.18, Z:-0.65 [[-8.58415577e-01 5.12954570e-01 -5.54204726e-04 1.71845280e+02] [-5.12954444e-01 -8.58415755e-01 -3.59567675e-04 1.07181966e+02] [-6.60179951e-04 -2.43767160e-05 9.99999782e-01 -6.54919259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:107.18, Z:-0.65 [[-8.58133434e-01 5.13426433e-01 -5.54345850e-04 1.71847251e+02] [-5.13426308e-01 -8.58133613e-01 -3.59349974e-04 1.07182193e+02] [-6.60202582e-04 -2.37544838e-05 9.99999782e-01 -6.54522885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:107.18, Z:-0.65 [[-8.58183495e-01 5.13342753e-01 -5.54486888e-04 1.71849518e+02] [-5.13342628e-01 -8.58183674e-01 -3.59132216e-04 1.07182806e+02] [-6.60209515e-04 -2.35595847e-05 9.99999782e-01 -6.54641064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:107.18, Z:-0.65 [[-8.58197855e-01 5.13318745e-01 -5.54627384e-04 1.71842921e+02] [-5.13318620e-01 -8.58198034e-01 -3.58915109e-04 1.07177584e+02] [-6.60217984e-04 -2.33196136e-05 9.99999782e-01 -6.54814860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:107.18, Z:-0.65 [[-8.58308530e-01 5.13133667e-01 -5.54767891e-04 1.71843368e+02] [-5.13133542e-01 -8.58308709e-01 -3.58697798e-04 1.07176869e+02] [-6.60222029e-04 -2.32033665e-05 9.99999782e-01 -6.54625092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:106.56, Z:0.14 [[-7.73165342e-01 -6.34204262e-01 5.54908480e-04 1.72057420e+02] [-6.34204165e-01 7.73165538e-01 3.58480174e-04 1.06563374e+02] [-6.56385767e-04 -7.47608230e-05 -9.99999782e-01 1.41815426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:106.64, Z:0.14 [[-7.28726368e-01 -6.84804770e-01 5.54908480e-04 1.72098987e+02] [-6.84804686e-01 7.28726570e-01 3.58480174e-04 1.06639945e+02] [-6.49865486e-04 -1.18769972e-04 -9.99999782e-01 1.42931121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.13, Z:-0.66 [[-7.74257183e-01 6.32870898e-01 -4.91414975e-04 1.71668292e+02] [-6.32870752e-01 -7.74257338e-01 -4.30891969e-04 1.07128437e+02] [-6.53180638e-04 -2.26190371e-05 9.99999786e-01 -6.57420758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.13, Z:-0.66 [[-7.74230924e-01 6.32903022e-01 -4.91583487e-04 1.71669072e+02] [-6.32902876e-01 -7.74231080e-01 -4.30699637e-04 1.07128058e+02] [-6.53190315e-04 -2.23363749e-05 9.99999786e-01 -6.58241782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.13, Z:-0.66 [[-7.74087649e-01 6.33078249e-01 -4.91751751e-04 1.71667469e+02] [-6.33078103e-01 -7.74087805e-01 -4.30507435e-04 1.07126061e+02] [-6.53203927e-04 -2.19332227e-05 9.99999786e-01 -6.58753382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:107.10, Z:-0.66 [[-7.73280771e-01 6.34063567e-01 -4.91919799e-04 1.71643284e+02] [-6.34063422e-01 -7.73280927e-01 -4.30315330e-04 1.07104738e+02] [-6.53239471e-04 -2.08462195e-05 9.99999786e-01 -6.59128525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:107.12, Z:-0.66 [[-7.72640795e-01 6.34843257e-01 -4.92089671e-04 1.71664998e+02] [-6.34843111e-01 -7.72640951e-01 -4.30120984e-04 1.07123479e+02] [-6.53268037e-04 -1.99292812e-05 9.99999786e-01 -6.59010521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.66 [[-7.69633062e-01 6.38486263e-01 -4.92259407e-04 1.71665158e+02] [-6.38486118e-01 -7.69633219e-01 -4.29926638e-04 1.07123599e+02] [-6.53361445e-04 -1.65849566e-05 9.99999786e-01 -6.56616933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.66 [[-7.67852925e-01 6.40625978e-01 -4.92427517e-04 1.71667032e+02] [-6.40625834e-01 -7.67853082e-01 -4.29734003e-04 1.07124742e+02] [-6.53410753e-04 -1.45107224e-05 9.99999786e-01 -6.56219922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.66 [[-7.66250567e-01 6.42541692e-01 -4.92594526e-04 1.71666433e+02] [-6.42541548e-01 -7.66250725e-01 -4.29542479e-04 1.07123989e+02] [-6.53449864e-04 -1.26247191e-05 9.99999786e-01 -6.56236202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.65 [[-7.64748904e-01 6.44328232e-01 -4.92761690e-04 1.71666174e+02] [-6.44328089e-01 -7.64749063e-01 -4.29350626e-04 1.07123184e+02] [-6.53481771e-04 -1.08452223e-05 9.99999786e-01 -6.54290086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.65 [[-7.61827350e-01 6.47779936e-01 -4.92927989e-04 1.71666650e+02] [-6.47779794e-01 -7.61827510e-01 -4.29159617e-04 1.07121473e+02] [-6.53527092e-04 -7.63674265e-06 9.99999786e-01 -6.53602915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.65 [[-7.60602390e-01 6.49217808e-01 -4.93093963e-04 1.71667697e+02] [-6.49217666e-01 -7.60602550e-01 -4.28968832e-04 1.07120287e+02] [-6.53542730e-04 -6.14940673e-06 9.99999786e-01 -6.53651391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.65 [[-7.59626724e-01 6.50359129e-01 -4.93259640e-04 1.71667935e+02] [-6.50358988e-01 -7.59626884e-01 -4.28778240e-04 1.07118785e+02] [-6.53553126e-04 -4.91557009e-06 9.99999786e-01 -6.53329531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.65 [[-7.58585837e-01 6.51572931e-01 -4.93424993e-04 1.71669034e+02] [-6.51572790e-01 -7.58585997e-01 -4.28587872e-04 1.07117592e+02] [-6.53561547e-04 -3.61838978e-06 9.99999786e-01 -6.53269728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.12, Z:-0.65 [[-7.57679493e-01 6.52626648e-01 -4.93590025e-04 1.71669227e+02] [-6.52626507e-01 -7.57679654e-01 -4.28397726e-04 1.07115548e+02] [-6.53566892e-04 -2.45823804e-06 9.99999786e-01 -6.53710579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.11, Z:-0.65 [[-7.56546979e-01 6.53939160e-01 -4.93754791e-04 1.71668813e+02] [-6.53939020e-01 -7.56547140e-01 -4.28207738e-04 1.07112627e+02] [-6.53570584e-04 -1.07374637e-06 9.99999786e-01 -6.53690768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.67, Y:107.11, Z:-0.65 [[-7.53705808e-01 6.57211770e-01 -4.93919374e-04 1.71671832e+02] [-6.57211631e-01 -7.53705970e-01 -4.28017815e-04 1.07109331e+02] [-6.53568327e-04 2.01004417e-06 9.99999786e-01 -6.54019607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:107.11, Z:-0.65 [[-7.52355856e-01 6.58756725e-01 -4.94083773e-04 1.71674255e+02] [-6.58756586e-01 -7.52356018e-01 -4.27827956e-04 1.07108112e+02] [-6.53561443e-04 3.60207161e-06 9.99999786e-01 -6.53517221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:107.10, Z:-0.65 [[-7.48423996e-01 6.63220384e-01 -4.94247718e-04 1.71677123e+02] [-6.63220246e-01 -7.48424159e-01 -4.27638475e-04 1.07104165e+02] [-6.53525487e-04 7.74019736e-06 9.99999786e-01 -6.52868819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:107.10, Z:-0.65 [[-7.49292882e-01 6.62238579e-01 -4.92126290e-04 1.71678864e+02] [-6.62238439e-01 -7.49293043e-01 -4.30090422e-04 1.07104947e+02] [-6.53569275e-04 3.64125415e-06 9.99999786e-01 -6.54482663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:107.10, Z:-0.65 [[-7.47783943e-01 6.63941963e-01 -4.94429341e-04 1.71680873e+02] [-6.63941825e-01 -7.47784107e-01 -4.27426346e-04 1.07102710e+02] [-6.53512691e-04 8.64976089e-06 9.99999786e-01 -6.53673118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:107.10, Z:-0.65 [[-7.46619727e-01 6.65250884e-01 -4.94592184e-04 1.71678294e+02] [-6.65250747e-01 -7.46619891e-01 -4.27237831e-04 1.07096193e+02] [-6.53492707e-04 1.00436268e-05 9.99999786e-01 -6.52832892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:106.64, Z:0.14 [[-7.22409725e-01 -6.91465071e-01 4.94953801e-04 1.71993831e+02] [-6.91464940e-01 7.22409894e-01 4.26818844e-04 1.06638347e+02] [-6.52689845e-04 -3.39051169e-05 -9.99999786e-01 1.39656673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:107.04, Z:-0.65 [[-6.93705754e-01 7.20258365e-01 -4.62020530e-04 1.71585554e+02] [-7.20258219e-01 -6.93705908e-01 -4.59903700e-04 1.07041718e+02] [-6.51755859e-04 1.37362405e-05 9.99999788e-01 -6.52343832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:106.62, Z:0.14 [[-6.74580479e-01 -7.38201168e-01 4.62594585e-04 1.71913875e+02] [-7.38201025e-01 6.74580637e-01 4.59326471e-04 1.06615722e+02] [-6.51132687e-04 -3.16351267e-05 -9.99999788e-01 1.39384165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:106.98, Z:-0.65 [[-6.38819952e-01 7.69356151e-01 -4.27516071e-04 1.71494947e+02] [-7.69355995e-01 -6.38820095e-01 -4.89935844e-04 1.06981113e+02] [-6.50041012e-04 1.59312595e-05 9.99999789e-01 -6.53041620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:106.98, Z:-0.65 [[-6.37644941e-01 7.70330284e-01 -4.27701612e-04 1.71495828e+02] [-7.70330129e-01 -6.37645084e-01 -4.89773817e-04 1.06975050e+02] [-6.50009434e-04 1.71696413e-05 9.99999789e-01 -6.52747591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:106.97, Z:-0.65 [[-6.37936817e-01 7.70088589e-01 -4.27887092e-04 1.71494294e+02] [-7.70088434e-01 -6.37936960e-01 -4.89611720e-04 1.06973182e+02] [-6.50009390e-04 1.71695586e-05 9.99999789e-01 -6.52749229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:106.97, Z:-0.65 [[-6.36647970e-01 7.71154446e-01 -4.28072573e-04 1.71497365e+02] [-7.71154291e-01 -6.36648113e-01 -4.89449499e-04 1.06969388e+02] [-6.49972753e-04 1.85029713e-05 9.99999789e-01 -6.52053658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:106.95, Z:-0.66 [[-6.34639583e-01 7.72808137e-01 -4.28257930e-04 1.71494067e+02] [-7.72807982e-01 -6.34639727e-01 -4.89287262e-04 1.06950030e+02] [-6.49914673e-04 2.04400827e-05 9.99999789e-01 -6.56389897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:106.60, Z:0.14 [[-6.31563838e-01 -7.75323761e-01 4.29938065e-04 1.71812877e+02] [-7.75323608e-01 6.31563983e-01 4.87813965e-04 1.06596379e+02] [-6.49747155e-04 -2.52554721e-05 -9.99999789e-01 1.36644477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:106.89, Z:-0.65 [[-5.75651885e-01 8.17694780e-01 -3.91860848e-04 1.71420797e+02] [-8.17694617e-01 -5.75652018e-01 -5.16691856e-04 1.06891398e+02] [-6.48071721e-04 2.29878654e-05 9.99999790e-01 -6.50399897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:106.86, Z:-0.66 [[-5.81649576e-01 8.13439375e-01 -3.92055317e-04 1.71407778e+02] [-8.13439211e-01 -5.81649708e-01 -5.16544254e-04 1.06856548e+02] [-6.48216296e-04 1.84654210e-05 9.99999790e-01 -6.55040175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:106.85, Z:-0.65 [[-5.83697934e-01 8.11970789e-01 -3.99279575e-04 1.71410572e+02] [-8.11970628e-01 -5.83698070e-01 -5.11053695e-04 1.06847920e+02] [-6.48019389e-04 2.59023008e-05 9.99999790e-01 -6.54325951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:106.87, Z:-0.65 [[-5.77575261e-01 8.16337343e-01 -4.00628535e-04 1.71442604e+02] [-8.16337184e-01 -5.77575399e-01 -5.10027187e-04 1.06868178e+02] [-6.47747424e-04 3.24688848e-05 9.99999790e-01 -6.50595796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:106.86, Z:-0.65 [[-5.78895034e-01 8.15401978e-01 -3.92473904e-04 1.71446924e+02] [-8.15401815e-01 -5.78895167e-01 -5.16226940e-04 1.06858928e+02] [-6.48133714e-04 2.11827213e-05 9.99999790e-01 -6.50399347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:106.85, Z:-0.65 [[-5.80657596e-01 8.14147777e-01 -3.92668356e-04 1.71451883e+02] [-8.14147613e-01 -5.80657728e-01 -5.16078988e-04 1.06850746e+02] [-6.48170476e-04 2.00248202e-05 9.99999790e-01 -6.50887922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:106.84, Z:-0.65 [[-5.83196402e-01 8.12331092e-01 -3.92862944e-04 1.71463712e+02] [-8.12330928e-01 -5.83196534e-01 -5.15930816e-04 1.06835973e+02] [-6.48222950e-04 1.82457243e-05 9.99999790e-01 -6.50103283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:106.83, Z:-0.65 [[-5.84535719e-01 8.11367881e-01 -3.93057698e-04 1.71468683e+02] [-8.11367717e-01 -5.84535851e-01 -5.15782402e-04 1.06827334e+02] [-6.48245590e-04 1.74210901e-05 9.99999790e-01 -6.50051463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:106.82, Z:-0.65 [[-5.85608240e-01 8.10594125e-01 -3.93252684e-04 1.71474798e+02] [-8.10593961e-01 -5.85608372e-01 -5.15633694e-04 1.06819773e+02] [-6.48261707e-04 1.68089105e-05 9.99999790e-01 -6.50176649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:106.77, Z:-0.65 [[-5.98546002e-01 8.01088340e-01 -3.93447677e-04 1.71434285e+02] [-8.01088174e-01 -5.98546132e-01 -5.15484864e-04 1.06765262e+02] [-6.48445499e-04 6.64487687e-06 9.99999790e-01 -6.52831849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:106.75, Z:-0.65 [[-5.99385153e-01 8.00460664e-01 -4.04807159e-04 1.71437223e+02] [-8.00460504e-01 -5.99385289e-01 -5.06802597e-04 1.06753388e+02] [-6.48311000e-04 2.02621907e-05 9.99999790e-01 -6.52887022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:106.73, Z:-0.65 [[-6.02519103e-01 7.98104357e-01 -4.06579859e-04 1.71441795e+02] [-7.98104197e-01 -6.02519240e-01 -5.05447402e-04 1.06730396e+02] [-6.48371962e-04 1.99513766e-05 9.99999790e-01 -6.52377563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:106.72, Z:-0.65 [[-6.03399210e-01 7.97439168e-01 -4.07923512e-04 1.71449329e+02] [-7.97439009e-01 -6.03399348e-01 -5.04419881e-04 1.06724394e+02] [-6.48384951e-04 2.09275630e-05 9.99999790e-01 -6.53033140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:106.71, Z:-0.65 [[-6.05351046e-01 7.95958507e-01 -4.06567739e-04 1.71452852e+02] [-7.95958347e-01 -6.05351182e-01 -5.05456558e-04 1.06714248e+02] [-6.48438709e-04 1.76323290e-05 9.99999790e-01 -6.53014168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:106.70, Z:-0.65 [[-6.09203790e-01 7.93013604e-01 -4.07927403e-04 1.71465965e+02] [-7.93013443e-01 -6.09203927e-01 -5.04416041e-04 1.06701141e+02] [-6.48519758e-04 1.61997503e-05 9.99999790e-01 -6.52578804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:106.69, Z:-0.65 [[-6.12635466e-01 7.90365497e-01 -4.08818575e-04 1.71467359e+02] [-7.90365336e-01 -6.12635602e-01 -5.03733925e-04 1.06689178e+02] [-6.48590728e-04 1.45107624e-05 9.99999790e-01 -6.52435460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:106.68, Z:-0.65 [[-6.16009449e-01 7.87738657e-01 -4.09553612e-04 1.71471274e+02] [-7.87738496e-01 -6.16009585e-01 -5.03171147e-04 1.06679973e+02] [-6.48656314e-04 1.26629654e-05 9.99999790e-01 -6.52779302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:106.67, Z:-0.65 [[-6.19301110e-01 7.85153467e-01 -4.11172328e-04 1.71474831e+02] [-7.85153306e-01 -6.19301246e-01 -5.01931062e-04 1.06669382e+02] [-6.48732448e-04 1.19868486e-05 9.99999790e-01 -6.53338822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:106.65, Z:-0.66 [[-6.26733739e-01 7.79233374e-01 -4.11786182e-04 1.71480967e+02] [-7.79233213e-01 -6.26733874e-01 -5.01460758e-04 1.06651265e+02] [-6.48835308e-04 6.59509400e-06 9.99999789e-01 -6.55016517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:106.65, Z:-0.65 [[-6.33365883e-01 7.73852370e-01 -4.09263350e-04 1.71487832e+02] [-7.73852207e-01 -6.33366015e-01 -5.03392944e-04 1.06648697e+02] [-6.48765320e-04 -2.12257034e-06 9.99999790e-01 -6.54029329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:106.64, Z:-0.65 [[-6.36469723e-01 7.71301575e-01 -4.15048857e-04 1.71491450e+02] [-7.71301414e-01 -6.36469858e-01 -4.98954602e-04 1.06638719e+02] [-6.49010557e-04 2.55827295e-06 9.99999789e-01 -6.54218236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:106.69, Z:-0.65 [[-6.21197300e-01 7.83654095e-01 -4.17407245e-04 1.71555344e+02] [-7.83653938e-01 -6.21197440e-01 -4.97142469e-04 1.06686897e+02] [-6.48880043e-04 1.82792719e-05 9.99999789e-01 -6.47788451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:106.68, Z:-0.65 [[-6.24484295e-01 7.81037265e-01 -3.94346379e-04 1.71558974e+02] [-7.81037096e-01 -6.24484420e-01 -5.14807272e-04 1.06679529e+02] [-6.48346833e-04 -1.34899057e-05 9.99999790e-01 -6.48702813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03999999999996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:171.50, Y:106.61, Z:-0.65 [[-6.51710875e-01 7.58467389e-01 -3.94145665e-04 1.71504838e+02] [-7.58467215e-01 -6.51710993e-01 -5.14960897e-04 1.06609002e+02] [-6.47450109e-04 -3.66590518e-05 9.99999790e-01 -6.52708957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:171.57, Y:106.66, Z:-0.65 [[-6.34008274e-01 7.73326149e-01 -4.19179106e-04 1.71568819e+02] [-7.73325991e-01 -6.34008412e-01 -4.95743096e-04 1.06657029e+02] [-6.49134179e-04 9.85687264e-06 9.99999789e-01 -6.47095956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09999999999997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:171.51, Y:106.59, Z:-0.65 [[-6.58429983e-01 7.52641882e-01 -3.93986140e-04 1.71508670e+02] [-7.52641707e-01 -6.58430099e-01 -5.15015673e-04 1.06593539e+02] [-6.47034699e-04 -4.25713596e-05 9.99999790e-01 -6.54185420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:171.52, Y:106.59, Z:-0.65 [[-6.60460785e-01 7.50860423e-01 -4.20238109e-04 1.71515757e+02] [-7.50860260e-01 -6.60460918e-01 -4.94896417e-04 1.06593131e+02] [-6.49148980e-04 -1.13195801e-05 9.99999789e-01 -6.52707843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15999999999997 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:171.58, Y:106.63, Z:-0.65 [[-6.41941207e-01 7.66753748e-01 -4.19262242e-04 1.71580891e+02] [-7.66753588e-01 -6.41941344e-01 -4.95645242e-04 1.06633138e+02] [-6.49179614e-04 3.29572336e-06 9.99999789e-01 -6.48529993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:171.58, Y:106.63, Z:-0.65 [[-6.43421478e-01 7.65512016e-01 -3.93730215e-04 1.71582133e+02] [-7.65511843e-01 -6.43421598e-01 -5.15159080e-04 1.06625487e+02] [-6.47694990e-04 -3.00592741e-05 9.99999790e-01 -6.49214721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21999999999997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:171.54, Y:106.58, Z:-0.65 [[-6.65648406e-01 7.46265399e-01 -3.93524060e-04 1.71535111e+02] [-7.46265222e-01 -6.65648520e-01 -5.15316511e-04 1.06579343e+02] [-6.46511590e-04 -4.93462934e-05 9.99999790e-01 -6.53969415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:171.57, Y:106.59, Z:-0.65 [[-6.56958374e-01 7.53926734e-01 -4.17446969e-04 1.71570210e+02] [-7.53926570e-01 -6.56958507e-01 -4.96994656e-04 1.06590075e+02] [-6.48942895e-04 -1.17804391e-05 9.99999789e-01 -6.53654288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:171.58, Y:106.59, Z:-0.65 [[-6.58213147e-01 7.52831511e-01 -4.10978573e-04 1.71575251e+02] [-7.52831344e-01 -6.58213275e-01 -5.01945729e-04 1.06588657e+02] [-6.48392114e-04 -2.09897264e-05 9.99999790e-01 -6.54286775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:171.58, Y:106.59, Z:-0.65 [[-6.59261664e-01 7.51913486e-01 -4.11374152e-04 1.71579905e+02] [-7.51913319e-01 -6.59261792e-01 -5.01642995e-04 1.06586869e+02] [-6.48395393e-04 -2.13962921e-05 9.99999790e-01 -6.54925647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:171.59, Y:106.59, Z:-0.66 [[-6.60281964e-01 7.51017682e-01 -4.11889693e-04 1.71585346e+02] [-7.51017515e-01 -6.60282092e-01 -5.01248539e-04 1.06586939e+02] [-6.48409904e-04 -2.16289959e-05 9.99999790e-01 -6.55086414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:171.56, Y:106.55, Z:-0.66 [[-6.68781922e-01 7.43458521e-01 -4.11885365e-04 1.71561181e+02] [-7.43458352e-01 -6.68782048e-01 -5.01251846e-04 1.06551835e+02] [-6.48121493e-04 -2.90085581e-05 9.99999790e-01 -6.58629311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:171.60, Y:106.58, Z:-0.66 [[-6.61356298e-01 7.50071778e-01 -4.18971488e-04 1.71596707e+02] [-7.50071614e-01 -6.61356430e-01 -4.95833877e-04 1.06579274e+02] [-6.49000485e-04 -1.36642370e-05 9.99999789e-01 -6.55638718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:171.63, Y:106.61, Z:-0.65 [[-6.49645464e-01 7.60237200e-01 -4.13682209e-04 1.71628668e+02] [-7.60237036e-01 -6.49645595e-01 -4.99879622e-04 1.06605095e+02] [-6.48773909e-04 -1.02479925e-05 9.99999790e-01 -6.52985335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:171.63, Y:106.60, Z:-0.65 [[-6.47482880e-01 7.62079895e-01 -3.92959940e-04 1.71633895e+02] [-7.62079721e-01 -6.47482998e-01 -5.15670747e-04 1.06597861e+02] [-6.47417189e-04 -3.44211786e-05 9.99999790e-01 -6.54299521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:171.61, Y:106.56, Z:-0.66 [[-6.54261078e-01 7.56268661e-01 -3.92752392e-04 1.71607899e+02] [-7.56268486e-01 -6.54261195e-01 -5.15828775e-04 1.06562080e+02] [-6.47067786e-04 -4.04604342e-05 9.99999790e-01 -6.57192331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:171.61, Y:106.56, Z:-0.66 [[-6.57864264e-01 7.53136403e-01 -4.10946782e-04 1.71608091e+02] [-7.53136236e-01 -6.57864392e-01 -5.01951371e-04 1.06562573e+02] [-6.48385105e-04 -2.07169562e-05 9.99999790e-01 -6.59124896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:171.60, Y:106.55, Z:-0.66 [[-6.62924741e-01 7.48685926e-01 -4.14717098e-04 1.71598237e+02] [-7.48685760e-01 -6.62924871e-01 -4.99075180e-04 1.06552269e+02] [-6.48576841e-04 -2.03564988e-05 9.99999789e-01 -6.60369842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:171.66, Y:106.60, Z:-0.66 [[-6.42208572e-01 7.66529825e-01 -4.21788701e-04 1.71656323e+02] [-7.66529666e-01 -6.42208710e-01 -4.93671089e-04 1.06596982e+02] [-6.49289992e-04 6.27374705e-06 9.99999789e-01 -6.56935833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:171.60, Y:106.54, Z:-0.66 [[-6.58688112e-01 7.52415987e-01 -3.92397581e-04 1.71602615e+02] [-7.52415812e-01 -6.58688227e-01 -5.16020965e-04 1.06538238e+02] [-6.46730091e-04 -4.46507305e-05 9.99999790e-01 -6.60608283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:171.60, Y:106.53, Z:-0.66 [[-6.57212583e-01 7.53705144e-01 -4.20929624e-04 1.71602883e+02] [-7.53704982e-01 -6.57212718e-01 -4.94285788e-04 1.06531502e+02] [-6.49186043e-04 -7.59408467e-06 9.99999789e-01 -6.60440983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66999999999996 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:171.67, Y:106.60, Z:-0.66 [[-6.39084107e-01 7.69136742e-01 -4.20520409e-04 1.71669574e+02] [-7.69136583e-01 -6.39084245e-01 -4.94598027e-04 1.06595073e+02] [-6.49161483e-04 7.34789196e-06 9.99999789e-01 -6.57100489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:171.73, Y:106.67, Z:-0.66 [[-6.47102525e-01 7.62402891e-01 -3.91987395e-04 1.71730830e+02] [-7.62402717e-01 -6.47102643e-01 -5.16262551e-04 1.06670011e+02] [-6.47256140e-04 -3.52225452e-05 9.99999790e-01 -6.58519629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72999999999996 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:171.74, Y:106.67, Z:-0.66 [[-6.39600530e-01 7.68707350e-01 -4.14983649e-04 1.71738141e+02] [-7.68707188e-01 -6.39600664e-01 -4.98693084e-04 1.06667857e+02] [-6.48772857e-04 3.65535883e-08 9.99999790e-01 -6.57728658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:171.74, Y:106.68, Z:-0.66 [[-6.52642686e-01 7.57665738e-01 -3.92577612e-04 1.71739885e+02] [-7.57665564e-01 -6.52642803e-01 -5.15748131e-04 1.06676385e+02] [-6.46977641e-04 -3.91567082e-05 9.99999790e-01 -6.57908317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78999999999996 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:171.75, Y:106.66, Z:-0.66 [[-6.38296487e-01 7.69790504e-01 -4.18227502e-04 1.71745877e+02] [-7.69790344e-01 -6.38296624e-01 -4.96153389e-04 1.06661177e+02] [-6.48887370e-04 5.25452699e-06 9.99999789e-01 -6.58196988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:171.75, Y:106.66, Z:-0.66 [[-6.38384180e-01 7.69717796e-01 -3.92392919e-04 1.71748180e+02] [-7.69717624e-01 -6.38384300e-01 -5.15806696e-04 1.06659157e+02] [-6.47523072e-04 -2.72510894e-05 9.99999790e-01 -6.58135081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84999999999997 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:171.75, Y:106.66, Z:-0.66 [[-6.38695049e-01 7.69459863e-01 -3.92199601e-04 1.71753063e+02] [-7.69459691e-01 -6.38695168e-01 -5.15953646e-04 1.06660749e+02] [-6.47501612e-04 -2.77552551e-05 9.99999790e-01 -6.58141605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:171.76, Y:106.65, Z:-0.66 [[-6.38683497e-01 7.69469452e-01 -3.92006165e-04 1.71755641e+02] [-7.69469279e-01 -6.38683617e-01 -5.16100571e-04 1.06654255e+02] [-6.47491539e-04 -2.79882167e-05 9.99999790e-01 -6.58037205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90999999999997 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:171.77, Y:106.66, Z:-0.66 [[-6.38908085e-01 7.69282981e-01 -3.91812326e-04 1.71765021e+02] [-7.69282808e-01 -6.38908205e-01 -5.16247687e-04 1.06661337e+02] [-6.47472670e-04 -2.84203344e-05 9.99999790e-01 -6.57941255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:171.77, Y:106.66, Z:-0.66 [[-6.38920534e-01 7.69272643e-01 -3.91618624e-04 1.71769359e+02] [-7.69272470e-01 -6.38920653e-01 -5.16394586e-04 1.06661023e+02] [-6.47461454e-04 -2.86736784e-05 9.99999790e-01 -6.57873275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96999999999997 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:171.76, Y:106.64, Z:-0.66 [[-6.40572342e-01 7.67897728e-01 -3.91425431e-04 1.71763460e+02] [-7.67897555e-01 -6.40572461e-01 -5.16540983e-04 1.06639855e+02] [-6.47387000e-04 -3.03072359e-05 9.99999790e-01 -6.57665631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:171.77, Y:106.64, Z:-0.66 [[-6.41983698e-01 7.66718187e-01 -3.91230571e-04 1.71771022e+02] [-7.66718014e-01 -6.41983816e-01 -5.16688529e-04 1.06643534e+02] [-6.47318188e-04 -3.17420861e-05 9.99999790e-01 -6.57376420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:171.77, Y:106.63, Z:-0.66 [[-6.41810259e-01 7.66863377e-01 -3.91034401e-04 1.71766661e+02] [-7.66863203e-01 -6.41810377e-01 -5.16836950e-04 1.06629691e+02] [-6.47313265e-04 -3.18413631e-05 9.99999790e-01 -6.58050013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:171.80, Y:106.66, Z:-0.66 [[-6.44300774e-01 7.64772096e-01 -3.90837365e-04 1.71798476e+02] [-7.64771922e-01 -6.44300892e-01 -5.16985908e-04 1.06656718e+02] [-6.47193259e-04 -3.41929775e-05 9.99999790e-01 -6.58562214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:171.81, Y:106.66, Z:-0.66 [[-6.46324906e-01 7.63062228e-01 -3.90641856e-04 1.71807689e+02] [-7.63062054e-01 -6.46325023e-01 -5.17133595e-04 1.06661882e+02] [-6.47086719e-04 -3.61523446e-05 9.99999790e-01 -6.58314047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:171.81, Y:106.66, Z:-0.66 [[-6.46041675e-01 7.63302038e-01 -3.90449419e-04 1.71809192e+02] [-7.63301864e-01 -6.46041792e-01 -5.17278849e-04 1.06663996e+02] [-6.47086642e-04 -3.61529249e-05 9.99999790e-01 -6.58312416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:171.81, Y:106.66, Z:-0.66 [[-6.48030733e-01 7.61614087e-01 -3.90257394e-04 1.71814676e+02] [-7.61613912e-01 -6.48030849e-01 -5.17423681e-04 1.06664364e+02] [-6.46975994e-04 -3.80809865e-05 9.99999790e-01 -6.58258565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:171.83, Y:106.67, Z:-0.66 [[-6.52088678e-01 7.58142602e-01 -3.90065377e-04 1.71827883e+02] [-7.58142426e-01 -6.52088793e-01 -5.17568394e-04 1.06666484e+02] [-6.46747910e-04 -4.17753783e-05 9.99999790e-01 -6.57244695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:171.83, Y:106.66, Z:-0.66 [[-6.52687340e-01 7.57627273e-01 -3.89873861e-04 1.71830735e+02] [-7.57627097e-01 -6.52687455e-01 -5.17712619e-04 1.06661745e+02] [-6.46698978e-04 -4.25254702e-05 9.99999790e-01 -6.57528691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:171.84, Y:106.67, Z:-0.66 [[-6.55820447e-01 7.54916809e-01 -3.89682416e-04 1.71840115e+02] [-7.54916633e-01 -6.55820562e-01 -5.17856680e-04 1.06667123e+02] [-6.46500453e-04 -4.54432617e-05 9.99999790e-01 -6.56925594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:171.85, Y:106.67, Z:-0.66 [[-6.59116002e-01 7.52041185e-01 -3.89491132e-04 1.71849258e+02] [-7.52041008e-01 -6.59116115e-01 -5.18000509e-04 1.06665412e+02] [-6.46277598e-04 -4.85091210e-05 9.99999790e-01 -6.56332822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:171.86, Y:106.67, Z:-0.66 [[-6.60421066e-01 7.50895375e-01 -3.89300405e-04 1.71855608e+02] [-7.50895198e-01 -6.60421178e-01 -5.18143808e-04 1.06667753e+02] [-6.46174022e-04 -4.98692810e-05 9.99999790e-01 -6.56435714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:171.86, Y:106.67, Z:-0.66 [[-6.62403819e-01 7.49146867e-01 -3.89109961e-04 1.71859819e+02] [-7.49146690e-01 -6.62403932e-01 -5.18286787e-04 1.06668553e+02] [-6.46020891e-04 -5.18147077e-05 9.99999790e-01 -6.56234802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:171.87, Y:106.67, Z:-0.66 [[-6.64183064e-01 7.47569867e-01 -3.88919648e-04 1.71865459e+02] [-7.47569689e-01 -6.64183176e-01 -5.18429557e-04 1.06671038e+02] [-6.45876202e-04 -5.35875916e-05 9.99999790e-01 -6.56453289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:171.87, Y:106.67, Z:-0.66 [[-6.66254552e-01 7.45724293e-01 -3.88729493e-04 1.71874099e+02] [-7.45724114e-01 -6.66254663e-01 -5.18572100e-04 1.06671311e+02] [-6.45704650e-04 -5.56160649e-05 9.99999790e-01 -6.56494359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41999999999996 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:171.88, Y:106.67, Z:-0.66 [[-6.68082008e-01 7.44087548e-01 -3.88539680e-04 1.71880179e+02] [-7.44087370e-01 -6.68082119e-01 -5.18714278e-04 1.06674416e+02] [-6.45545248e-04 -5.74362082e-05 9.99999790e-01 -6.56303305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:171.89, Y:106.68, Z:-0.66 [[-6.69113051e-01 7.43160531e-01 -3.88350207e-04 1.71885405e+02] [-7.43160352e-01 -6.69113161e-01 -5.18856094e-04 1.06676386e+02] [-6.45443605e-04 -5.85669076e-05 9.99999790e-01 -6.56486042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47999999999996 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:171.89, Y:106.68, Z:-0.66 [[-6.71394591e-01 7.41099961e-01 -3.88161100e-04 1.71888749e+02] [-7.41099782e-01 -6.71394700e-01 -5.18997529e-04 1.06677172e+02] [-6.45238353e-04 -6.07860271e-05 9.99999790e-01 -6.56515796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:171.90, Y:106.68, Z:-0.66 [[-6.74964517e-01 7.37850087e-01 -3.87972061e-04 1.71895726e+02] [-7.37849907e-01 -6.74964625e-01 -5.19138804e-04 1.06679286e+02] [-6.44914029e-04 -6.41351223e-05 9.99999790e-01 -6.57045294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53999999999996 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:171.90, Y:106.68, Z:-0.66 [[-6.76141345e-01 7.36771831e-01 -3.87783180e-04 1.71901584e+02] [-7.36771651e-01 -6.76141453e-01 -5.19279855e-04 1.06683384e+02] [-6.44787053e-04 -6.53989259e-05 9.99999790e-01 -6.57541695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:171.90, Y:106.68, Z:-0.66 [[-6.77319547e-01 7.35688848e-01 -3.87594755e-04 1.71898926e+02] [-7.35688667e-01 -6.77319655e-01 -5.19420459e-04 1.06677146e+02] [-6.44657385e-04 -6.66645620e-05 9.99999790e-01 -6.57555318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59999999999997 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:171.91, Y:106.68, Z:-0.66 [[-6.78277057e-01 7.34806154e-01 -3.87405951e-04 1.71908795e+02] [-7.34805973e-01 -6.78277164e-01 -5.19561239e-04 1.06684714e+02] [-6.44545406e-04 -6.77382614e-05 9.99999790e-01 -6.57959827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:171.91, Y:106.69, Z:-0.66 [[-6.77916823e-01 7.35138512e-01 -3.87217096e-04 1.71913591e+02] [-7.35138331e-01 -6.77916930e-01 -5.19701950e-04 1.06688533e+02] [-6.44553943e-04 -6.76565650e-05 9.99999790e-01 -6.58475541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65999999999997 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:171.92, Y:106.69, Z:-0.66 [[-6.78245202e-01 7.34835557e-01 -3.87029050e-04 1.71916890e+02] [-7.34835377e-01 -6.78245309e-01 -5.19841953e-04 1.06690699e+02] [-6.44498989e-04 -6.81776727e-05 9.99999790e-01 -6.58455320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:171.92, Y:106.69, Z:-0.66 [[-6.78368721e-01 7.34721531e-01 -3.86841218e-04 1.71918172e+02] [-7.34721350e-01 -6.78368828e-01 -5.19981691e-04 1.06688173e+02] [-6.44462768e-04 -6.85188125e-05 9.99999790e-01 -6.58098773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71999999999997 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:171.92, Y:106.69, Z:-0.66 [[-6.78592343e-01 7.34514998e-01 -3.86653130e-04 1.71922520e+02] [-7.34514817e-01 -6.78592450e-01 -5.20121513e-04 1.06692402e+02] [-6.44416947e-04 -6.89480234e-05 9.99999790e-01 -6.57966564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:171.92, Y:106.69, Z:-0.66 [[-6.78712662e-01 7.34403821e-01 -3.86464992e-04 1.71923301e+02] [-7.34403640e-01 -6.78712769e-01 -5.20261268e-04 1.06692169e+02] [-6.44380588e-04 -6.92866135e-05 9.99999790e-01 -6.58129622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:171.93, Y:106.70, Z:-0.66 [[-6.79122727e-01 7.34024640e-01 -3.86276862e-04 1.71927665e+02] [-7.34024459e-01 -6.79122833e-01 -5.20400910e-04 1.06697326e+02] [-6.44316528e-04 -6.98794202e-05 9.99999790e-01 -6.58153244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:171.93, Y:106.70, Z:-0.66 [[-6.79460415e-01 7.33712066e-01 -3.86088742e-04 1.71930520e+02] [-7.33711885e-01 -6.79460521e-01 -5.20540441e-04 1.06699951e+02] [-6.44258860e-04 -7.04087253e-05 9.99999790e-01 -6.58295949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:171.93, Y:106.70, Z:-0.66 [[-6.79196654e-01 7.33956236e-01 -3.85900982e-04 1.71931373e+02] [-7.33956054e-01 -6.79196760e-01 -5.20679599e-04 1.06700902e+02] [-6.44258735e-04 -7.04094794e-05 9.99999790e-01 -6.58712708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:171.93, Y:106.70, Z:-0.66 [[-6.78862196e-01 7.34265599e-01 -3.85713172e-04 1.71932914e+02] [-7.34265418e-01 -6.78862302e-01 -5.20818689e-04 1.06703810e+02] [-6.44265378e-04 -7.03482755e-05 9.99999790e-01 -6.58629447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:171.93, Y:106.70, Z:-0.66 [[-6.76881599e-01 7.36091810e-01 -3.85525225e-04 1.71930857e+02] [-7.36091628e-01 -6.76881705e-01 -5.20957776e-04 1.06701708e+02] [-6.44427724e-04 -6.88448417e-05 9.99999790e-01 -6.58664241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:171.93, Y:106.70, Z:-0.66 [[-6.75493163e-01 7.37366150e-01 -3.85336903e-04 1.71929913e+02] [-7.37365969e-01 -6.75493269e-01 -5.21097034e-04 1.06701100e+02] [-6.44531798e-04 -6.78631648e-05 9.99999790e-01 -6.58489089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:171.94, Y:106.71, Z:-0.66 [[-6.72371031e-01 7.40214191e-01 -3.85147966e-04 1.71939109e+02] [-7.40214010e-01 -6.72371138e-01 -5.21236642e-04 1.06711881e+02] [-6.44789136e-04 -6.53724976e-05 9.99999790e-01 -6.56939547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:171.93, Y:106.70, Z:-0.66 [[-6.71793611e-01 7.40738278e-01 -3.83424310e-04 1.71928625e+02] [-7.40738097e-01 -6.71793717e-01 -5.22509477e-04 1.06703284e+02] [-6.44624813e-04 -6.70015350e-05 9.99999790e-01 -6.57987826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.66 [[-6.70485587e-01 7.41922455e-01 -3.84952208e-04 1.71931785e+02] [-7.41922274e-01 -6.70485695e-01 -5.21381382e-04 1.06708927e+02] [-6.44929504e-04 -6.39740841e-05 9.99999790e-01 -6.57899348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:171.94, Y:106.72, Z:-0.65 [[-6.66102258e-01 7.45860332e-01 -3.84762901e-04 1.71941298e+02] [-7.45860152e-01 -6.66102366e-01 -5.21521048e-04 1.06718475e+02] [-6.45273340e-04 -6.04070316e-05 9.99999790e-01 -6.54781644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.66 [[-6.67055825e-01 7.45007638e-01 -3.81374537e-04 1.71927211e+02] [-7.45007457e-01 -6.67055931e-01 -5.24018295e-04 1.06705195e+02] [-6.44795780e-04 -6.54225822e-05 9.99999790e-01 -6.56236212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.66 [[-6.65827543e-01 7.46105579e-01 -3.84465124e-04 1.71928607e+02] [-7.46105399e-01 -6.65827652e-01 -5.21740876e-04 1.06707647e+02] [-6.45261289e-04 -6.05379405e-05 9.99999790e-01 -6.56327518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.65 [[-6.61190807e-01 7.50217681e-01 -3.84274817e-04 1.71931807e+02] [-7.50217502e-01 -6.61190916e-01 -5.21881004e-04 1.06707864e+02] [-6.45603375e-04 -5.67732287e-05 9.99999790e-01 -6.52457872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16999999999996 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:171.92, Y:106.70, Z:-0.66 [[-6.63406155e-01 7.48259399e-01 -3.81088722e-04 1.71924015e+02] [-7.48259218e-01 -6.63406262e-01 -5.24225606e-04 1.06703673e+02] [-6.45073381e-04 -6.26213442e-05 9.99999790e-01 -6.55291737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.66 [[-6.61158569e-01 7.50246093e-01 -3.84103169e-04 1.71926595e+02] [-7.50245913e-01 -6.61158678e-01 -5.22007518e-04 1.06709547e+02] [-6.45587244e-04 -5.69579105e-05 9.99999790e-01 -6.55510591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22999999999996 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.66 [[-6.60165141e-01 7.51120389e-01 -3.83912038e-04 1.71925277e+02] [-7.51120210e-01 -6.60165250e-01 -5.22148048e-04 1.06708795e+02] [-6.45641432e-04 -5.63398489e-05 9.99999790e-01 -6.55623037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.66 [[-6.59384757e-01 7.51805556e-01 -3.83720856e-04 1.71929294e+02] [-7.51805377e-01 -6.59384867e-01 -5.22288508e-04 1.06714975e+02] [-6.45679128e-04 -5.59056784e-05 9.99999790e-01 -6.55676793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28999999999996 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:171.93, Y:106.71, Z:-0.66 [[-6.58899275e-01 7.52231080e-01 -3.83529622e-04 1.71927714e+02] [-7.52230901e-01 -6.58899384e-01 -5.22428898e-04 1.06712881e+02] [-6.45694686e-04 -5.57251889e-05 9.99999790e-01 -6.56129251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:171.93, Y:106.72, Z:-0.66 [[-6.58992918e-01 7.52149046e-01 -3.83338337e-04 1.71930827e+02] [-7.52148867e-01 -6.58993027e-01 -5.22569218e-04 1.06716941e+02] [-6.45667230e-04 -5.60419179e-05 9.99999790e-01 -6.56185019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34999999999997 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:171.94, Y:106.72, Z:-0.66 [[-6.59140722e-01 7.52019522e-01 -3.83146788e-04 1.71935321e+02] [-7.52019343e-01 -6.59140831e-01 -5.22709623e-04 1.06722753e+02] [-6.45635534e-04 -5.64054025e-05 9.99999790e-01 -6.57082544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:171.94, Y:106.73, Z:-0.66 [[-6.59673836e-01 7.51551917e-01 -3.82955674e-04 1.71936945e+02] [-7.51551737e-01 -6.59673944e-01 -5.22849603e-04 1.06725266e+02] [-6.45574501e-04 -5.70992015e-05 9.99999790e-01 -6.58191432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40999999999997 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:171.94, Y:106.73, Z:-0.66 [[-6.60797782e-01 7.50563885e-01 -3.82764841e-04 1.71938850e+02] [-7.50563705e-01 -6.60797890e-01 -5.22989270e-04 1.06727999e+02] [-6.45467057e-04 -5.83007524e-05 9.99999790e-01 -6.58293641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:171.94, Y:106.73, Z:-0.66 [[-6.61027149e-01 7.50361887e-01 -3.82574018e-04 1.71937115e+02] [-7.50361707e-01 -6.61027257e-01 -5.23128822e-04 1.06725336e+02] [-6.45427784e-04 -5.87334609e-05 9.99999790e-01 -6.57692255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46999999999997 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:171.94, Y:106.73, Z:-0.66 [[-6.61101672e-01 7.50296230e-01 -3.82382811e-04 1.71943880e+02] [-7.50296050e-01 -6.61101780e-01 -5.23268548e-04 1.06733004e+02] [-6.45400376e-04 -5.90333999e-05 9.99999790e-01 -6.56319790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:171.94, Y:106.73, Z:-0.66 [[-6.60532595e-01 7.50797273e-01 -3.82191675e-04 1.71944590e+02] [-7.50797093e-01 -6.60532703e-01 -5.23408115e-04 1.06732875e+02] [-6.45423486e-04 -5.87797219e-05 9.99999790e-01 -6.55750065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.60130825e-01 7.51150549e-01 -3.82000821e-04 1.71946262e+02] [-7.51150369e-01 -6.60130933e-01 -5.23547370e-04 1.06734485e+02] [-6.45433453e-04 -5.86696995e-05 9.99999790e-01 -6.55580117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:171.95, Y:106.74, Z:-0.66 [[-6.59138033e-01 7.52021880e-01 -3.81809795e-04 1.71948936e+02] [-7.52021699e-01 -6.59138141e-01 -5.23686643e-04 1.06737411e+02] [-6.45489212e-04 -5.80525333e-05 9.99999790e-01 -6.55961638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:171.95, Y:106.74, Z:-0.66 [[-6.57919702e-01 7.53087990e-01 -3.81618779e-04 1.71949339e+02] [-7.53087810e-01 -6.57919810e-01 -5.23825803e-04 1.06737498e+02] [-6.45561475e-04 -5.72428656e-05 9.99999790e-01 -6.56411420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.55463309e-01 7.55226923e-01 -3.81427651e-04 1.71947743e+02] [-7.55226743e-01 -6.55463418e-01 -5.23964937e-04 1.06733996e+02] [-6.45724299e-04 -5.53754290e-05 9.99999790e-01 -6.57069452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:171.95, Y:106.74, Z:-0.66 [[-6.53821331e-01 7.56648877e-01 -3.81235865e-04 1.71951150e+02] [-7.56648697e-01 -6.53821439e-01 -5.24104443e-04 1.06737602e+02] [-6.45823220e-04 -5.42090436e-05 9.99999790e-01 -6.56899518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.49868471e-01 7.60046594e-01 -3.81043754e-04 1.71949504e+02] [-7.60046415e-01 -6.49868580e-01 -5.24244078e-04 1.06732300e+02] [-6.46078289e-04 -5.10787576e-05 9.99999790e-01 -6.57001174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.47611320e-01 7.61970756e-01 -3.80851193e-04 1.71950240e+02] [-7.61970577e-01 -6.47611430e-01 -5.24383931e-04 1.06732487e+02] [-6.46208807e-04 -4.93995664e-05 9.99999790e-01 -6.56885140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.44986306e-01 7.64194033e-01 -3.80657903e-04 1.71951698e+02] [-7.64193854e-01 -6.44986417e-01 -5.24524206e-04 1.06733325e+02] [-6.46357445e-04 -4.74145002e-05 9.99999790e-01 -6.56950912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.39268232e-01 7.68983734e-01 -3.80464374e-04 1.71952556e+02] [-7.68983556e-01 -6.39268344e-01 -5.24664545e-04 1.06730995e+02] [-6.46677331e-04 -4.28305286e-05 9.99999790e-01 -6.57539775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.35967761e-01 7.71715532e-01 -3.80270452e-04 1.71953172e+02] [-7.71715355e-01 -6.35967873e-01 -5.24805060e-04 1.06730302e+02] [-6.46840007e-04 -4.02985521e-05 9.99999790e-01 -6.57688372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:171.95, Y:106.73, Z:-0.66 [[-6.32537045e-01 7.74530014e-01 -3.80075979e-04 1.71953298e+02] [-7.74529837e-01 -6.32537158e-01 -5.24945863e-04 1.06728449e+02] [-6.46998507e-04 -3.76675186e-05 9.99999790e-01 -6.58437525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:171.95, Y:106.72, Z:-0.66 [[-6.25095513e-01 7.80548176e-01 -3.79881047e-04 1.71954016e+02] [-7.80548000e-01 -6.25095627e-01 -5.25086890e-04 1.06723650e+02] [-6.47317596e-04 -3.17140670e-05 9.99999790e-01 -6.59393249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:171.95, Y:106.72, Z:-0.66 [[-6.20964232e-01 7.83838809e-01 -3.79685305e-04 1.71954426e+02] [-7.83838634e-01 -6.20964347e-01 -5.25228391e-04 1.06720728e+02] [-6.47465434e-04 -2.85360342e-05 9.99999790e-01 -6.58582137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91999999999996 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:171.95, Y:106.72, Z:-0.66 [[-6.16931988e-01 7.87016377e-01 -3.79488810e-04 1.71954908e+02] [-7.87016202e-01 -6.16932105e-01 -5.25370324e-04 1.06718012e+02] [-6.47593880e-04 -2.54539169e-05 9.99999790e-01 -6.58546701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:171.96, Y:106.71, Z:-0.66 [[-6.09293920e-01 7.92944371e-01 -3.79291558e-04 1.71956052e+02] [-7.92944197e-01 -6.09294037e-01 -5.25512692e-04 1.06709594e+02] [-6.47802416e-04 -1.94346486e-05 9.99999790e-01 -6.58401789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97999999999996 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:171.96, Y:106.71, Z:-0.66 [[-6.05442244e-01 7.95889154e-01 -3.79093316e-04 1.71958369e+02] [-7.95888980e-01 -6.05442363e-01 -5.25655661e-04 1.06706871e+02] [-6.47882792e-04 -1.65379506e-05 9.99999790e-01 -6.57302928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:171.96, Y:106.70, Z:-0.66 [[-6.01973608e-01 7.98515893e-01 -3.78894171e-04 1.71960056e+02] [-7.98515720e-01 -6.01973727e-01 -5.25799166e-04 1.06703745e+02] [-6.47943327e-04 -1.39642689e-05 9.99999790e-01 -6.56783547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03999999999996 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:171.96, Y:106.71, Z:-0.66 [[-6.01669783e-01 7.98744846e-01 -3.78694382e-04 1.71961535e+02] [-7.98744673e-01 -6.01669902e-01 -5.25943020e-04 1.06705926e+02] [-6.47943288e-04 -1.39639026e-05 9.99999790e-01 -6.56781916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:171.97, Y:106.71, Z:-0.66 [[-5.98155455e-01 8.01380002e-01 -3.78494241e-04 1.71965477e+02] [-8.01379830e-01 -5.98155575e-01 -5.26087011e-04 1.06705371e+02] [-6.47994051e-04 -1.13641654e-05 9.99999790e-01 -6.56524823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09999999999997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:171.97, Y:106.70, Z:-0.66 [[-5.92325857e-01 8.05698415e-01 -3.78293979e-04 1.71969753e+02] [-8.05698243e-01 -5.92325978e-01 -5.26230975e-04 1.06697361e+02] [-6.48056813e-04 -6.90941873e-06 9.99999790e-01 -6.55179206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:171.97, Y:106.69, Z:-0.65 [[-5.89577199e-01 8.07711943e-01 -3.78093164e-04 1.71972531e+02] [-8.07711772e-01 -5.89577320e-01 -5.26375220e-04 1.06693740e+02] [-6.48074706e-04 -4.94852840e-06 9.99999790e-01 -6.54429607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15999999999997 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:171.98, Y:106.69, Z:-0.65 [[-5.85639361e-01 8.10571648e-01 -3.77891491e-04 1.71978640e+02] [-8.10571477e-01 -5.85639483e-01 -5.26519963e-04 1.06686334e+02] [-6.48090332e-04 -2.04275075e-06 9.99999790e-01 -6.54558648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:171.99, Y:106.69, Z:-0.66 [[-5.84281905e-01 8.11550684e-01 -3.77689090e-04 1.71986118e+02] [-8.11550514e-01 -5.84282027e-01 -5.26665112e-04 1.06687968e+02] [-6.48092379e-04 -1.20711934e-06 9.99999790e-01 -6.55125563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21999999999997 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:171.99, Y:106.68, Z:-0.66 [[-5.83562596e-01 8.12068073e-01 -3.77486466e-04 1.71990341e+02] [-8.12067902e-01 -5.83562718e-01 -5.26810302e-04 1.06684054e+02] [-6.48092855e-04 -8.82144983e-07 9.99999790e-01 -6.56225343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:172.00, Y:106.68, Z:-0.66 [[-5.84046990e-01 8.11719762e-01 -3.77283786e-04 1.72001644e+02] [-8.11719590e-01 -5.84047112e-01 -5.26955415e-04 1.06678774e+02] [-6.48091629e-04 -1.51808371e-06 9.99999790e-01 -6.56899094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:172.01, Y:106.68, Z:-0.66 [[-5.85270258e-01 8.10838198e-01 -3.77080777e-04 1.72013003e+02] [-8.10838027e-01 -5.85270379e-01 -5.27100645e-04 1.06682751e+02] [-6.48087546e-04 -2.74489707e-06 9.99999790e-01 -6.57242126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:172.02, Y:106.68, Z:-0.66 [[-5.87320908e-01 8.09354069e-01 -3.76878221e-04 1.72021074e+02] [-8.09353897e-01 -5.87321029e-01 -5.27245433e-04 1.06681514e+02] [-6.48076741e-04 -4.63440923e-06 9.99999790e-01 -6.57406596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:172.04, Y:106.68, Z:-0.66 [[-5.93939716e-01 8.04509460e-01 -3.76676215e-04 1.72037883e+02] [-8.04509288e-01 -5.93939835e-01 -5.27389711e-04 1.06678481e+02] [-6.48013021e-04 -1.01981814e-05 9.99999790e-01 -6.57548124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:172.05, Y:106.68, Z:-0.66 [[-5.98012529e-01 8.01486665e-01 -3.76487275e-04 1.72047441e+02] [-8.01486491e-01 -5.98012647e-01 -5.27524555e-04 1.06678775e+02] [-6.47948048e-04 -1.37168278e-05 9.99999790e-01 -6.56991210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:172.06, Y:106.68, Z:-0.66 [[-6.02538377e-01 7.98089821e-01 -3.76286266e-04 1.72057207e+02] [-7.98089647e-01 -6.02538494e-01 -5.27667897e-04 1.06679378e+02] [-6.47853338e-04 -1.76299853e-05 9.99999790e-01 -6.57001438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:172.07, Y:106.68, Z:-0.66 [[-6.07187109e-01 7.94558792e-01 -3.76085700e-04 1.72068026e+02] [-7.94558617e-01 -6.07187225e-01 -5.27810808e-04 1.06681572e+02] [-6.47731150e-04 -2.16577846e-05 9.99999790e-01 -6.56918360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:172.09, Y:106.68, Z:-0.66 [[-6.17065518e-01 7.86911688e-01 -3.75885740e-04 1.72085748e+02] [-7.86911512e-01 -6.17065632e-01 -5.27953173e-04 1.06680553e+02] [-6.47398695e-04 -2.99928825e-05 9.99999790e-01 -6.56230506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:172.09, Y:106.68, Z:-0.65 [[-6.21351354e-01 7.83531974e-01 -3.75699363e-04 1.72094426e+02] [-7.83531797e-01 -6.21351467e-01 -5.28085768e-04 1.06679907e+02] [-6.47213435e-04 -3.37544102e-05 9.99999790e-01 -6.54986789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:172.11, Y:106.68, Z:-0.65 [[-6.25082670e-01 7.80558464e-01 -3.75500801e-04 1.72105278e+02] [-7.80558286e-01 -6.25082781e-01 -5.28226920e-04 1.06683559e+02] [-6.47031079e-04 -3.70852318e-05 9.99999790e-01 -6.54110054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:172.12, Y:106.68, Z:-0.65 [[-6.30393853e-01 7.76275370e-01 -3.75302832e-04 1.72118887e+02] [-7.76275191e-01 -6.30393963e-01 -5.28367539e-04 1.06681547e+02] [-6.46747346e-04 -4.17413711e-05 9.99999790e-01 -6.52414856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:172.13, Y:106.68, Z:-0.65 [[-6.31309723e-01 7.75530717e-01 -3.75105516e-04 1.72125368e+02] [-7.75530538e-01 -6.31309833e-01 -5.28507583e-04 1.06681810e+02] [-6.46681665e-04 -4.27461928e-05 9.99999790e-01 -6.51888690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:172.13, Y:106.68, Z:-0.65 [[-6.30987995e-01 7.75792504e-01 -3.74908500e-04 1.72129251e+02] [-7.75792325e-01 -6.30988105e-01 -5.28647304e-04 1.06679042e+02] [-6.46683420e-04 -4.27189656e-05 9.99999790e-01 -6.51637013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:172.13, Y:106.67, Z:-0.65 [[-6.29795219e-01 7.76761123e-01 -3.74711273e-04 1.72131318e+02] [-7.76760944e-01 -6.29795329e-01 -5.28787064e-04 1.06674915e+02] [-6.46732643e-04 -4.19664821e-05 9.99999790e-01 -6.51694031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66999999999996 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:172.13, Y:106.67, Z:-0.65 [[-6.21659640e-01 7.83287401e-01 -3.74513513e-04 1.72129284e+02] [-7.83287223e-01 -6.21659751e-01 -5.28927090e-04 1.06667456e+02] [-6.47121903e-04 -3.54609749e-05 9.99999790e-01 -6.51522414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:172.13, Y:106.67, Z:-0.65 [[-6.16733752e-01 7.87171734e-01 -3.74314635e-04 1.72133920e+02] [-7.87171557e-01 -6.16733865e-01 -5.29067796e-04 1.06671109e+02] [-6.47319726e-04 -3.16441333e-05 9.99999790e-01 -6.50666690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72999999999996 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:172.14, Y:106.69, Z:-0.65 [[-6.22481994e-01 7.82634032e-01 -3.74115215e-04 1.72138724e+02] [-7.82633854e-01 -6.22482105e-01 -5.29208773e-04 1.06687272e+02] [-6.47056822e-04 -3.66276998e-05 9.99999790e-01 -6.54357596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:172.13, Y:106.66, Z:-0.65 [[-6.07971294e-01 7.93958914e-01 -3.84886072e-04 1.72132401e+02] [-7.93958743e-01 -6.07971416e-01 -5.21586666e-04 1.06664988e+02] [-6.48118113e-04 -1.15260585e-05 9.99999790e-01 -6.51688545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78999999999996 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:172.13, Y:106.66, Z:-0.65 [[-6.01809280e-01 7.98639750e-01 -3.73838935e-04 1.72128395e+02] [-7.98639575e-01 -6.01809396e-01 -5.29387846e-04 1.06658337e+02] [-6.47769961e-04 -2.00279504e-05 9.99999790e-01 -6.52992402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:172.13, Y:106.66, Z:-0.65 [[-5.99900372e-01 8.00074624e-01 -3.73637485e-04 1.72131055e+02] [-8.00074449e-01 -5.99900488e-01 -5.29529990e-04 1.06663309e+02] [-6.47808817e-04 -1.87274327e-05 9.99999790e-01 -6.53678049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84999999999997 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:172.13, Y:106.66, Z:-0.65 [[-5.98773186e-01 8.00918556e-01 -3.73435412e-04 1.72130435e+02] [-8.00918381e-01 -5.98773302e-01 -5.29672458e-04 1.06663382e+02] [-6.47827655e-04 -1.80623799e-05 9.99999790e-01 -6.54858882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:172.13, Y:106.67, Z:-0.66 [[-5.99721064e-01 8.00209039e-01 -3.73233284e-04 1.72131330e+02] [-8.00208864e-01 -5.99721180e-01 -5.29814849e-04 1.06665875e+02] [-6.47798537e-04 -1.90765428e-05 9.99999790e-01 -6.55240232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90999999999997 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:172.14, Y:106.67, Z:-0.66 [[-6.01217174e-01 7.99085584e-01 -3.73030868e-04 1.72137734e+02] [-7.99085408e-01 -6.01217290e-01 -5.29957327e-04 1.06673837e+02] [-6.47753868e-04 -2.05359230e-05 9.99999790e-01 -6.55038288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:172.14, Y:106.68, Z:-0.65 [[-6.02689991e-01 7.97975335e-01 -3.72828933e-04 1.72142475e+02] [-7.97975160e-01 -6.02690106e-01 -5.30099352e-04 1.06679650e+02] [-6.47706517e-04 -2.19773467e-05 9.99999790e-01 -6.54357086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96999999999997 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:172.14, Y:106.68, Z:-0.65 [[-6.05779942e-01 7.95632153e-01 -3.72627875e-04 1.72142682e+02] [-7.95631977e-01 -6.05780056e-01 -5.30240646e-04 1.06681012e+02] [-6.47607042e-04 -2.47344945e-05 9.99999790e-01 -6.53350537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:172.15, Y:106.72, Z:-0.66 [[-6.27482098e-01 7.78630900e-01 -3.72426995e-04 1.72152610e+02] [-7.78630720e-01 -6.27482207e-01 -5.30381701e-04 1.06718889e+02] [-6.46662894e-04 -4.28219232e-05 9.99999790e-01 -6.61227487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:172.15, Y:106.69, Z:-0.65 [[-6.09717206e-01 7.92618933e-01 -3.93902423e-04 1.72148299e+02] [-7.92618766e-01 -6.09717333e-01 -5.15256453e-04 1.06690366e+02] [-6.48571155e-04 -1.94627251e-06 9.99999790e-01 -6.54214581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:172.15, Y:106.70, Z:-0.65 [[-6.11158422e-01 7.91508209e-01 -3.72210803e-04 1.72151460e+02] [-7.91508032e-01 -6.11158534e-01 -5.30476459e-04 1.06695800e+02] [-6.47356281e-04 -2.95973156e-05 9.99999790e-01 -6.54492722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:172.15, Y:106.70, Z:-0.66 [[-6.13702269e-01 7.89537451e-01 -3.72010852e-04 1.72153313e+02] [-7.89537274e-01 -6.13702381e-01 -5.30616643e-04 1.06700327e+02] [-6.47245658e-04 -3.19242035e-05 9.99999790e-01 -6.55241199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:172.15, Y:106.70, Z:-0.66 [[-6.14034889e-01 7.89278796e-01 -3.71811274e-04 1.72153280e+02] [-7.89278618e-01 -6.14035000e-01 -5.30756454e-04 1.06700350e+02] [-6.47219951e-04 -3.24402915e-05 9.99999790e-01 -6.55068450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:172.15, Y:106.70, Z:-0.65 [[-6.14037579e-01 7.89276703e-01 -3.71611577e-04 1.72154461e+02] [-7.89276525e-01 -6.14037691e-01 -5.30896236e-04 1.06702644e+02] [-6.47207545e-04 -3.26859449e-05 9.99999790e-01 -6.54768046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:172.17, Y:106.75, Z:-0.66 [[-6.35501558e-01 7.72099496e-01 -3.71411666e-04 1.72171354e+02] [-7.72099315e-01 -6.35501664e-01 -5.31036055e-04 1.06753391e+02] [-6.46045403e-04 -5.07075469e-05 9.99999790e-01 -6.61303743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.65 [[-6.12441775e-01 7.90515601e-01 -3.96409827e-04 1.72156614e+02] [-7.90515434e-01 -6.12441903e-01 -5.13491430e-04 1.06705615e+02] [-6.48700975e-04 -1.11551650e-06 9.99999790e-01 -6.53684801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.65 [[-6.10797355e-01 7.91786874e-01 -3.71177363e-04 1.72160303e+02] [-7.91786696e-01 -6.10797467e-01 -5.31125163e-04 1.06711100e+02] [-6.47252126e-04 -3.05165468e-05 9.99999790e-01 -6.53771961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.65 [[-6.09028190e-01 7.93148489e-01 -3.70977432e-04 1.72160634e+02] [-7.93148312e-01 -6.09028303e-01 -5.31264774e-04 1.06711750e+02] [-6.47307608e-04 -2.93150997e-05 9.99999790e-01 -6.54309947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.66 [[-6.03810819e-01 7.97127566e-01 -3.70777610e-04 1.72157106e+02] [-7.97127390e-01 -6.03810933e-01 -5.31404196e-04 1.06708317e+02] [-6.47476508e-04 -2.53106143e-05 9.99999790e-01 -6.55164947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:172.17, Y:106.76, Z:-0.66 [[-6.25835610e-01 7.79954904e-01 -3.70577081e-04 1.72171348e+02] [-7.79954724e-01 -6.25835718e-01 -5.31543998e-04 1.06758548e+02] [-6.46500722e-04 -4.36258173e-05 9.99999790e-01 -6.62693884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.66 [[-5.98110752e-01 8.01413359e-01 -3.95191504e-04 1.72158987e+02] [-8.01413194e-01 -5.98110883e-01 -5.14329120e-04 1.06709074e+02] [-6.48558567e-04 9.08590834e-06 9.99999790e-01 -6.55138471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.66 [[-5.92459471e-01 8.05600172e-01 -3.70275668e-04 1.72158744e+02] [-8.05599997e-01 -5.92459587e-01 -5.31681116e-04 1.06706571e+02] [-6.47695768e-04 -1.67054356e-05 9.99999790e-01 -6.56074606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41999999999996 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.66 [[-5.89620875e-01 8.07680065e-01 -3.70073645e-04 1.72160127e+02] [-8.07679890e-01 -5.89620991e-01 -5.31821695e-04 1.06708874e+02] [-6.47744971e-04 -1.46721319e-05 9.99999790e-01 -6.55922718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.66 [[-5.87275892e-01 8.09386737e-01 -3.69871202e-04 1.72161052e+02] [-8.09386562e-01 -5.87276009e-01 -5.31962453e-04 1.06710898e+02] [-6.47779837e-04 -1.30399436e-05 9.99999790e-01 -6.55408842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47999999999996 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.66 [[-5.86000678e-01 8.10310477e-01 -3.69668706e-04 1.72162027e+02] [-8.10310302e-01 -5.86000795e-01 -5.32103134e-04 1.06710780e+02] [-6.47794899e-04 -1.22664369e-05 9.99999790e-01 -6.55591205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.65 [[-5.83538819e-01 8.12085162e-01 -3.69465953e-04 1.72162781e+02] [-8.12084988e-01 -5.83538936e-01 -5.32243878e-04 1.06711457e+02] [-6.47825125e-04 -1.05472100e-05 9.99999790e-01 -6.54233051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53999999999996 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:172.16, Y:106.71, Z:-0.65 [[-5.82321568e-01 8.12958459e-01 -3.69262845e-04 1.72164528e+02] [-8.12958284e-01 -5.82321685e-01 -5.32384754e-04 1.06713640e+02] [-6.47836451e-04 -9.82383562e-06 9.99999790e-01 -6.53798393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:172.17, Y:106.72, Z:-0.65 [[-5.81208047e-01 8.13754920e-01 -3.69059615e-04 1.72166442e+02] [-8.13754746e-01 -5.81208164e-01 -5.32525599e-04 1.06715903e+02] [-6.47845788e-04 -9.18414995e-06 9.99999790e-01 -6.52187494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59999999999997 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:172.17, Y:106.72, Z:-0.65 [[-5.80518320e-01 8.14247102e-01 -3.68856332e-04 1.72167213e+02] [-8.14246928e-01 -5.80518437e-01 -5.32666367e-04 1.06717633e+02] [-6.47849948e-04 -8.88244962e-06 9.99999790e-01 -6.51737633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:172.19, Y:106.78, Z:-0.66 [[-6.08624303e-01 7.93458456e-01 -3.68652896e-04 1.72186406e+02] [-7.93458278e-01 -6.08624414e-01 -5.32807126e-04 1.06781047e+02] [-6.47131472e-04 -3.17686745e-05 9.99999790e-01 -6.55647723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65999999999997 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:172.17, Y:106.72, Z:-0.65 [[-5.79999779e-01 8.14616534e-01 -3.99848816e-04 1.72166234e+02] [-8.14616374e-01 -5.79999916e-01 -5.11127789e-04 1.06720182e+02] [-6.48285428e-04 2.92693883e-05 9.99999789e-01 -6.52790815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:172.17, Y:106.72, Z:-0.65 [[-5.80327930e-01 8.14382808e-01 -3.68351144e-04 1.72167352e+02] [-8.14382634e-01 -5.80328047e-01 -5.32899626e-04 1.06722963e+02] [-6.47748794e-04 -9.27776196e-06 9.99999790e-01 -6.53712696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71999999999997 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:172.19, Y:106.80, Z:-0.66 [[-6.17098683e-01 7.86885684e-01 -3.68147042e-04 1.72186037e+02] [-7.86885505e-01 -6.17098791e-01 -5.33040590e-04 1.06796640e+02] [-6.46625105e-04 -3.92490747e-05 9.99999790e-01 -6.61393661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:172.18, Y:106.80, Z:-0.66 [[-6.17627812e-01 7.86470416e-01 -4.11702079e-04 1.72183324e+02] [-7.86470256e-01 -6.17627949e-01 -5.02549039e-04 1.06795611e+02] [-6.49518663e-04 1.34031757e-05 9.99999789e-01 -6.61779229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:172.18, Y:106.80, Z:-0.66 [[-6.18993007e-01 7.85396391e-01 -4.08578491e-04 1.72183724e+02] [-7.85396228e-01 -6.18993142e-01 -5.04734189e-04 1.06800143e+02] [-6.49323694e-04 8.46907262e-06 9.99999789e-01 -6.62816981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:172.18, Y:106.80, Z:-0.67 [[-6.19974742e-01 7.84621663e-01 -4.06152368e-04 1.72177589e+02] [-7.84621500e-01 -6.19974875e-01 -5.06429953e-04 1.06798331e+02] [-6.49160175e-04 4.70210065e-06 9.99999789e-01 -6.65144060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:172.18, Y:106.80, Z:-0.67 [[-6.19734559e-01 7.84811383e-01 -4.11599737e-04 1.72180828e+02] [-7.84811222e-01 -6.19734695e-01 -5.02620210e-04 1.06804901e+02] [-6.49544700e-04 1.15369788e-05 9.99999789e-01 -6.65698416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:172.18, Y:106.81, Z:-0.67 [[-6.19334494e-01 7.85127134e-01 -4.09462577e-04 1.72182976e+02] [-7.85126973e-01 -6.19334629e-01 -5.04114999e-04 1.06810466e+02] [-6.49388718e-04 9.26430609e-06 9.99999789e-01 -6.66457390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:172.17, Y:106.75, Z:-0.66 [[-5.81363773e-01 8.13643655e-01 -4.07838605e-04 1.72170288e+02] [-8.13643499e-01 -5.81363915e-01 -5.05242507e-04 1.06750853e+02] [-6.48190008e-04 3.81055390e-05 9.99999789e-01 -6.58094936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:172.17, Y:106.75, Z:-0.66 [[-5.81053989e-01 8.13864932e-01 -3.67403005e-04 1.72171738e+02] [-8.13864757e-01 -5.81054105e-01 -5.33109505e-04 1.06753122e+02] [-6.47360155e-04 -1.07490465e-05 9.99999790e-01 -6.58115779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:172.17, Y:106.76, Z:-0.66 [[-5.81013901e-01 8.13893551e-01 -3.67200005e-04 1.72172556e+02] [-8.13893376e-01 -5.81014017e-01 -5.33249293e-04 1.06755625e+02] [-6.47356510e-04 -1.09635999e-05 9.99999790e-01 -6.55944192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:172.19, Y:106.82, Z:-0.66 [[-6.18555463e-01 7.85741055e-01 -3.66996951e-04 1.72188327e+02] [-7.85740875e-01 -6.18555570e-01 -5.33389003e-04 1.06823026e+02] [-6.46113646e-04 -4.15661762e-05 9.99999790e-01 -6.63947455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:172.18, Y:106.76, Z:-0.66 [[-5.86093200e-01 8.10243541e-01 -4.07660763e-04 1.72176654e+02] [-8.10243384e-01 -5.86093341e-01 -5.05232006e-04 1.06764062e+02] [-6.48288228e-04 3.41913931e-05 9.99999789e-01 -6.57777094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:172.18, Y:106.77, Z:-0.66 [[-5.87606697e-01 8.09146609e-01 -3.66764000e-04 1.72179289e+02] [-8.09146434e-01 -5.87606811e-01 -5.33354860e-04 1.06768877e+02] [-6.47075301e-04 -1.66371044e-05 9.99999791e-01 -6.57037038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:172.18, Y:106.77, Z:-0.66 [[-5.88185013e-01 8.08726317e-01 -3.66561575e-04 1.72181135e+02] [-8.08726141e-01 -5.88185127e-01 -5.33493945e-04 1.06772847e+02] [-6.47056660e-04 -1.73452147e-05 9.99999791e-01 -6.56998425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11 meters Centerline goodness : 0.996637 Centerline is valid? [True, True] Translation: X:172.19, Y:106.78, Z:-0.66 [[-5.90919112e-01 8.06730729e-01 -3.66359464e-04 1.72187376e+02] [-8.06730552e-01 -5.90919226e-01 -5.33632702e-04 1.06775975e+02] [-6.46986750e-04 -1.97803901e-05 9.99999791e-01 -6.56327359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:172.19, Y:106.78, Z:-0.66 [[-5.92758430e-01 8.05380227e-01 -3.66161430e-04 1.72191543e+02] [-8.05380051e-01 -5.92758542e-01 -5.33768552e-04 1.06777402e+02] [-6.46931953e-04 -2.14966974e-05 9.99999791e-01 -6.56450609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16999999999996 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:172.20, Y:106.78, Z:-0.66 [[-5.94377417e-01 8.04186143e-01 -3.65961821e-04 1.72195884e+02] [-8.04185966e-01 -5.94377529e-01 -5.33905373e-04 1.06779893e+02] [-6.46878785e-04 -2.30399356e-05 9.99999791e-01 -6.56832707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:172.20, Y:106.78, Z:-0.66 [[-5.95223025e-01 8.03560462e-01 -3.65760416e-04 1.72197936e+02] [-8.03560285e-01 -5.95223137e-01 -5.34043313e-04 1.06780780e+02] [-6.46845154e-04 -2.39643324e-05 9.99999791e-01 -6.57457054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22999999999996 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:172.20, Y:106.82, Z:-0.66 [[-6.21035769e-01 7.83782138e-01 -3.65559171e-04 1.72199286e+02] [-7.83781957e-01 -6.21035875e-01 -5.34181032e-04 1.06818841e+02] [-6.45706911e-04 -4.52268458e-05 9.99999791e-01 -6.59039060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:172.21, Y:106.84, Z:-0.66 [[-6.26247426e-01 7.79624268e-01 -4.02544761e-04 1.72211854e+02] [-7.79624102e-01 -6.26247556e-01 -5.08603136e-04 1.06843845e+02] [-6.48612020e-04 -4.67780708e-06 9.99999790e-01 -6.63702049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28999999999996 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:172.20, Y:106.78, Z:-0.66 [[-5.90856218e-01 8.06776780e-01 -3.96511596e-04 1.72201408e+02] [-8.06776617e-01 -5.90856351e-01 -5.12755238e-04 1.06782640e+02] [-6.47960415e-04 1.69316628e-05 9.99999790e-01 -6.57161272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:172.21, Y:106.83, Z:-0.66 [[-6.19250151e-01 7.85193681e-01 -3.65440729e-04 1.72208706e+02] [-7.85193501e-01 -6.19250257e-01 -5.34017754e-04 1.06831309e+02] [-6.45606631e-04 -4.37488897e-05 9.99999791e-01 -6.60710028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34999999999997 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:172.21, Y:106.83, Z:-0.66 [[-6.11913057e-01 7.90924932e-01 -4.03715428e-04 1.72207384e+02] [-7.90924769e-01 -6.11913190e-01 -5.07565347e-04 1.06825312e+02] [-6.48484883e-04 8.72266844e-06 9.99999790e-01 -6.61276707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:172.21, Y:106.83, Z:-0.66 [[-6.08861607e-01 7.93276361e-01 -3.99046860e-04 1.72210896e+02] [-7.93276197e-01 -6.08861737e-01 -5.10788519e-04 1.06828617e+02] [-6.48160822e-04 5.55485702e-06 9.99999790e-01 -6.59177393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40999999999997 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:172.21, Y:106.82, Z:-0.66 [[-6.02942303e-01 7.97784695e-01 -4.01211068e-04 1.72207835e+02] [-7.97784532e-01 -6.02942436e-01 -5.09295202e-04 1.06820845e+02] [-6.48215096e-04 1.30043623e-05 9.99999790e-01 -6.58726377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:172.21, Y:106.81, Z:-0.66 [[-5.95960480e-01 8.03013666e-01 -3.97645752e-04 1.72205567e+02] [-8.03013503e-01 -5.95960612e-01 -5.11750578e-04 1.06813449e+02] [-6.47923914e-04 1.43317887e-05 9.99999790e-01 -6.58199264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46999999999997 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:172.20, Y:106.81, Z:-0.66 [[-5.93504098e-01 8.04830868e-01 -3.99503356e-04 1.72202068e+02] [-8.04830706e-01 -5.93504232e-01 -5.10472363e-04 1.06807756e+02] [-6.47950847e-04 1.85651282e-05 9.99999790e-01 -6.59195004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:172.20, Y:106.81, Z:-0.66 [[-5.90804674e-01 8.06814524e-01 -4.00877965e-04 1.72204230e+02] [-8.06814364e-01 -5.90804810e-01 -5.09526793e-04 1.06808196e+02] [-6.47934247e-04 2.24032894e-05 9.99999790e-01 -6.59145216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:172.20, Y:106.80, Z:-0.66 [[-5.84115172e-01 8.11670688e-01 -3.99924876e-04 1.72200758e+02] [-8.11670528e-01 -5.84115308e-01 -5.10181558e-04 1.06802301e+02] [-6.47701658e-04 2.66024468e-05 9.99999790e-01 -6.60249980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:172.20, Y:106.79, Z:-0.66 [[-5.80304410e-01 8.14399556e-01 -3.95311960e-04 1.72195079e+02] [-8.14399394e-01 -5.80304544e-01 -5.13344316e-04 1.06791007e+02] [-6.47468709e-04 2.40458510e-05 9.99999790e-01 -6.58906529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:172.20, Y:106.79, Z:-0.66 [[-5.75132665e-01 8.18060058e-01 -4.00013685e-04 1.72199280e+02] [-8.18059899e-01 -5.75132803e-01 -5.10123054e-04 1.06793770e+02] [-6.47372287e-04 3.38467231e-05 9.99999790e-01 -6.59009185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:172.20, Y:106.80, Z:-0.66 [[-5.73583859e-01 8.19146752e-01 -3.93400952e-04 1.72199629e+02] [-8.19146591e-01 -5.73583994e-01 -5.14644545e-04 1.06795056e+02] [-6.47217897e-04 2.70612448e-05 9.99999790e-01 -6.61047187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:172.20, Y:106.79, Z:-0.66 [[-5.70819997e-01 8.21075135e-01 -3.91576201e-04 1.72198571e+02] [-8.21074974e-01 -5.70820130e-01 -5.15891280e-04 1.06792147e+02] [-6.47105081e-04 2.70323601e-05 9.99999790e-01 -6.59447289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:172.20, Y:106.80, Z:-0.66 [[-5.68129813e-01 8.22938857e-01 -3.92753341e-04 1.72204695e+02] [-8.22938696e-01 -5.68129948e-01 -5.15087293e-04 1.06800668e+02] [-6.47020283e-04 3.05754747e-05 9.99999790e-01 -6.58053817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:172.20, Y:106.79, Z:-0.66 [[-5.63759708e-01 8.25938762e-01 -3.90243354e-04 1.72202325e+02] [-8.25938601e-01 -5.63759842e-01 -5.16799342e-04 1.06793968e+02] [-6.46848141e-04 3.09664032e-05 9.99999790e-01 -6.57290911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:172.20, Y:106.79, Z:-0.66 [[-5.64996992e-01 8.25092872e-01 -3.88127842e-04 1.72199769e+02] [-8.25092710e-01 -5.64997125e-01 -5.18240685e-04 1.06792711e+02] [-6.46887810e-04 2.74370243e-05 9.99999790e-01 -6.58195025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:172.20, Y:106.78, Z:-0.66 [[-5.60784449e-01 8.27961744e-01 -3.90680744e-04 1.72195959e+02] [-8.27961583e-01 -5.60784584e-01 -5.16502440e-04 1.06784074e+02] [-6.46732000e-04 3.38221114e-05 9.99999790e-01 -6.56780140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:172.21, Y:106.78, Z:-0.66 [[-5.40343006e-01 8.41444762e-01 -3.86499580e-04 1.72207969e+02] [-8.41444603e-01 -5.40343142e-01 -5.19341430e-04 1.06778617e+02] [-6.45839523e-04 4.45954762e-05 9.99999790e-01 -6.56151780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:172.21, Y:106.81, Z:-0.66 [[-5.59172883e-01 8.29050997e-01 -3.62186468e-04 1.72211213e+02] [-8.29050824e-01 -5.59173001e-01 -5.35777145e-04 1.06809234e+02] [-6.46711470e-04 6.78938610e-07 9.99999791e-01 -6.57399649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:172.20, Y:106.80, Z:-0.66 [[-5.57772474e-01 8.29993805e-01 -3.87829144e-04 1.72203161e+02] [-8.29993644e-01 -5.57772608e-01 -5.18354937e-04 1.06797211e+02] [-6.46551859e-04 3.27716089e-05 9.99999790e-01 -6.58421999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:172.20, Y:106.78, Z:-0.66 [[-5.39753185e-01 8.41823230e-01 -3.84660818e-04 1.72202999e+02] [-8.41823070e-01 -5.39753321e-01 -5.20500790e-04 1.06775524e+02] [-6.45791611e-04 4.28743911e-05 9.99999791e-01 -6.58807740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91999999999996 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:172.21, Y:106.78, Z:-0.66 [[-5.41816234e-01 8.40496900e-01 -3.61569955e-04 1.72210089e+02] [-8.40496729e-01 -5.41816354e-01 -5.36075033e-04 1.06784654e+02] [-6.46473918e-04 1.34442095e-05 9.99999791e-01 -6.59335088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:172.22, Y:106.81, Z:-0.66 [[-5.59849001e-01 8.28594572e-01 -3.61360423e-04 1.72217854e+02] [-8.28594399e-01 -5.59849118e-01 -5.36216238e-04 1.06814763e+02] [-6.46613178e-04 -7.78902324e-07 9.99999791e-01 -6.58484356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97999999999996 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:172.22, Y:106.81, Z:-0.66 [[-5.63194456e-01 8.26324305e-01 -3.84437786e-04 1.72215216e+02] [-8.26324141e-01 -5.63194587e-01 -5.20593268e-04 1.06812233e+02] [-6.46692150e-04 2.44749816e-05 9.99999791e-01 -6.62163930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:172.22, Y:106.80, Z:-0.66 [[-5.49368882e-01 8.35579852e-01 -3.76496294e-04 1.72221951e+02] [-8.35579687e-01 -5.49369011e-01 -5.25955571e-04 1.06800746e+02] [-6.46313275e-04 2.56490313e-05 9.99999791e-01 -6.58897978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03999999999996 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:172.22, Y:106.80, Z:-0.66 [[-5.49375100e-01 8.35575771e-01 -3.61043303e-04 1.72222313e+02] [-8.35575599e-01 -5.49375218e-01 -5.36357585e-04 1.06801541e+02] [-6.46515646e-04 7.01747224e-06 9.99999791e-01 -6.58816228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:172.23, Y:106.81, Z:-0.66 [[-5.51735503e-01 8.34019067e-01 -3.60840375e-04 1.72225760e+02] [-8.34018895e-01 -5.51735621e-01 -5.36494072e-04 1.06807147e+02] [-6.46534774e-04 4.94486379e-06 9.99999791e-01 -6.59824480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09999999999997 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:172.23, Y:106.81, Z:-0.66 [[-5.52329996e-01 8.33625483e-01 -3.60633314e-04 1.72227066e+02] [-8.33625310e-01 -5.52330113e-01 -5.36633223e-04 1.06808077e+02] [-6.46539769e-04 4.23443223e-06 9.99999791e-01 -6.56481642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:172.23, Y:106.81, Z:-0.66 [[-5.53290296e-01 8.32988426e-01 -3.60426339e-04 1.72228753e+02] [-8.32988253e-01 -5.53290413e-01 -5.36772201e-04 1.06810302e+02] [-6.46545469e-04 3.24005652e-06 9.99999791e-01 -6.55642985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15999999999997 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:172.22, Y:106.80, Z:-0.66 [[-5.52693892e-01 8.33384264e-01 -3.60219240e-04 1.72223038e+02] [-8.33384091e-01 -5.52694009e-01 -5.36911146e-04 1.06801256e+02] [-6.46544316e-04 3.45347367e-06 9.99999791e-01 -6.56706059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:172.23, Y:106.81, Z:-0.66 [[-5.52856488e-01 8.33276409e-01 -3.60011078e-04 1.72225760e+02] [-8.33276236e-01 -5.52856605e-01 -5.37050687e-04 1.06806132e+02] [-6.46546170e-04 3.07671959e-06 9.99999791e-01 -6.56566023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21999999999997 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:172.23, Y:106.82, Z:-0.66 [[-5.52518340e-01 8.33500662e-01 -3.59802017e-04 1.72234249e+02] [-8.33500489e-01 -5.52518458e-01 -5.37190713e-04 1.06820396e+02] [-6.46546070e-04 3.08743625e-06 9.99999791e-01 -6.56948348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:172.23, Y:106.82, Z:-0.66 [[-5.51491848e-01 8.34180204e-01 -3.59594202e-04 1.72234949e+02] [-8.34180031e-01 -5.51491965e-01 -5.37329788e-04 1.06821213e+02] [-6.46543185e-04 3.63330480e-06 9.99999791e-01 -6.56835211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:172.23, Y:106.82, Z:-0.66 [[-5.50778988e-01 8.34651051e-01 -3.59387269e-04 1.72234280e+02] [-8.34650878e-01 -5.50779105e-01 -5.37468156e-04 1.06821017e+02] [-6.46541361e-04 3.93673264e-06 9.99999791e-01 -6.58896280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:172.24, Y:106.82, Z:-0.66 [[-5.49707043e-01 8.35357431e-01 -3.59179903e-04 1.72235164e+02] [-8.35357258e-01 -5.49707161e-01 -5.37606700e-04 1.06823037e+02] [-6.46537516e-04 4.51734899e-06 9.99999791e-01 -6.57067365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:172.24, Y:106.82, Z:-0.66 [[-5.47337874e-01 8.36911658e-01 -3.58972240e-04 1.72236284e+02] [-8.36911485e-01 -5.47337992e-01 -5.37745326e-04 1.06824099e+02] [-6.46524477e-04 6.09960691e-06 9.99999791e-01 -6.56420897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:172.24, Y:106.83, Z:-0.66 [[-5.45422511e-01 8.38161175e-01 -3.58764383e-04 1.72239222e+02] [-8.38161003e-01 -5.45422629e-01 -5.37883964e-04 1.06828360e+02] [-6.46511669e-04 7.32829275e-06 9.99999791e-01 -6.55144380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:172.24, Y:106.83, Z:-0.65 [[-5.43844864e-01 8.39185698e-01 -3.58556543e-04 1.72237992e+02] [-8.39185525e-01 -5.43844983e-01 -5.38022476e-04 1.06826143e+02] [-6.46499944e-04 8.29470079e-06 9.99999791e-01 -6.54821337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:172.24, Y:106.83, Z:-0.65 [[-5.40496302e-01 8.41346313e-01 -3.58348407e-04 1.72239845e+02] [-8.41346141e-01 -5.40496421e-01 -5.38161069e-04 1.06827957e+02] [-6.46465863e-04 1.06209814e-05 9.99999791e-01 -6.53524902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:172.24, Y:106.83, Z:-0.65 [[-5.38351841e-01 8.42720100e-01 -3.58139831e-04 1.72241270e+02] [-8.42719929e-01 -5.38351960e-01 -5.38299838e-04 1.06830475e+02] [-6.46441373e-04 1.20168643e-05 9.99999791e-01 -6.53739815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:172.24, Y:106.83, Z:-0.65 [[-5.37512460e-01 8.43255730e-01 -3.57931202e-04 1.72239799e+02] [-8.43255559e-01 -5.37512579e-01 -5.38438526e-04 1.06829643e+02] [-6.46433896e-04 1.24100585e-05 9.99999791e-01 -6.53030072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:172.24, Y:106.83, Z:-0.65 [[-5.35471893e-01 8.44552973e-01 -3.57722235e-04 1.72238127e+02] [-8.44552801e-01 -5.35472012e-01 -5.38577321e-04 1.06827908e+02] [-6.46407323e-04 1.37222983e-05 9.99999791e-01 -6.53862262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:172.24, Y:106.84, Z:-0.65 [[-5.35000591e-01 8.44851608e-01 -3.57512509e-04 1.72244553e+02] [-8.44851436e-01 -5.35000711e-01 -5.38716503e-04 1.06837697e+02] [-6.46404950e-04 1.38313091e-05 9.99999791e-01 -6.54141154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:172.24, Y:106.84, Z:-0.65 [[-5.34282676e-01 8.45305799e-01 -3.57303047e-04 1.72244327e+02] [-8.45305628e-01 -5.34282796e-01 -5.38855393e-04 1.06837040e+02] [-6.46398459e-04 1.41291747e-05 9.99999791e-01 -6.54938889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:172.24, Y:106.84, Z:-0.65 [[-5.34958308e-01 8.44878382e-01 -3.57093919e-04 1.72243236e+02] [-8.44878211e-01 -5.34958427e-01 -5.38993944e-04 1.06835461e+02] [-6.46414733e-04 1.33615827e-05 9.99999791e-01 -6.54751642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:172.25, Y:106.84, Z:-0.65 [[-5.35333920e-01 8.44640436e-01 -3.56884102e-04 1.72245296e+02] [-8.44640264e-01 -5.35334039e-01 -5.39132835e-04 1.06839311e+02] [-6.46425600e-04 1.28225884e-05 9.99999791e-01 -6.54540955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66999999999996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:172.25, Y:106.85, Z:-0.65 [[-5.36232319e-01 8.44070360e-01 -3.56673983e-04 1.72250323e+02] [-8.44070188e-01 -5.36232437e-01 -5.39271807e-04 1.06847526e+02] [-6.46443508e-04 1.18829047e-05 9.99999791e-01 -6.53684376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:172.24, Y:106.84, Z:-0.65 [[-5.38263709e-01 8.42776395e-01 -3.56464519e-04 1.72243182e+02] [-8.42776223e-01 -5.38263827e-01 -5.39410230e-04 1.06837115e+02] [-6.46474165e-04 1.00748699e-05 9.99999791e-01 -6.53505864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72999999999996 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:172.25, Y:106.86, Z:-0.66 [[-5.46939227e-01 8.37172237e-01 -3.56254293e-04 1.72250437e+02] [-8.37172064e-01 -5.46939343e-01 -5.39549038e-04 1.06858496e+02] [-6.46544964e-04 3.14560741e-06 9.99999791e-01 -6.58034108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:172.25, Y:106.85, Z:-0.65 [[-5.40171809e-01 8.41554684e-01 -3.62079674e-04 1.72252756e+02] [-8.41554513e-01 -5.40171930e-01 -5.35701630e-04 1.06852928e+02] [-6.46407492e-04 1.53388651e-05 9.99999791e-01 -6.52809157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78999999999996 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:172.25, Y:106.86, Z:-0.65 [[-5.41650685e-01 8.40603598e-01 -3.55888544e-04 1.72254290e+02] [-8.40603425e-01 -5.41650802e-01 -5.39783548e-04 1.06856169e+02] [-6.46511307e-04 6.78700023e-06 9.99999791e-01 -6.52919837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:172.26, Y:106.86, Z:-0.65 [[-5.42459863e-01 8.40081645e-01 -3.55679198e-04 1.72257637e+02] [-8.40081472e-01 -5.42459979e-01 -5.39921457e-04 1.06862265e+02] [-6.46519836e-04 5.91378464e-06 9.99999791e-01 -6.53641059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84999999999997 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:172.26, Y:106.86, Z:-0.65 [[-5.42135186e-01 8.40291208e-01 -3.55470186e-04 1.72259060e+02] [-8.40291034e-01 -5.42135303e-01 -5.40059030e-04 1.06864561e+02] [-6.46519791e-04 5.91340702e-06 9.99999791e-01 -6.53639433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:172.26, Y:106.87, Z:-0.66 [[-5.44016628e-01 8.39074360e-01 -3.55261435e-04 1.72260195e+02] [-8.39074187e-01 -5.44016744e-01 -5.40196315e-04 1.06867359e+02] [-6.46533047e-04 4.21492226e-06 9.99999791e-01 -6.55254413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90999999999997 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:172.26, Y:106.87, Z:-0.66 [[-5.44391124e-01 8.38831436e-01 -3.55052632e-04 1.72262781e+02] [-8.38831262e-01 -5.44391240e-01 -5.40333519e-04 1.06872391e+02] [-6.46536285e-04 3.67647583e-06 9.99999791e-01 -6.55787466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:172.26, Y:106.87, Z:-0.66 [[-5.44933528e-01 8.38479173e-01 -3.54844091e-04 1.72263663e+02] [-8.38478999e-01 -5.44933644e-01 -5.40470437e-04 1.06874311e+02] [-6.46539688e-04 3.00885598e-06 9.99999791e-01 -6.55807403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96999999999997 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:172.27, Y:106.88, Z:-0.66 [[-5.46714105e-01 8.37319271e-01 -3.54635637e-04 1.72265467e+02] [-8.37319097e-01 -5.46714220e-01 -5.40607181e-04 1.06877229e+02] [-6.46545156e-04 1.38561961e-06 9.99999791e-01 -6.55585768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:172.27, Y:106.89, Z:-0.66 [[-5.54878601e-01 8.31931255e-01 -3.54427130e-04 1.72269141e+02] [-8.31931079e-01 -5.54878714e-01 -5.40743846e-04 1.06893459e+02] [-6.46525776e-04 -5.18824366e-06 9.99999791e-01 -6.60699250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:172.27, Y:106.88, Z:-0.65 [[-5.47821053e-01 8.36595460e-01 -3.59788747e-04 1.72267505e+02] [-8.36595288e-01 -5.47821171e-01 -5.37228689e-04 1.06880386e+02] [-6.46542975e-04 6.69238377e-06 9.99999791e-01 -6.54588378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:172.27, Y:106.89, Z:-0.66 [[-5.55484749e-01 8.31526649e-01 -3.54179125e-04 1.72268676e+02] [-8.31526474e-01 -5.55484861e-01 -5.40901835e-04 1.06891233e+02] [-6.46515432e-04 -5.95340116e-06 9.99999791e-01 -6.59312791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:172.27, Y:106.89, Z:-0.65 [[-5.49113437e-01 8.35747752e-01 -3.58719770e-04 1.72272438e+02] [-8.35747579e-01 -5.49113554e-01 -5.37928737e-04 1.06888679e+02] [-6.46550621e-04 4.41528169e-06 9.99999791e-01 -6.53512003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:172.27, Y:106.89, Z:-0.65 [[-5.48930197e-01 8.35868120e-01 -3.53791638e-04 1.72273349e+02] [-8.35867945e-01 -5.48930311e-01 -5.41150634e-04 1.06890018e+02] [-6.46537517e-04 -1.33083478e-06 9.99999791e-01 -6.52665983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:172.27, Y:106.89, Z:-0.66 [[-5.55690167e-01 8.31389387e-01 -3.53583446e-04 1.72270247e+02] [-8.31389211e-01 -5.55690279e-01 -5.41286631e-04 1.06893071e+02] [-6.46502845e-04 -6.82219594e-06 9.99999791e-01 -6.56737940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:172.27, Y:106.89, Z:-0.66 [[-5.55225694e-01 8.31699645e-01 -3.58911311e-04 1.72271159e+02] [-8.31699472e-01 -5.55225810e-01 -5.37805275e-04 1.06893940e+02] [-6.46569280e-04 -9.69592162e-08 9.99999791e-01 -6.56364979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:172.28, Y:106.90, Z:-0.66 [[-5.54260292e-01 8.32343318e-01 -3.58683328e-04 1.72276898e+02] [-8.32343145e-01 -5.54260409e-01 -5.37954134e-04 1.06903299e+02] [-6.46566497e-04 3.80993741e-07 9.99999791e-01 -6.57523212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:172.28, Y:106.89, Z:-0.65 [[-5.45476789e-01 8.38125852e-01 -3.58181944e-04 1.72275246e+02] [-8.38125680e-01 -5.45476907e-01 -5.38281241e-04 1.06889910e+02] [-6.46527402e-04 6.58156189e-06 9.99999791e-01 -6.52004020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:172.28, Y:106.89, Z:-0.65 [[-5.44199847e-01 8.38955543e-01 -3.52923102e-04 1.72278762e+02] [-8.38955368e-01 -5.44199961e-01 -5.41707384e-04 1.06894604e+02] [-6.46529150e-04 1.28965541e-06 9.99999791e-01 -6.52169792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:172.28, Y:106.90, Z:-0.65 [[-5.42864103e-01 8.39820481e-01 -3.52713470e-04 1.72282631e+02] [-8.39820307e-01 -5.42864218e-01 -5.41843844e-04 1.06899981e+02] [-6.46527080e-04 2.06836185e-06 9.99999791e-01 -6.52812997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:172.28, Y:106.89, Z:-0.65 [[-5.41212169e-01 8.40885999e-01 -3.52504345e-04 1.72279325e+02] [-8.40885824e-01 -5.41212284e-01 -5.41979858e-04 1.06894367e+02] [-6.46522957e-04 3.08981231e-06 9.99999791e-01 -6.53715385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:172.28, Y:106.89, Z:-0.65 [[-5.37986104e-01 8.42953633e-01 -3.52294783e-04 1.72276717e+02] [-8.42953459e-01 -5.37986219e-01 -5.42116043e-04 1.06890455e+02] [-6.46508426e-04 5.31720767e-06 9.99999791e-01 -6.54885072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:172.28, Y:106.90, Z:-0.66 [[-5.36272120e-01 8.44045075e-01 -3.52083823e-04 1.72284577e+02] [-8.44044901e-01 -5.36272236e-01 -5.42253019e-04 1.06902656e+02] [-6.46498769e-04 6.37937992e-06 9.99999791e-01 -6.55317818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41999999999996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:172.28, Y:106.89, Z:-0.66 [[-5.34739646e-01 8.45016797e-01 -3.51873202e-04 1.72278335e+02] [-8.45016623e-01 -5.34739762e-01 -5.42389658e-04 1.06892898e+02] [-6.46488964e-04 7.30145077e-06 9.99999791e-01 -6.55831689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:172.28, Y:106.89, Z:-0.66 [[-5.34373097e-01 8.45248644e-01 -3.51662313e-04 1.72278764e+02] [-8.45248470e-01 -5.34373212e-01 -5.42526355e-04 1.06890764e+02] [-6.46488586e-04 7.33054320e-06 9.99999791e-01 -6.55226555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47999999999996 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:172.29, Y:106.91, Z:-0.65 [[-5.33982477e-01 8.45495471e-01 -3.51449938e-04 1.72291756e+02] [-8.45495296e-01 -5.33982593e-01 -5.42663898e-04 1.06910397e+02] [-6.46488016e-04 7.37625684e-06 9.99999791e-01 -6.53789634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:172.29, Y:106.91, Z:-0.65 [[-5.34250829e-01 8.45325930e-01 -3.51238765e-04 1.72291080e+02] [-8.45325756e-01 -5.34250945e-01 -5.42800545e-04 1.06908521e+02] [-6.46493017e-04 6.91953350e-06 9.99999791e-01 -6.52066822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53999999999996 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:172.29, Y:106.91, Z:-0.65 [[-5.34456835e-01 8.45195698e-01 -3.51030738e-04 1.72294750e+02] [-8.45195524e-01 -5.34456950e-01 -5.42935043e-04 1.06912814e+02] [-6.46497180e-04 6.51426384e-06 9.99999791e-01 -6.49747442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:172.27, Y:106.88, Z:-0.65 [[-5.35424957e-01 8.44582733e-01 -3.50821071e-04 1.72270560e+02] [-8.44582558e-01 -5.35425072e-01 -5.43070487e-04 1.06875447e+02] [-6.46506353e-04 5.52386537e-06 9.99999791e-01 -6.47831668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59999999999997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:172.30, Y:106.92, Z:-0.65 [[-5.35782887e-01 8.44355716e-01 -3.50607431e-04 1.72298636e+02] [-8.44355542e-01 -5.35783001e-01 -5.43208378e-04 1.06919065e+02] [-6.46510601e-04 4.99557477e-06 9.99999791e-01 -6.47375128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:172.29, Y:106.91, Z:-0.65 [[-5.35974059e-01 8.44234378e-01 -3.50393918e-04 1.72289519e+02] [-8.44234203e-01 -5.35974174e-01 -5.43346069e-04 1.06905181e+02] [-6.46513521e-04 4.59513244e-06 9.99999791e-01 -6.47624666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65999999999997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:172.30, Y:106.92, Z:-0.65 [[-5.35890378e-01 8.44287498e-01 -3.50182729e-04 1.72299311e+02] [-8.44287323e-01 -5.35890493e-01 -5.43482144e-04 1.06921443e+02] [-6.46514775e-04 4.40798730e-06 9.99999791e-01 -6.47933364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:172.30, Y:106.92, Z:-0.65 [[-5.35882917e-01 8.44292234e-01 -3.49971167e-04 1.72295113e+02] [-8.44292059e-01 -5.35883032e-01 -5.43618344e-04 1.06915715e+02] [-6.46516356e-04 4.16209263e-06 9.99999791e-01 -6.48827321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71999999999997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:172.30, Y:106.93, Z:-0.65 [[-5.35329537e-01 8.44643217e-01 -3.49760087e-04 1.72303264e+02] [-8.44643042e-01 -5.35329651e-01 -5.43754118e-04 1.06930653e+02] [-6.46515173e-04 4.33478405e-06 9.99999791e-01 -6.50744480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:172.30, Y:106.93, Z:-0.65 [[-5.35477860e-01 8.44549193e-01 -3.49549274e-04 1.72304114e+02] [-8.44549018e-01 -5.35477974e-01 -5.43889604e-04 1.06932189e+02] [-6.46517463e-04 3.97065500e-06 9.99999791e-01 -6.51794937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:172.31, Y:106.94, Z:-0.65 [[-5.35628162e-01 8.44453877e-01 -3.49339503e-04 1.72306644e+02] [-8.44453701e-01 -5.35628276e-01 -5.44024306e-04 1.06937255e+02] [-6.46519550e-04 3.60629668e-06 9.99999791e-01 -6.53278356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:172.31, Y:106.94, Z:-0.65 [[-5.35817504e-01 8.44333749e-01 -3.49129821e-04 1.72306574e+02] [-8.44333574e-01 -5.35817618e-01 -5.44158837e-04 1.06940004e+02] [-6.46521580e-04 3.21219927e-06 9.99999791e-01 -6.53904989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:172.30, Y:106.94, Z:-0.66 [[-5.43032587e-01 8.39711551e-01 -3.48920261e-04 1.72303549e+02] [-8.39711374e-01 -5.43032699e-01 -5.44293176e-04 1.06944323e+02] [-6.46524378e-04 -2.57661980e-06 9.99999791e-01 -6.58999739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:172.30, Y:106.93, Z:-0.65 [[-5.36758506e-01 8.43735848e-01 -3.54845491e-04 1.72302250e+02] [-8.43735675e-01 -5.36758623e-01 -5.40493552e-04 1.06933824e+02] [-6.46500163e-04 9.28128789e-06 9.99999791e-01 -6.54131200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:172.31, Y:106.95, Z:-0.65 [[-5.37460297e-01 8.43288982e-01 -3.48569771e-04 1.72311215e+02] [-8.43288806e-01 -5.37460410e-01 -5.44510967e-04 1.06947360e+02] [-6.46522551e-04 1.29195963e-06 9.99999791e-01 -6.53056739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:172.31, Y:106.95, Z:-0.65 [[-5.39337348e-01 8.42089725e-01 -3.48359126e-04 1.72313410e+02] [-8.42089548e-01 -5.39337460e-01 -5.44645697e-04 1.06950466e+02] [-6.46523671e-04 -3.98186526e-07 9.99999791e-01 -6.50586578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:172.31, Y:106.95, Z:-0.65 [[-5.45508488e-01 8.38105225e-01 -3.48149520e-04 1.72306473e+02] [-8.38105048e-01 -5.45508599e-01 -5.44779649e-04 1.06946591e+02] [-6.46501227e-04 -5.39605268e-06 9.99999791e-01 -6.53695421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:172.32, Y:106.96, Z:-0.65 [[-5.46878888e-01 8.37211656e-01 -3.53275287e-04 1.72315742e+02] [-8.37211481e-01 -5.46879002e-01 -5.41502366e-04 1.06962202e+02] [-6.46550929e-04 -3.70086470e-07 9.99999791e-01 -6.53363713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:172.32, Y:106.96, Z:-0.65 [[-5.41536201e-01 8.40677357e-01 -3.53539727e-04 1.72316891e+02] [-8.40677182e-01 -5.41536317e-01 -5.41333337e-04 1.06957586e+02] [-6.46541281e-04 4.06118301e-06 9.99999791e-01 -6.49089016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:172.32, Y:106.96, Z:-0.65 [[-5.41901499e-01 8.40441934e-01 -3.47890614e-04 1.72316551e+02] [-8.40441757e-01 -5.41901611e-01 -5.44939742e-04 1.06957925e+02] [-6.46512695e-04 -2.92186469e-06 9.99999791e-01 -6.49342546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:172.32, Y:106.96, Z:-0.65 [[-5.43214975e-01 8.39593574e-01 -3.47681068e-04 1.72315217e+02] [-8.39593397e-01 -5.43215086e-01 -5.45073403e-04 1.06957155e+02] [-6.46505728e-04 -4.18130600e-06 9.99999791e-01 -6.50293947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:172.32, Y:106.96, Z:-0.65 [[-5.43953165e-01 8.39115507e-01 -3.47470982e-04 1.72315988e+02] [-8.39115329e-01 -5.43953276e-01 -5.45207295e-04 1.06958777e+02] [-6.46499875e-04 -4.99900622e-06 9.99999791e-01 -6.50373072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:172.32, Y:106.96, Z:-0.65 [[-5.45334894e-01 8.38218189e-01 -3.47260457e-04 1.72318099e+02] [-8.38218012e-01 -5.45335004e-01 -5.45341353e-04 1.06962344e+02] [-6.46488324e-04 -6.31369863e-06 9.99999791e-01 -6.49704287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16999999999996 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:172.32, Y:106.97, Z:-0.65 [[-5.47180560e-01 8.37014525e-01 -3.47049880e-04 1.72324269e+02] [-8.37014347e-01 -5.47180670e-01 -5.45475329e-04 1.06971792e+02] [-6.46469759e-04 -7.98776682e-06 9.99999791e-01 -6.49695618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:172.33, Y:106.97, Z:-0.65 [[-5.52210269e-01 8.33704803e-01 -3.46840026e-04 1.72325964e+02] [-8.33704625e-01 -5.52210378e-01 -5.45608732e-04 1.06972812e+02] [-6.46405282e-04 -1.21286109e-05 9.99999791e-01 -6.48592026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22999999999996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:172.33, Y:106.99, Z:-0.65 [[-5.61733982e-01 8.27317843e-01 -3.46630748e-04 1.72329451e+02] [-8.27317663e-01 -5.61734088e-01 -5.45741656e-04 1.06985883e+02] [-6.46216117e-04 -1.97878928e-05 9.99999791e-01 -6.52264130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:172.33, Y:106.98, Z:-0.65 [[-5.57378020e-01 8.30258766e-01 -3.52972609e-04 1.72332644e+02] [-8.30258589e-01 -5.57378132e-01 -5.41711020e-04 1.06981277e+02] [-6.46499536e-04 -8.87927537e-06 9.99999791e-01 -6.47559167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28999999999996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:172.34, Y:106.99, Z:-0.65 [[-5.63431260e-01 8.26162875e-01 -3.46393162e-04 1.72337437e+02] [-8.26162694e-01 -5.63431366e-01 -5.45886023e-04 1.06986908e+02] [-6.46159538e-04 -2.13921415e-05 9.99999791e-01 -6.47147303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:172.34, Y:106.99, Z:-0.65 [[-5.65746609e-01 8.24579077e-01 -3.46184991e-04 1.72341993e+02] [-8.24578897e-01 -5.65746715e-01 -5.46018006e-04 1.06994256e+02] [-6.46088045e-04 -2.34509972e-05 9.99999791e-01 -6.46801232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34999999999997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:172.34, Y:107.00, Z:-0.65 [[-5.67635956e-01 8.23279601e-01 -3.45977595e-04 1.72343749e+02] [-8.23279421e-01 -5.67636061e-01 -5.46149389e-04 1.06996630e+02] [-6.46023010e-04 -2.51777963e-05 9.99999791e-01 -6.46184511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:172.35, Y:107.00, Z:-0.65 [[-5.70179788e-01 8.21519866e-01 -3.45770625e-04 1.72345806e+02] [-8.21519684e-01 -5.70179893e-01 -5.46280392e-04 1.07000239e+02] [-6.45931651e-04 -2.74206634e-05 9.99999791e-01 -6.45004390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40999999999997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:172.35, Y:107.01, Z:-0.64 [[-5.71404665e-01 8.20668380e-01 -3.45563742e-04 1.72348978e+02] [-8.20668199e-01 -5.71404768e-01 -5.46411229e-04 1.07005207e+02] [-6.45879188e-04 -2.86287514e-05 9.99999791e-01 -6.44930788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:172.35, Y:107.01, Z:-0.65 [[-5.71968947e-01 8.20275201e-01 -3.45357115e-04 1.72350050e+02] [-8.20275019e-01 -5.71969050e-01 -5.46541796e-04 1.07007445e+02] [-6.45848262e-04 -2.93171213e-05 9.99999791e-01 -6.45948188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46999999999997 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:172.35, Y:107.01, Z:-0.65 [[-5.71294608e-01 8.20744998e-01 -3.45150643e-04 1.72352224e+02] [-8.20744816e-01 -5.71294712e-01 -5.46672155e-04 1.07012595e+02] [-6.45861174e-04 -2.90302533e-05 9.99999791e-01 -6.46351401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:172.35, Y:107.01, Z:-0.65 [[-5.70677054e-01 8.21174513e-01 -3.44944358e-04 1.72349976e+02] [-8.21174332e-01 -5.70677158e-01 -5.46802288e-04 1.07010087e+02] [-6.45871968e-04 -2.87880659e-05 9.99999791e-01 -6.46173643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:172.35, Y:107.02, Z:-0.65 [[-5.69091264e-01 8.22274294e-01 -3.44737788e-04 1.72352995e+02] [-8.22274113e-01 -5.69091367e-01 -5.46932491e-04 1.07016688e+02] [-6.45915828e-04 -2.77855436e-05 9.99999791e-01 -6.46335723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:172.36, Y:107.04, Z:-0.65 [[-5.76184487e-01 8.17319593e-01 -3.44531033e-04 1.72358305e+02] [-8.17319411e-01 -5.76184590e-01 -5.47062703e-04 1.07036632e+02] [-6.45638537e-04 -3.36171422e-05 9.99999791e-01 -6.51389825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:172.35, Y:107.02, Z:-0.65 [[-5.66842835e-01 8.23825878e-01 -3.52315515e-04 1.72352168e+02] [-8.23825699e-01 -5.66842944e-01 -5.42157709e-04 1.07016611e+02] [-6.46351114e-04 -1.70716372e-05 9.99999791e-01 -6.45860514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:172.35, Y:107.01, Z:-0.65 [[-5.65364812e-01 8.24840901e-01 -3.44245400e-04 1.72350790e+02] [-8.24840719e-01 -5.65364916e-01 -5.47234328e-04 1.07014956e+02] [-6.46005527e-04 -2.54394093e-05 9.99999791e-01 -6.45799257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:172.35, Y:107.02, Z:-0.65 [[-5.63202424e-01 8.26318892e-01 -3.44037712e-04 1.72354796e+02] [-8.26318711e-01 -5.63202529e-01 -5.47364867e-04 1.07023858e+02] [-6.46060839e-04 -2.39924216e-05 9.99999791e-01 -6.45542018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:172.36, Y:107.03, Z:-0.65 [[-5.61913263e-01 8.27196087e-01 -3.43830112e-04 1.72355175e+02] [-8.27195906e-01 -5.61913368e-01 -5.47495241e-04 1.07025395e+02] [-6.46088657e-04 -2.32299759e-05 9.99999791e-01 -6.46214257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:172.36, Y:107.03, Z:-0.65 [[-5.60604752e-01 8.28083447e-01 -3.43622907e-04 1.72356461e+02] [-8.28083266e-01 -5.60604857e-01 -5.47625258e-04 1.07028329e+02] [-6.46116081e-04 -2.24529427e-05 9.99999791e-01 -6.45049956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:172.36, Y:107.03, Z:-0.65 [[-5.60291389e-01 8.28295504e-01 -3.43415584e-04 1.72357830e+02] [-8.28295323e-01 -5.60291494e-01 -5.47755239e-04 1.07030653e+02] [-6.46116032e-04 -2.24530220e-05 9.99999791e-01 -6.45048330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:172.35, Y:107.03, Z:-0.65 [[-5.69540205e-01 8.21963404e-01 -3.43208280e-04 1.72349734e+02] [-8.21963222e-01 -5.69540308e-01 -5.47885099e-04 1.07031364e+02] [-6.45812450e-04 -2.99380078e-05 9.99999791e-01 -6.50323877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:172.35, Y:107.02, Z:-0.64 [[-5.56316580e-01 8.30970359e-01 -3.53600926e-04 1.72352672e+02] [-8.30970183e-01 -5.56316692e-01 -5.41370477e-04 1.07020872e+02] [-6.46576917e-04 -7.34154560e-06 9.99999791e-01 -6.43183914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:172.36, Y:107.03, Z:-0.64 [[-5.54672030e-01 8.32069001e-01 -3.42865986e-04 1.72358914e+02] [-8.32068820e-01 -5.54672136e-01 -5.48085931e-04 1.07030337e+02] [-6.46223521e-04 -1.87198392e-05 9.99999791e-01 -6.43217462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:172.36, Y:107.02, Z:-0.64 [[-5.53207635e-01 8.33043333e-01 -3.42656666e-04 1.72355152e+02] [-8.33043153e-01 -5.53207741e-01 -5.48216764e-04 1.07024248e+02] [-6.46248640e-04 -1.78299099e-05 9.99999791e-01 -6.43835759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:172.36, Y:107.04, Z:-0.65 [[-5.50385199e-01 8.34910783e-01 -3.42447226e-04 1.72363928e+02] [-8.34910603e-01 -5.50385306e-01 -5.48347561e-04 1.07035989e+02] [-6.46299212e-04 -1.58895613e-05 9.99999791e-01 -6.45760494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91999999999996 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:172.36, Y:107.03, Z:-0.65 [[-5.49056304e-01 8.35785294e-01 -3.42237909e-04 1.72362481e+02] [-8.35785114e-01 -5.49056411e-01 -5.48478170e-04 1.07032212e+02] [-6.46317906e-04 -1.51080476e-05 9.99999791e-01 -6.46573525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:172.36, Y:107.03, Z:-0.65 [[-5.47975626e-01 8.36494230e-01 -3.42028922e-04 1.72360582e+02] [-8.36494050e-01 -5.47975732e-01 -5.48608462e-04 1.07027142e+02] [-6.46331362e-04 -1.45189073e-05 9.99999791e-01 -6.47555328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97999999999996 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:172.37, Y:107.04, Z:-0.65 [[-5.46563492e-01 8.37417597e-01 -3.41818739e-04 1.72366791e+02] [-8.37417417e-01 -5.46563599e-01 -5.48739389e-04 1.07035569e+02] [-6.46349701e-04 -1.36759515e-05 9.99999791e-01 -6.47389263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:172.37, Y:107.03, Z:-0.65 [[-5.43817883e-01 8.39203190e-01 -3.41608505e-04 1.72367578e+02] [-8.39203010e-01 -5.43817990e-01 -5.48870235e-04 1.07034444e+02] [-6.46386503e-04 -1.18065635e-05 9.99999791e-01 -6.46422482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03999999999996 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:172.37, Y:107.04, Z:-0.65 [[-5.41896392e-01 8.40445229e-01 -3.41398503e-04 1.72370167e+02] [-8.40445050e-01 -5.41896500e-01 -5.49000826e-04 1.07037691e+02] [-6.46407779e-04 -1.05748848e-05 9.99999791e-01 -6.46165870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:172.37, Y:107.04, Z:-0.65 [[-5.39909161e-01 8.41723222e-01 -3.41188381e-04 1.72370492e+02] [-8.41723043e-01 -5.39909268e-01 -5.49131380e-04 1.07037292e+02] [-6.46427403e-04 -9.29494074e-06 9.99999791e-01 -6.45302556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09999999999997 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:172.37, Y:107.04, Z:-0.64 [[-5.36567398e-01 8.43857400e-01 -3.40978067e-04 1.72370395e+02] [-8.43857221e-01 -5.36567506e-01 -5.49261941e-04 1.07035751e+02] [-6.46456505e-04 -6.97924593e-06 9.99999791e-01 -6.44703217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:172.37, Y:107.03, Z:-0.64 [[-5.34036691e-01 8.45461233e-01 -3.40767145e-04 1.72369258e+02] [-8.45461055e-01 -5.34036800e-01 -5.49392768e-04 1.07033294e+02] [-6.46472483e-04 -5.29054637e-06 9.99999791e-01 -6.44345550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15999999999997 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:172.37, Y:107.03, Z:-0.64 [[-5.32125420e-01 8.46665472e-01 -3.40555500e-04 1.72369443e+02] [-8.46665294e-01 -5.32125529e-01 -5.49523931e-04 1.07033514e+02] [-6.46481213e-04 -4.07912987e-06 9.99999791e-01 -6.44252334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:172.38, Y:107.04, Z:-0.64 [[-5.30422910e-01 8.47733107e-01 -3.40343166e-04 1.72375666e+02] [-8.47732929e-01 -5.30423019e-01 -5.49655406e-04 1.07043665e+02] [-6.46486935e-04 -3.02971121e-06 9.99999791e-01 -6.44481726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21999999999997 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:172.38, Y:107.05, Z:-0.64 [[-5.28283469e-01 8.49067995e-01 -3.40131315e-04 1.72376518e+02] [-8.49067817e-01 -5.28283579e-01 -5.49786470e-04 1.07045536e+02] [-6.46491884e-04 -1.64855003e-06 9.99999791e-01 -6.44337978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:172.38, Y:107.05, Z:-0.64 [[-5.26935738e-01 8.49905061e-01 -3.39920050e-04 1.72377030e+02] [-8.49904883e-01 -5.26935848e-01 -5.49917059e-04 1.07046725e+02] [-6.46493351e-04 -8.71241663e-07 9.99999791e-01 -6.44144715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:172.38, Y:107.05, Z:-0.64 [[-5.26102401e-01 8.50421159e-01 -3.39708592e-04 1.72378636e+02] [-8.50420981e-01 -5.26102511e-01 -5.50047656e-04 1.07049341e+02] [-6.46493708e-04 -4.86078520e-07 9.99999791e-01 -6.43944076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:172.37, Y:107.04, Z:-0.64 [[-5.24743915e-01 8.51260071e-01 -3.39496980e-04 1.72369443e+02] [-8.51259893e-01 -5.24744025e-01 -5.50178234e-04 1.07035131e+02] [-6.46493774e-04 2.97481585e-07 9.99999791e-01 -6.44066351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:172.38, Y:107.05, Z:-0.64 [[-5.23989720e-01 8.51724520e-01 -3.39283856e-04 1.72380449e+02] [-8.51724343e-01 -5.23989830e-01 -5.50309632e-04 1.07053194e+02] [-6.46493497e-04 6.19729276e-07 9.99999791e-01 -6.44133125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:172.38, Y:107.05, Z:-0.64 [[-5.23006839e-01 8.52328417e-01 -3.39070576e-04 1.72379921e+02] [-8.52328240e-01 -5.23006949e-01 -5.50441012e-04 1.07054071e+02] [-6.46492784e-04 1.11501319e-06 9.99999791e-01 -6.43423557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:172.38, Y:107.09, Z:-0.65 [[-5.45841208e-01 8.37888573e-01 -3.38858527e-04 1.72384774e+02] [-8.37888392e-01 -5.45841313e-01 -5.50571521e-04 1.07091011e+02] [-6.46280570e-04 -1.65989976e-05 9.99999791e-01 -6.48922958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:172.38, Y:107.05, Z:-0.64 [[-5.23176059e-01 8.52224548e-01 -3.62191583e-04 1.72377354e+02] [-8.52224380e-01 -5.23176183e-01 -5.36170981e-04 1.07052034e+02] [-6.46428082e-04 2.81566769e-05 9.99999791e-01 -6.43050735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:172.38, Y:107.05, Z:-0.64 [[-5.23505775e-01 8.52022059e-01 -3.38479663e-04 1.72377764e+02] [-8.52021881e-01 -5.23505885e-01 -5.50744000e-04 1.07052851e+02] [-6.46442133e-04 7.44142724e-08 9.99999791e-01 -6.42790963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:172.38, Y:107.06, Z:-0.64 [[-5.24347080e-01 8.51504566e-01 -3.38265925e-04 1.72384577e+02] [-8.51504387e-01 -5.24347189e-01 -5.50875246e-04 1.07064292e+02] [-6.46441574e-04 -8.14907385e-07 9.99999791e-01 -6.42771094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:172.39, Y:107.07, Z:-0.64 [[-5.26671000e-01 8.50069141e-01 -3.38052821e-04 1.72388231e+02] [-8.50068962e-01 -5.26671108e-01 -5.51005990e-04 1.07070140e+02] [-6.46435842e-04 -2.83066534e-06 9.99999791e-01 -6.42897735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:172.40, Y:107.13, Z:-0.65 [[-5.56015178e-01 8.31172068e-01 -3.37840840e-04 1.72403429e+02] [-8.31171886e-01 -5.56015280e-01 -5.51135932e-04 1.07129431e+02] [-6.45933462e-04 -2.56361353e-05 9.99999791e-01 -6.48931110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:172.39, Y:107.07, Z:-0.64 [[-5.27480950e-01 8.49566778e-01 -3.69332410e-04 1.72388418e+02] [-8.49566612e-01 -5.27481079e-01 -5.31743351e-04 1.07073667e+02] [-6.46567343e-04 3.32879966e-05 9.99999790e-01 -6.43349579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:172.39, Y:107.07, Z:-0.64 [[-5.26598232e-01 8.50114221e-01 -3.37568590e-04 1.72387662e+02] [-8.50114042e-01 -5.26598340e-01 -5.51196431e-04 1.07073507e+02] [-6.46342983e-04 -3.28726754e-06 9.99999791e-01 -6.43318108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:172.39, Y:107.07, Z:-0.64 [[-5.25488551e-01 8.50800605e-01 -3.37356394e-04 1.72386552e+02] [-8.50800426e-01 -5.25488659e-01 -5.51326274e-04 1.07072561e+02] [-6.46345686e-04 -2.69268105e-06 9.99999791e-01 -6.43451373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66999999999996 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:172.39, Y:107.08, Z:-0.64 [[-5.23712772e-01 8.51894840e-01 -3.37143613e-04 1.72391452e+02] [-8.51894661e-01 -5.23712881e-01 -5.51456361e-04 1.07081332e+02] [-6.46349281e-04 -1.59389592e-06 9.99999791e-01 -6.44662271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:172.41, Y:107.14, Z:-0.65 [[-5.51392515e-01 8.34245876e-01 -3.36930997e-04 1.72405264e+02] [-8.34245694e-01 -5.51392617e-01 -5.51586235e-04 1.07140860e+02] [-6.45939806e-04 -2.30572879e-05 9.99999791e-01 -6.50510967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72999999999996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:172.41, Y:107.14, Z:-0.65 [[-5.52314378e-01 8.33635826e-01 -3.71588741e-04 1.72405724e+02] [-8.33635657e-01 -5.52314502e-01 -5.30200883e-04 1.07144754e+02] [-6.47228302e-04 1.69320538e-05 9.99999790e-01 -6.52340156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:172.40, Y:107.13, Z:-0.65 [[-5.48681281e-01 8.36031526e-01 -3.73929905e-04 1.72399619e+02] [-8.36031359e-01 -5.48681408e-01 -5.28756792e-04 1.07134121e+02] [-6.47225734e-04 2.24981723e-05 9.99999790e-01 -6.52286826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78999999999996 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:172.42, Y:107.16, Z:-0.65 [[-5.46494145e-01 8.37462843e-01 -3.69599275e-04 1.72418645e+02] [-8.37462674e-01 -5.46494270e-01 -5.31427353e-04 1.07160409e+02] [-6.47034547e-04 1.91036603e-05 9.99999791e-01 -6.50159396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:172.39, Y:107.09, Z:-0.65 [[-5.11897733e-01 8.59046316e-01 -3.70874447e-04 1.72394443e+02] [-8.59046154e-01 -5.11897865e-01 -5.30644737e-04 1.07087597e+02] [-6.45698244e-04 4.69624296e-05 9.99999790e-01 -6.46283530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84999999999997 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:172.42, Y:107.16, Z:-0.65 [[-5.41797767e-01 8.40508814e-01 -3.36428399e-04 1.72415150e+02] [-8.40508633e-01 -5.41797871e-01 -5.51651879e-04 1.07163951e+02] [-6.45944457e-04 -1.61127820e-05 9.99999791e-01 -6.49880380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:172.39, Y:107.08, Z:-0.65 [[-5.01933415e-01 8.64906185e-01 -3.72353430e-04 1.72388621e+02] [-8.64906024e-01 -5.01933550e-01 -5.29641690e-04 1.07083570e+02] [-6.44987052e-04 5.62058628e-05 9.99999790e-01 -6.45083328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90999999999997 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:172.40, Y:107.14, Z:-0.65 [[-5.35571940e-01 8.44489540e-01 -3.35971283e-04 1.72396376e+02] [-8.44489360e-01 -5.35572046e-01 -5.51793730e-04 1.07143455e+02] [-6.45920861e-04 -1.18010651e-05 9.99999791e-01 -6.52147812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:172.39, Y:107.08, Z:-0.64 [[-4.95519641e-01 8.68596654e-01 -3.72423466e-04 1.72386340e+02] [-8.68596495e-01 -4.95519777e-01 -5.29490323e-04 1.07082477e+02] [-6.44456716e-04 6.11128623e-05 9.99999790e-01 -6.44808663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96999999999997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:172.40, Y:107.15, Z:-0.65 [[-5.30703026e-01 8.47557777e-01 -3.35554930e-04 1.72398227e+02] [-8.47557598e-01 -5.30703132e-01 -5.51906127e-04 1.07149841e+02] [-6.45852382e-04 -8.49612128e-06 9.99999791e-01 -6.52887017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:172.39, Y:107.09, Z:-0.65 [[-4.88638266e-01 8.72486393e-01 -3.72347174e-04 1.72390060e+02] [-8.72486235e-01 -4.88638404e-01 -5.29412027e-04 1.07091151e+02] [-6.43847919e-04 6.61768090e-05 9.99999791e-01 -6.46110535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:172.39, Y:107.09, Z:-0.65 [[-4.86943942e-01 8.73433160e-01 -3.35298308e-04 1.72387767e+02] [-8.73432986e-01 -4.86944057e-01 -5.51919690e-04 1.07087733e+02] [-6.45336477e-04 2.41066519e-05 9.99999791e-01 -6.46996377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:172.39, Y:107.10, Z:-0.65 [[-4.85679269e-01 8.74137023e-01 -3.35081780e-04 1.72392406e+02] [-8.74136849e-01 -4.85679384e-01 -5.52051117e-04 1.07095767e+02] [-6.45310633e-04 2.47875480e-05 9.99999791e-01 -6.46824314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:172.39, Y:107.14, Z:-0.65 [[-5.22045252e-01 8.52917724e-01 -3.34865201e-04 1.72389550e+02] [-8.52917545e-01 -5.22045359e-01 -5.52182459e-04 1.07135407e+02] [-6.45781030e-04 -2.65182586e-06 9.99999791e-01 -6.53851678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:172.39, Y:107.14, Z:-0.65 [[-5.21619907e-01 8.53177901e-01 -3.76549859e-04 1.72393239e+02] [-8.53177740e-01 -5.21620041e-01 -5.26604588e-04 1.07142914e+02] [-6.45703350e-04 4.65765211e-05 9.99999790e-01 -6.53293047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:172.39, Y:107.14, Z:-0.65 [[-5.20050065e-01 8.54135697e-01 -3.75970157e-04 1.72390472e+02] [-8.54135536e-01 -5.20050198e-01 -5.26960269e-04 1.07140545e+02] [-6.45618932e-04 4.70837497e-05 9.99999790e-01 -6.53866088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:172.40, Y:107.15, Z:-0.65 [[-5.17030834e-01 8.55966693e-01 -3.70212721e-04 1.72399724e+02] [-8.55966530e-01 -5.17030964e-01 -5.30489110e-04 1.07149975e+02] [-6.45492449e-04 4.26104713e-05 9.99999791e-01 -6.52304829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:172.39, Y:107.14, Z:-0.65 [[-5.18284249e-01 8.55208336e-01 -3.73359044e-04 1.72391318e+02] [-8.55208174e-01 -5.18284382e-01 -5.28560229e-04 1.07139454e+02] [-6.45535275e-04 4.53552647e-05 9.99999791e-01 -6.53413872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.17031755e-01 8.55966134e-01 -3.75482047e-04 1.72406381e+02] [-8.55965973e-01 -5.17031889e-01 -5.27258514e-04 1.07153907e+02] [-6.45451624e-04 4.87904614e-05 9.99999791e-01 -6.53133367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:172.40, Y:107.15, Z:-0.66 [[-5.19581842e-01 8.54420605e-01 -3.74606097e-04 1.72399886e+02] [-8.54420443e-01 -5.19581975e-01 -5.27795398e-04 1.07148166e+02] [-6.45597839e-04 4.58382025e-05 9.99999791e-01 -6.60452261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:172.40, Y:107.14, Z:-0.66 [[-5.20387348e-01 8.53930250e-01 -3.68324153e-04 1.72398495e+02] [-8.53930086e-01 -5.20387477e-01 -5.31639068e-04 1.07142218e+02] [-6.45653960e-04 3.78648309e-05 9.99999791e-01 -6.56655664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:172.40, Y:107.15, Z:-0.66 [[-5.22371897e-01 8.52717689e-01 -3.78340050e-04 1.72404398e+02] [-8.52717529e-01 -5.22372032e-01 -5.25502063e-04 1.07146955e+02] [-6.45739165e-04 4.81096828e-05 9.99999790e-01 -6.58243509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.66 [[-5.20602146e-01 8.53799312e-01 -3.74365070e-04 1.72405318e+02] [-8.53799150e-01 -5.20602279e-01 -5.27935423e-04 1.07148825e+02] [-6.45646210e-04 4.47882646e-05 9.99999791e-01 -6.60391805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:172.41, Y:107.11, Z:-0.65 [[-4.86317420e-01 8.73782143e-01 -3.66043260e-04 1.72413384e+02] [-8.73781982e-01 -4.86317554e-01 -5.33000155e-04 1.07114331e+02] [-6.43739280e-04 6.06347457e-05 9.99999791e-01 -6.48738294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41999999999996 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.66 [[-5.17533913e-01 8.55662631e-01 -3.34127326e-04 1.72408147e+02] [-8.55662453e-01 -5.17534020e-01 -5.52308190e-04 1.07145886e+02] [-6.45511737e-04 6.19887329e-08 9.99999792e-01 -6.55648542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.66 [[-5.17318030e-01 8.55793150e-01 -3.74042389e-04 1.72409011e+02] [-8.55792989e-01 -5.17318163e-01 -5.27912336e-04 1.07147472e+02] [-6.45282682e-04 4.70042844e-05 9.99999791e-01 -6.55625804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47999999999996 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.16359407e-01 8.56371896e-01 -3.71716669e-04 1.72410191e+02] [-8.56371734e-01 -5.16359539e-01 -5.29333119e-04 1.07148764e+02] [-6.45245454e-04 4.50015125e-05 9.99999791e-01 -6.53582939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.15564370e-01 8.56850769e-01 -3.72855373e-04 1.72413047e+02] [-8.56850608e-01 -5.15564503e-01 -5.28637341e-04 1.07153736e+02] [-6.45194307e-04 4.69347752e-05 9.99999791e-01 -6.51653876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53999999999996 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.11650035e-01 8.59193867e-01 -3.75208274e-04 1.72411642e+02] [-8.59193707e-01 -5.11650170e-01 -5.27200408e-04 1.07145829e+02] [-6.44942734e-04 5.26344800e-05 9.99999791e-01 -6.53891836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.14529076e-01 8.57472852e-01 -3.71615905e-04 1.72413418e+02] [-8.57472690e-01 -5.14529209e-01 -5.29392136e-04 1.07152661e+02] [-6.45146622e-04 4.62628428e-05 9.99999791e-01 -6.51680113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59999999999997 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.11782231e-01 8.59115130e-01 -3.76167603e-04 1.72413982e+02] [-8.59114970e-01 -5.11782367e-01 -5.26612205e-04 1.07151595e+02] [-6.44936459e-04 5.36604497e-05 9.99999791e-01 -6.51922941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.11466707e-01 8.59303013e-01 -3.74006790e-04 1.72410974e+02] [-8.59302852e-01 -5.11466841e-01 -5.27929828e-04 1.07145399e+02] [-6.44943763e-04 5.13665710e-05 9.99999791e-01 -6.52070726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65999999999997 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.11254207e-01 8.59429460e-01 -3.74309317e-04 1.72411818e+02] [-8.59429299e-01 -5.11254341e-01 -5.27745496e-04 1.07146997e+02] [-6.44927290e-04 5.18802889e-05 9.99999791e-01 -6.52069402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:172.42, Y:107.16, Z:-0.65 [[-5.12181840e-01 8.58876954e-01 -3.74460429e-04 1.72417324e+02] [-8.58876794e-01 -5.12181974e-01 -5.27653403e-04 1.07157118e+02] [-6.44981229e-04 5.13608816e-05 9.99999791e-01 -6.52536632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71999999999997 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:172.42, Y:107.16, Z:-0.65 [[-5.07583428e-01 8.61602532e-01 -3.75841306e-04 1.72423103e+02] [-8.61602373e-01 -5.07583564e-01 -5.26811534e-04 1.07161056e+02] [-6.44673021e-04 5.64249570e-05 9.99999791e-01 -6.51296361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:172.41, Y:107.15, Z:-0.65 [[-5.08582075e-01 8.61013435e-01 -3.71490526e-04 1.72413803e+02] [-8.61013274e-01 -5.08582208e-01 -5.29458692e-04 1.07148239e+02] [-6.44804519e-04 5.05850740e-05 9.99999791e-01 -6.52625696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:172.42, Y:107.15, Z:-0.65 [[-5.05495200e-01 8.62829337e-01 -3.73298639e-04 1.72419395e+02] [-8.62829177e-01 -5.05495334e-01 -5.28359507e-04 1.07153004e+02] [-6.44584803e-04 5.50097624e-05 9.99999791e-01 -6.51783688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:172.42, Y:107.15, Z:-0.65 [[-5.03764059e-01 8.63841209e-01 -3.71625464e-04 1.72420150e+02] [-8.63841048e-01 -5.03764194e-01 -5.29375921e-04 1.07153734e+02] [-6.44508338e-04 5.43447677e-05 9.99999791e-01 -6.52436505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:172.42, Y:107.15, Z:-0.65 [[-5.02892676e-01 8.64348783e-01 -3.70521721e-04 1.72416643e+02] [-8.64348622e-01 -5.02892810e-01 -5.30045832e-04 1.07149072e+02] [-6.44477179e-04 5.37037720e-05 9.99999791e-01 -6.54025112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:172.42, Y:107.16, Z:-0.65 [[-5.03902523e-01 8.63760447e-01 -3.71022386e-04 1.72420459e+02] [-8.63760286e-01 -5.03902656e-01 -5.29741976e-04 1.07157907e+02] [-6.44529332e-04 5.35360843e-05 9.99999791e-01 -6.53846678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:172.42, Y:107.15, Z:-0.65 [[-4.99689904e-01 8.66204284e-01 -3.71271843e-04 1.72420027e+02] [-8.66204124e-01 -4.99690039e-01 -5.29590729e-04 1.07153730e+02] [-6.44254600e-04 5.69660611e-05 9.99999791e-01 -6.54262847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:172.41, Y:107.13, Z:-0.65 [[-5.02160706e-01 8.64774245e-01 -3.59732408e-04 1.72408506e+02] [-8.64774080e-01 -5.02160834e-01 -5.36561893e-04 1.07134960e+02] [-6.44648432e-04 4.16469630e-05 9.99999791e-01 -6.53397590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:172.41, Y:107.14, Z:-0.66 [[-5.00643920e-01 8.65653238e-01 -3.71177978e-04 1.72411300e+02] [-8.65653078e-01 -5.00644054e-01 -5.29645449e-04 1.07141479e+02] [-6.44317346e-04 5.61475859e-05 9.99999791e-01 -6.55336205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:172.42, Y:107.16, Z:-0.65 [[-4.99138188e-01 8.66522325e-01 -3.60248154e-04 1.72424342e+02] [-8.66522160e-01 -4.99138316e-01 -5.36241774e-04 1.07158856e+02] [-6.44479125e-04 4.45042610e-05 9.99999791e-01 -6.51479635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:172.42, Y:107.16, Z:-0.65 [[-4.99506481e-01 8.66310072e-01 -3.68026507e-04 1.72423802e+02] [-8.66309910e-01 -4.99506613e-01 -5.31541295e-04 1.07157954e+02] [-6.44311252e-04 5.33166885e-05 9.99999791e-01 -6.53459322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:172.43, Y:107.16, Z:-0.65 [[-4.98794483e-01 8.66720218e-01 -3.56054338e-04 1.72428023e+02] [-8.66720052e-01 -4.98794609e-01 -5.38756127e-04 1.07163473e+02] [-6.44548812e-04 3.98708508e-05 9.99999791e-01 -6.52782389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:172.40, Y:107.13, Z:-0.65 [[-4.99221619e-01 8.66474263e-01 -3.55504856e-04 1.72404223e+02] [-8.66474096e-01 -4.99221744e-01 -5.39086503e-04 1.07125412e+02] [-6.44580335e-04 3.89121118e-05 9.99999792e-01 -6.53166963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:172.43, Y:107.16, Z:-0.65 [[-4.95773262e-01 8.68451925e-01 -3.57032674e-04 1.72427802e+02] [-8.68451759e-01 -4.95773389e-01 -5.38168468e-04 1.07159635e+02] [-6.44380740e-04 4.32561169e-05 9.99999791e-01 -6.52531640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:172.43, Y:107.16, Z:-0.65 [[-4.91850624e-01 8.70679527e-01 -3.53452353e-04 1.72432865e+02] [-8.70679360e-01 -4.91850749e-01 -5.40320782e-04 1.07159216e+02] [-6.44292047e-04 4.19865552e-05 9.99999792e-01 -6.46996610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16999999999996 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:172.43, Y:107.17, Z:-0.65 [[-4.97025903e-01 8.67735629e-01 -3.60471673e-04 1.72434833e+02] [-8.67735465e-01 -4.97026031e-01 -5.36094786e-04 1.07171252e+02] [-6.44352352e-04 4.63410599e-05 9.99999791e-01 -6.52047422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:172.43, Y:107.15, Z:-0.65 [[-4.89318848e-01 8.72104887e-01 -3.63287827e-04 1.72430288e+02] [-8.72104725e-01 -4.89318979e-01 -5.34400054e-04 1.07154806e+02] [-6.43816527e-04 5.53330121e-05 9.99999791e-01 -6.48100871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22999999999996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:172.44, Y:107.16, Z:-0.65 [[-4.76479621e-01 8.79185442e-01 -3.58478047e-04 1.72440364e+02] [-8.79185280e-01 -4.76479753e-01 -5.37283683e-04 1.07163139e+02] [-6.43179524e-04 5.91638966e-05 9.99999791e-01 -6.50637032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:172.44, Y:107.17, Z:-0.65 [[-4.77310139e-01 8.78734842e-01 -3.30426657e-04 1.72441706e+02] [-8.78734668e-01 -4.77310252e-01 -5.54014171e-04 1.07166434e+02] [-6.44547586e-04 2.59207780e-05 9.99999792e-01 -6.51484878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28999999999996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:172.44, Y:107.17, Z:-0.65 [[-4.78429251e-01 8.78126040e-01 -3.30209641e-04 1.72441800e+02] [-8.78125866e-01 -4.78429364e-01 -5.54143489e-04 1.07167199e+02] [-6.44589816e-04 2.48471725e-05 9.99999792e-01 -6.51020153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:172.45, Y:107.18, Z:-0.65 [[-4.81120087e-01 8.76654637e-01 -3.29992465e-04 1.72446700e+02] [-8.76654463e-01 -4.81120199e-01 -5.54272787e-04 1.07175102e+02] [-6.44671850e-04 2.26175961e-05 9.99999792e-01 -6.51437058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34999999999997 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:172.45, Y:107.17, Z:-0.65 [[-4.83476532e-01 8.75357261e-01 -3.29775571e-04 1.72445458e+02] [-8.75357086e-01 -4.83476644e-01 -5.54401803e-04 1.07172038e+02] [-6.44738430e-04 2.06311219e-05 9.99999792e-01 -6.50373196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:172.44, Y:107.17, Z:-0.65 [[-4.85066289e-01 8.74477322e-01 -3.29558700e-04 1.72442827e+02] [-8.74477147e-01 -4.85066400e-01 -5.54530689e-04 1.07165755e+02] [-6.44782364e-04 1.92074082e-05 9.99999792e-01 -6.50102846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40999999999997 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:172.46, Y:107.21, Z:-0.65 [[-4.97690053e-01 8.67354889e-01 -3.29340481e-04 1.72459660e+02] [-8.67354711e-01 -4.97690162e-01 -5.54660261e-04 1.07206402e+02] [-6.44996806e-04 9.60612336e-06 9.99999792e-01 -6.51895278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:172.45, Y:107.19, Z:-0.65 [[-4.90190409e-01 8.71615311e-01 -3.37264185e-04 1.72454409e+02] [-8.71615137e-01 -4.90190524e-01 -5.49950945e-04 1.07185176e+02] [-6.44669371e-04 2.43838902e-05 9.99999792e-01 -6.48779998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46999999999997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:172.46, Y:107.19, Z:-0.65 [[-4.92755524e-01 8.70167734e-01 -3.29145547e-04 1.72458502e+02] [-8.70167557e-01 -4.92755634e-01 -5.54767760e-04 1.07192683e+02] [-6.44929327e-04 1.30468981e-05 9.99999792e-01 -6.48261741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:172.46, Y:107.19, Z:-0.65 [[-4.95025998e-01 8.68878101e-01 -3.28929923e-04 1.72456246e+02] [-8.68877923e-01 -4.95026107e-01 -5.54895577e-04 1.07190432e+02] [-6.44965514e-04 1.11122117e-05 9.99999792e-01 -6.48087734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:172.46, Y:107.19, Z:-0.65 [[-4.96215057e-01 8.68199579e-01 -3.28714249e-04 1.72457325e+02] [-8.68199402e-01 -4.96215165e-01 -5.55023310e-04 1.07193903e+02] [-6.44984000e-04 9.97859101e-06 9.99999792e-01 -6.48956332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:172.46, Y:107.20, Z:-0.65 [[-4.97175337e-01 8.67650031e-01 -3.28498125e-04 1.72460780e+02] [-8.67649854e-01 -4.97175445e-01 -5.55151197e-04 1.07200212e+02] [-6.44998155e-04 9.01386625e-06 9.99999792e-01 -6.49475405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:172.46, Y:107.21, Z:-0.65 [[-5.00064515e-01 8.65988091e-01 -3.28282425e-04 1.72464155e+02] [-8.65987913e-01 -5.00064623e-01 -5.55278719e-04 1.07206405e+02] [-6.45027185e-04 6.61342844e-06 9.99999792e-01 -6.49524427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:172.47, Y:107.21, Z:-0.65 [[-5.03643085e-01 8.63911763e-01 -3.28067401e-04 1.72466409e+02] [-8.63911585e-01 -5.03643192e-01 -5.55405730e-04 1.07210840e+02] [-6.45050457e-04 3.69497253e-06 9.99999792e-01 -6.49958423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:172.47, Y:107.21, Z:-0.65 [[-5.04562259e-01 8.63375248e-01 -3.27852797e-04 1.72468354e+02] [-8.63375069e-01 -5.04562366e-01 -5.55532381e-04 1.07213394e+02] [-6.45055090e-04 2.75925778e-06 9.99999792e-01 -6.50290091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:172.47, Y:107.22, Z:-0.65 [[-5.06277647e-01 8.62370476e-01 -3.27638394e-04 1.72470494e+02] [-8.62370297e-01 -5.06277753e-01 -5.55658801e-04 1.07217854e+02] [-6.45059774e-04 1.22798945e-06 9.99999792e-01 -6.50349384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:172.47, Y:107.22, Z:-0.65 [[-5.08639999e-01 8.60979236e-01 -3.27424160e-04 1.72468569e+02] [-8.60979056e-01 -5.08640104e-01 -5.55785010e-04 1.07216243e+02] [-6.45060413e-04 -7.89142458e-07 9.99999792e-01 -6.50340198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:172.47, Y:107.22, Z:-0.65 [[-5.10095383e-01 8.60117779e-01 -3.27209661e-04 1.72470423e+02] [-8.60117599e-01 -5.10095488e-01 -5.55911265e-04 1.07220900e+02] [-6.45057334e-04 -2.12898174e-06 9.99999792e-01 -6.50400324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:172.47, Y:107.23, Z:-0.65 [[-5.11268992e-01 8.59420683e-01 -3.26994861e-04 1.72474387e+02] [-8.59420503e-01 -5.11269097e-01 -5.56037584e-04 1.07228914e+02] [-6.45052568e-04 -3.25868673e-06 9.99999792e-01 -6.49904046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:172.47, Y:107.23, Z:-0.65 [[-5.21368389e-01 8.53331645e-01 -3.26780659e-04 1.72466850e+02] [-8.53331464e-01 -5.21368492e-01 -5.56163441e-04 1.07226919e+02] [-6.44965004e-04 -1.11138195e-05 9.99999792e-01 -6.53793576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:172.48, Y:107.23, Z:-0.65 [[-5.15524211e-01 8.56874948e-01 -3.33401543e-04 1.72477697e+02] [-8.56874770e-01 -5.15524318e-01 -5.52270826e-04 1.07232986e+02] [-6.45103638e-04 9.74389424e-07 9.99999792e-01 -6.47853175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:172.48, Y:107.24, Z:-0.65 [[-5.15536767e-01 8.56867397e-01 -3.26535367e-04 1.72478473e+02] [-8.56867216e-01 -5.15536870e-01 -5.56301106e-04 1.07236161e+02] [-6.45017301e-04 -6.99622271e-06 9.99999792e-01 -6.47209315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:172.48, Y:107.24, Z:-0.65 [[-5.16095373e-01 8.56531062e-01 -3.26321920e-04 1.72479790e+02] [-8.56530881e-01 -5.16095476e-01 -5.56426284e-04 1.07237771e+02] [-6.45009662e-04 -7.66422805e-06 9.99999792e-01 -6.47127722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91999999999996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:172.48, Y:107.24, Z:-0.65 [[-5.16874497e-01 8.56061124e-01 -3.26108354e-04 1.72482186e+02] [-8.56060943e-01 -5.16874600e-01 -5.56551422e-04 1.07242599e+02] [-6.44999161e-04 -8.49861056e-06 9.99999792e-01 -6.48071058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:172.48, Y:107.24, Z:-0.65 [[-5.16724285e-01 8.56151802e-01 -3.25894883e-04 1.72481496e+02] [-8.56151621e-01 -5.16724387e-01 -5.56676394e-04 1.07243003e+02] [-6.44997332e-04 -8.63277884e-06 9.99999792e-01 -6.48890018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97999999999996 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:172.48, Y:107.25, Z:-0.65 [[-5.17652099e-01 8.55591140e-01 -3.25681365e-04 1.72483996e+02] [-8.55590959e-01 -5.17652201e-01 -5.56801284e-04 1.07249280e+02] [-6.44983921e-04 -9.57932259e-06 9.99999792e-01 -6.50641117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:172.49, Y:107.25, Z:-0.65 [[-5.16904228e-01 8.56043173e-01 -3.25467941e-04 1.72485236e+02] [-8.56042992e-01 -5.16904330e-01 -5.56926009e-04 1.07253105e+02] [-6.44988496e-04 -9.26285874e-06 9.99999792e-01 -6.50647681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03999999999996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:172.48, Y:107.25, Z:-0.65 [[-5.16589897e-01 8.56232897e-01 -3.25254860e-04 1.72482999e+02] [-8.56232715e-01 -5.16589999e-01 -5.57050425e-04 1.07250990e+02] [-6.44988306e-04 -9.27276962e-06 9.99999792e-01 -6.51210837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:172.49, Y:107.26, Z:-0.65 [[-5.15346600e-01 8.56981783e-01 -3.25041341e-04 1.72485518e+02] [-8.56981602e-01 -5.15346703e-01 -5.57174986e-04 1.07258336e+02] [-6.44997796e-04 -8.58378614e-06 9.99999792e-01 -6.50938785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09999999999997 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:172.49, Y:107.26, Z:-0.65 [[-5.14367479e-01 8.57569817e-01 -3.24827774e-04 1.72485218e+02] [-8.57569636e-01 -5.14367581e-01 -5.57299466e-04 1.07257744e+02] [-6.45004077e-04 -8.09428522e-06 9.99999792e-01 -6.51476175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:172.49, Y:107.26, Z:-0.65 [[-5.12673635e-01 8.58583507e-01 -3.24614264e-04 1.72485234e+02] [-8.58583326e-01 -5.12673738e-01 -5.57423803e-04 1.07259035e+02] [-6.45016091e-04 -7.06809258e-06 9.99999792e-01 -6.51422968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15999999999997 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:172.48, Y:107.26, Z:-0.65 [[-5.16854316e-01 8.56073309e-01 -3.24400316e-04 1.72484946e+02] [-8.56073128e-01 -5.16854418e-01 -5.57548285e-04 1.07262125e+02] [-6.44969942e-04 -1.04608448e-05 9.99999792e-01 -6.54025292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:172.49, Y:107.26, Z:-0.65 [[-5.13256088e-01 8.58235446e-01 -3.27323732e-04 1.72487868e+02] [-8.58235266e-01 -5.13256193e-01 -5.55847485e-04 1.07259387e+02] [-6.45048946e-04 -4.37133556e-06 9.99999792e-01 -6.51429763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21999999999997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:172.49, Y:107.27, Z:-0.65 [[-5.12286638e-01 8.58814471e-01 -3.24131547e-04 1.72491909e+02] [-8.58814290e-01 -5.12286741e-01 -5.57702752e-04 1.07267903e+02] [-6.45011488e-04 -7.33486375e-06 9.99999792e-01 -6.51056910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:172.49, Y:107.27, Z:-0.65 [[-5.12414384e-01 8.58738257e-01 -3.23917491e-04 1.72492683e+02] [-8.58738076e-01 -5.12414487e-01 -5.57827050e-04 1.07267717e+02] [-6.45007443e-04 -7.67832088e-06 9.99999792e-01 -6.50079708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:172.50, Y:107.27, Z:-0.65 [[-5.11581034e-01 8.59234974e-01 -3.23703675e-04 1.72495200e+02] [-8.59234793e-01 -5.11581137e-01 -5.57951098e-04 1.07271242e+02] [-6.45011792e-04 -7.29973981e-06 9.99999792e-01 -6.49709029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:172.50, Y:107.27, Z:-0.65 [[-5.10181503e-01 8.60066700e-01 -3.23489740e-04 1.72495882e+02] [-8.60066519e-01 -5.10181606e-01 -5.58075107e-04 1.07273172e+02] [-6.45020330e-04 -6.49690256e-06 9.99999792e-01 -6.48892045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:172.50, Y:107.27, Z:-0.65 [[-5.09251454e-01 8.60617715e-01 -3.23275828e-04 1.72496793e+02] [-8.60617534e-01 -5.09251557e-01 -5.58198991e-04 1.07273294e+02] [-6.45024659e-04 -6.04680219e-06 9.99999792e-01 -6.49030315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:172.50, Y:107.27, Z:-0.65 [[-5.08453725e-01 8.61089255e-01 -3.23061654e-04 1.72496506e+02] [-8.61089074e-01 -5.08453828e-01 -5.58322919e-04 1.07271968e+02] [-6.45027801e-04 -5.69650739e-06 9.99999792e-01 -6.48737627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:172.50, Y:107.27, Z:-0.65 [[-5.07096775e-01 8.61889063e-01 -3.22846967e-04 1.72497355e+02] [-8.61888882e-01 -5.07096878e-01 -5.58447033e-04 1.07274773e+02] [-6.45034079e-04 -4.92847777e-06 9.99999792e-01 -6.49046064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:172.49, Y:107.27, Z:-0.65 [[-5.03706903e-01 8.63874558e-01 -3.22631910e-04 1.72492783e+02] [-8.63874377e-01 -5.03707006e-01 -5.58571250e-04 1.07268537e+02] [-6.45047445e-04 -2.64275415e-06 9.99999792e-01 -6.49103001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:172.49, Y:107.26, Z:-0.65 [[-5.01717999e-01 8.65031182e-01 -3.22416011e-04 1.72487377e+02] [-8.65031001e-01 -5.01718103e-01 -5.58695843e-04 1.07260001e+02] [-6.45051274e-04 -1.40791556e-06 9.99999792e-01 -6.48971727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:172.50, Y:107.28, Z:-0.65 [[-4.99601823e-01 8.66255110e-01 -3.22198201e-04 1.72500425e+02] [-8.66254929e-01 -4.99601927e-01 -5.58821425e-04 1.07283313e+02] [-6.45052756e-04 -8.24226058e-08 9.99999792e-01 -6.49342746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:172.50, Y:107.28, Z:-0.65 [[-4.97429596e-01 8.67504290e-01 -3.21981224e-04 1.72500077e+02] [-8.67504110e-01 -4.97429700e-01 -5.58946414e-04 1.07283785e+02] [-6.45051436e-04 1.28354607e-06 9.99999792e-01 -6.49318332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:172.50, Y:107.29, Z:-0.65 [[-4.97095169e-01 8.67695966e-01 -3.21765974e-04 1.72501360e+02] [-8.67695786e-01 -4.97095273e-01 -5.59070298e-04 1.07286163e+02] [-6.45051388e-04 1.28383572e-06 9.99999792e-01 -6.49316709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:172.49, Y:107.27, Z:-0.65 [[-4.92885529e-01 8.70094105e-01 -3.21550426e-04 1.72492351e+02] [-8.70093926e-01 -4.92885633e-01 -5.59194244e-04 1.07273169e+02] [-6.45039201e-04 4.16032215e-06 9.99999792e-01 -6.49519402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:172.50, Y:107.29, Z:-0.65 [[-4.90544335e-01 8.71416176e-01 -3.21333412e-04 1.72500593e+02] [-8.71415997e-01 -4.90544440e-01 -5.59318920e-04 1.07289064e+02] [-6.45027874e-04 5.64434818e-06 9.99999792e-01 -6.49789651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:172.50, Y:107.29, Z:-0.65 [[-4.88459275e-01 8.72586634e-01 -3.21116095e-04 1.72499624e+02] [-8.72586455e-01 -4.88459380e-01 -5.59443659e-04 1.07289551e+02] [-6.45015228e-04 6.93611076e-06 9.99999792e-01 -6.50056146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66999999999996 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:172.49, Y:107.28, Z:-0.65 [[-4.84610133e-01 8.74730196e-01 -3.20899679e-04 1.72494465e+02] [-8.74730017e-01 -4.84610239e-01 -5.59567769e-04 1.07282943e+02] [-6.44982094e-04 9.52837105e-06 9.99999792e-01 -6.50210127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:172.50, Y:107.29, Z:-0.65 [[-4.82964085e-01 8.75640103e-01 -3.20682117e-04 1.72496841e+02] [-8.75639924e-01 -4.82964192e-01 -5.59692423e-04 1.07287766e+02] [-6.44967110e-04 1.04907251e-05 9.99999792e-01 -6.50218209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72999999999996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:172.50, Y:107.29, Z:-0.65 [[-4.81414832e-01 8.76492816e-01 -3.20463844e-04 1.72500384e+02] [-8.76492637e-01 -4.81414939e-01 -5.59817372e-04 1.07294452e+02] [-6.44951987e-04 1.13798141e-05 9.99999792e-01 -6.50095118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:172.50, Y:107.29, Z:-0.65 [[-4.83994503e-01 8.75070979e-01 -3.20246077e-04 1.72496914e+02] [-8.75070800e-01 -4.83994608e-01 -5.59941919e-04 1.07294194e+02] [-6.44986298e-04 9.22918063e-06 9.99999792e-01 -6.52699385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78999999999996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:172.49, Y:107.29, Z:-0.65 [[-4.82496122e-01 8.75898046e-01 -3.23452965e-04 1.72494229e+02] [-8.75897869e-01 -4.82496230e-01 -5.58108200e-04 1.07289481e+02] [-6.44910718e-04 1.40267209e-05 9.99999792e-01 -6.52955371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:172.50, Y:107.29, Z:-0.65 [[-4.81679656e-01 8.76347308e-01 -3.23007515e-04 1.72495470e+02] [-8.76347130e-01 -4.81679764e-01 -5.58362697e-04 1.07292004e+02] [-6.44905830e-04 1.41147569e-05 9.99999792e-01 -6.53669554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84999999999997 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:172.50, Y:107.30, Z:-0.65 [[-4.80937712e-01 8.76754705e-01 -3.23413955e-04 1.72497889e+02] [-8.76754527e-01 -4.80937821e-01 -5.58130573e-04 1.07295500e+02] [-6.44885609e-04 1.51286079e-05 9.99999792e-01 -6.54471812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:172.50, Y:107.30, Z:-0.66 [[-4.80522828e-01 8.76982159e-01 -3.23410041e-04 1.72498691e+02] [-8.76981981e-01 -4.80522937e-01 -5.58132806e-04 1.07297248e+02] [-6.44878456e-04 1.54292241e-05 9.99999792e-01 -6.55991089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90999999999997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:172.51, Y:107.30, Z:-0.65 [[-4.74300638e-01 8.80362881e-01 -3.21028046e-04 1.72507649e+02] [-8.80362703e-01 -4.74300746e-01 -5.59491014e-04 1.07304660e+02] [-6.44818962e-04 1.72541731e-05 9.99999792e-01 -6.49929116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:172.51, Y:107.30, Z:-0.65 [[-4.72797299e-01 8.81171159e-01 -3.19294235e-04 1.72505505e+02] [-8.81170981e-01 -4.72797407e-01 -5.60478733e-04 1.07301187e+02] [-6.44839181e-04 1.63599827e-05 9.99999792e-01 -6.49848847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96999999999997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:172.51, Y:107.31, Z:-0.65 [[-4.71052622e-01 8.82105053e-01 -3.19075988e-04 1.72509614e+02] [-8.82104876e-01 -4.71052730e-01 -5.60602952e-04 1.07308462e+02] [-6.44812312e-04 1.73849940e-05 9.99999792e-01 -6.49846553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:172.51, Y:107.31, Z:-0.65 [[-4.70147835e-01 8.82587623e-01 -3.18857618e-04 1.72507764e+02] [-8.82587445e-01 -4.70147943e-01 -5.60727128e-04 1.07305547e+02] [-6.44801076e-04 1.77950857e-05 9.99999792e-01 -6.49589087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:172.51, Y:107.31, Z:-0.65 [[-4.69785840e-01 8.82780359e-01 -3.18639092e-04 1.72509708e+02] [-8.82780181e-01 -4.69785948e-01 -5.60851280e-04 1.07309737e+02] [-6.44800662e-04 1.78082854e-05 9.99999792e-01 -6.49428845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:172.51, Y:107.32, Z:-0.65 [[-4.68584101e-01 8.83418836e-01 -3.18420218e-04 1.72512030e+02] [-8.83418658e-01 -4.68584209e-01 -5.60975517e-04 1.07315317e+02] [-6.44783024e-04 1.84341538e-05 9.99999792e-01 -6.48427118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:172.51, Y:107.32, Z:-0.65 [[-4.73665821e-01 8.80704598e-01 -3.18201704e-04 1.72508992e+02] [-8.80704419e-01 -4.73665927e-01 -5.61099437e-04 1.07318501e+02] [-6.44884159e-04 1.44680217e-05 9.99999792e-01 -6.51848201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:172.50, Y:107.31, Z:-0.65 [[-4.73322608e-01 8.80889099e-01 -3.23085278e-04 1.72504420e+02] [-8.80888922e-01 -4.73322718e-01 -5.58330288e-04 1.07311318e+02] [-6.44750666e-04 2.03318945e-05 9.99999792e-01 -6.51488910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:172.51, Y:107.32, Z:-0.65 [[-4.66338955e-01 8.84606056e-01 -3.23380992e-04 1.72514380e+02] [-8.84605881e-01 -4.66339066e-01 -5.58162679e-04 1.07319549e+02] [-6.44559276e-04 2.57717273e-05 9.99999792e-01 -6.47844933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:172.51, Y:107.32, Z:-0.65 [[-4.66012209e-01 8.84778232e-01 -3.17718752e-04 1.72514500e+02] [-8.84778054e-01 -4.66012317e-01 -5.61367353e-04 1.07319903e+02] [-6.44746466e-04 1.95065390e-05 9.99999792e-01 -6.47890001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:172.52, Y:107.32, Z:-0.65 [[-4.65584016e-01 8.85003629e-01 -3.17499902e-04 1.72515715e+02] [-8.85003451e-01 -4.65584123e-01 -5.61491104e-04 1.07322297e+02] [-6.44744578e-04 1.95672259e-05 9.99999792e-01 -6.49266117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:172.52, Y:107.32, Z:-0.65 [[-4.65231833e-01 8.85188816e-01 -3.17280854e-04 1.72516497e+02] [-8.85188638e-01 -4.65231941e-01 -5.61614854e-04 1.07323378e+02] [-6.44744375e-04 1.95722990e-05 9.99999792e-01 -6.48737345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:172.52, Y:107.33, Z:-0.65 [[-4.65424526e-01 8.85087516e-01 -3.17061574e-04 1.72519471e+02] [-8.85087338e-01 -4.65424633e-01 -5.61738622e-04 1.07326813e+02] [-6.44756108e-04 1.91802523e-05 9.99999792e-01 -6.47800118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:172.52, Y:107.33, Z:-0.65 [[-4.64943928e-01 8.85340072e-01 -3.16842354e-04 1.72519566e+02] [-8.85339894e-01 -4.64944035e-01 -5.61862243e-04 1.07326022e+02] [-6.44753122e-04 1.92787384e-05 9.99999792e-01 -6.48426227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:172.52, Y:107.33, Z:-0.65 [[-4.64526346e-01 8.85559243e-01 -3.16622903e-04 1.72524167e+02] [-8.85559065e-01 -4.64526454e-01 -5.61985882e-04 1.07333819e+02] [-6.44751507e-04 1.93310333e-05 9.99999792e-01 -6.46266653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:172.52, Y:107.33, Z:-0.64 [[-4.64019897e-01 8.85824720e-01 -3.16403662e-04 1.72522568e+02] [-8.85824542e-01 -4.64020005e-01 -5.62109290e-04 1.07330970e+02] [-6.44747933e-04 1.94482339e-05 9.99999792e-01 -6.44945277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:172.53, Y:107.34, Z:-0.64 [[-4.63591930e-01 8.86048770e-01 -3.16184448e-04 1.72525428e+02] [-8.86048592e-01 -4.63592037e-01 -5.62232570e-04 1.07335903e+02] [-6.44746069e-04 1.95083025e-05 9.99999792e-01 -6.44489954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41999999999996 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:172.53, Y:107.34, Z:-0.64 [[-4.63435957e-01 8.86130360e-01 -3.15964927e-04 1.72527486e+02] [-8.86130181e-01 -4.63436064e-01 -5.62355910e-04 1.07340036e+02] [-6.44750187e-04 1.93701084e-05 9.99999792e-01 -6.43682680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:172.53, Y:107.34, Z:-0.64 [[-4.63074469e-01 8.86319320e-01 -3.15745691e-04 1.72528675e+02] [-8.86319142e-01 -4.63074576e-01 -5.62478977e-04 1.07343607e+02] [-6.44749786e-04 1.93817964e-05 9.99999792e-01 -6.43648937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47999999999996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:172.53, Y:107.35, Z:-0.64 [[-4.63064546e-01 8.86324504e-01 -3.15526666e-04 1.72528741e+02] [-8.86324326e-01 -4.63064653e-01 -5.62601814e-04 1.07345051e+02] [-6.44757020e-04 1.91380061e-05 9.99999792e-01 -6.43968150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:172.53, Y:107.35, Z:-0.64 [[-4.62783864e-01 8.86471091e-01 -3.15307593e-04 1.72530289e+02] [-8.86470913e-01 -4.62783971e-01 -5.62724565e-04 1.07349084e+02] [-6.44758360e-04 1.90911613e-05 9.99999792e-01 -6.44331204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53999999999996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:172.53, Y:107.35, Z:-0.64 [[-4.61551490e-01 8.87113365e-01 -3.15088473e-04 1.72529462e+02] [-8.87113187e-01 -4.61551597e-01 -5.62847232e-04 1.07349618e+02] [-6.44738890e-04 1.97361610e-05 9.99999792e-01 -6.44860240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:172.53, Y:107.35, Z:-0.65 [[-4.60064231e-01 8.87885580e-01 -3.14869230e-04 1.72526857e+02] [-8.87885402e-01 -4.60064339e-01 -5.62969854e-04 1.07346553e+02] [-6.44712920e-04 2.05654997e-05 9.99999792e-01 -6.45055645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59999999999997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:172.53, Y:107.36, Z:-0.65 [[-4.58787465e-01 8.88545983e-01 -3.14649196e-04 1.72530682e+02] [-8.88545804e-01 -4.58787572e-01 -5.63092807e-04 1.07355572e+02] [-6.44690992e-04 2.12403015e-05 9.99999792e-01 -6.45572009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:172.53, Y:107.35, Z:-0.65 [[-4.56275998e-01 8.89838252e-01 -3.14429114e-04 1.72527386e+02] [-8.89838074e-01 -4.56276106e-01 -5.63215673e-04 1.07353897e+02] [-6.44637341e-04 2.28092036e-05 9.99999792e-01 -6.46235160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65999999999997 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:172.53, Y:107.36, Z:-0.65 [[-4.54902392e-01 8.90541249e-01 -3.14209059e-04 1.72528774e+02] [-8.90541071e-01 -4.54902500e-01 -5.63338411e-04 1.07358086e+02] [-6.44610578e-04 2.35520809e-05 9.99999792e-01 -6.46400804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:172.53, Y:107.36, Z:-0.65 [[-4.53642268e-01 8.91183816e-01 -3.13988620e-04 1.72530066e+02] [-8.91183638e-01 -4.53642376e-01 -5.63461251e-04 1.07362102e+02] [-6.44586091e-04 2.42116809e-05 9.99999792e-01 -6.46223314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71999999999997 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:172.53, Y:107.36, Z:-0.65 [[-4.52564943e-01 8.91731391e-01 -3.13768394e-04 1.72529802e+02] [-8.91731213e-01 -4.52565051e-01 -5.63583859e-04 1.07363533e+02] [-6.44566028e-04 2.47387733e-05 9.99999792e-01 -6.46464188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:172.53, Y:107.37, Z:-0.65 [[-4.51247673e-01 8.92398700e-01 -3.13548120e-04 1.72531007e+02] [-8.92398522e-01 -4.51247781e-01 -5.63706381e-04 1.07366319e+02] [-6.44538735e-04 2.54386858e-05 9.99999792e-01 -6.46359770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:172.53, Y:107.37, Z:-0.65 [[-4.50099297e-01 8.92978457e-01 -3.13327723e-04 1.72529608e+02] [-8.92978279e-01 -4.50099405e-01 -5.63828859e-04 1.07365074e+02] [-6.44515646e-04 2.60158778e-05 9.99999792e-01 -6.46283214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:172.53, Y:107.37, Z:-0.65 [[-4.49308048e-01 8.93376841e-01 -3.13106941e-04 1.72531870e+02] [-8.93376663e-01 -4.49308157e-01 -5.63951437e-04 1.07369552e+02] [-6.44502656e-04 2.63345147e-05 9.99999792e-01 -6.46739388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:172.53, Y:107.37, Z:-0.65 [[-4.49175663e-01 8.93443409e-01 -3.12885925e-04 1.72533736e+02] [-8.93443232e-01 -4.49175771e-01 -5.64074032e-04 1.07373901e+02] [-6.44509004e-04 2.61774846e-05 9.99999792e-01 -6.47323924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:172.53, Y:107.37, Z:-0.65 [[-4.48892584e-01 8.93585671e-01 -3.12665199e-04 1.72529921e+02] [-8.93585493e-01 -4.48892692e-01 -5.64196354e-04 1.07366939e+02] [-6.44510900e-04 2.61295265e-05 9.99999792e-01 -6.48680711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:172.54, Y:107.37, Z:-0.65 [[-4.49130428e-01 8.93466150e-01 -3.12443672e-04 1.72535040e+02] [-8.93465972e-01 -4.49130536e-01 -5.64319006e-04 1.07374184e+02] [-6.44527923e-04 2.57049528e-05 9.99999792e-01 -6.48072444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:172.54, Y:107.38, Z:-0.65 [[-4.49727287e-01 8.93165869e-01 -3.12221793e-04 1.72539285e+02] [-8.93165691e-01 -4.49727395e-01 -5.64441738e-04 1.07379855e+02] [-6.44554790e-04 2.50209423e-05 9.99999792e-01 -6.47301109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:172.54, Y:107.38, Z:-0.65 [[-4.50569169e-01 8.92741467e-01 -3.12000696e-04 1.72539980e+02] [-8.92741288e-01 -4.50569277e-01 -5.64563925e-04 1.07379353e+02] [-6.44587555e-04 2.41608048e-05 9.99999792e-01 -6.47678941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:172.27, Y:106.88, Z:-0.65 [[-4.50563875e-01 8.92744139e-01 -3.11779703e-04 1.72268401e+02] [-8.92743960e-01 -4.50563982e-01 -5.64685942e-04 1.06884813e+02] [-6.44596770e-04 2.39123602e-05 9.99999792e-01 -6.47672071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:172.54, Y:107.38, Z:-0.65 [[-4.54424568e-01 8.90785169e-01 -3.08601286e-04 1.72544325e+02] [-8.90784989e-01 -4.54424673e-01 -5.66437744e-04 1.07380748e+02] [-6.44810380e-04 1.74941657e-05 9.99999792e-01 -6.46162444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:172.55, Y:107.39, Z:-0.65 [[-4.56028788e-01 8.89964970e-01 -3.11250250e-04 1.72548974e+02] [-8.89964791e-01 -4.56028894e-01 -5.64978413e-04 1.07388321e+02] [-6.44750103e-04 1.93553430e-05 9.99999792e-01 -6.48429963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:172.54, Y:107.39, Z:-0.66 [[-4.53449681e-01 8.91281824e-01 -3.11029170e-04 1.72540077e+02] [-8.91281645e-01 -4.53449788e-01 -5.65100094e-04 1.07389854e+02] [-6.44699554e-04 2.09701327e-05 9.99999792e-01 -6.60451545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:172.53, Y:107.37, Z:-0.66 [[-4.50915717e-01 8.92566479e-01 -3.10835952e-04 1.72529267e+02] [-8.92566300e-01 -4.50915824e-01 -5.65206355e-04 1.07374291e+02] [-6.44645096e-04 2.25812662e-05 9.99999792e-01 -6.61176294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:172.55, Y:107.40, Z:-0.65 [[-4.54896350e-01 8.90544336e-01 -3.10612697e-04 1.72548728e+02] [-8.90544157e-01 -4.54896455e-01 -5.65329020e-04 1.07399261e+02] [-6.44747171e-04 1.94482147e-05 9.99999792e-01 -6.53553762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16999999999996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:172.54, Y:107.37, Z:-0.65 [[-4.56492656e-01 8.89727126e-01 -3.10398716e-04 1.72537780e+02] [-8.89726947e-01 -4.56492761e-01 -5.65446483e-04 1.07371153e+02] [-6.44787841e-04 1.80479348e-05 9.99999792e-01 -6.48119962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:172.56, Y:107.40, Z:-0.64 [[-4.57117684e-01 8.89406165e-01 -3.10175770e-04 1.72557165e+02] [-8.89405985e-01 -4.57117789e-01 -5.65568754e-04 1.07398023e+02] [-6.44807199e-04 1.73407078e-05 9.99999792e-01 -6.42083909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22999999999996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:172.56, Y:107.41, Z:-0.65 [[-4.69446764e-01 8.82960724e-01 -3.09957334e-04 1.72558661e+02] [-8.82960542e-01 -4.69446867e-01 -5.65688441e-04 1.07411475e+02] [-6.44989175e-04 8.11948733e-06 9.99999792e-01 -6.45112709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:172.56, Y:107.41, Z:-0.64 [[-4.59066341e-01 8.88401932e-01 -3.19725582e-04 1.72559081e+02] [-8.88401756e-01 -4.59066451e-01 -5.60331498e-04 1.07405558e+02] [-6.44574873e-04 2.68154378e-05 9.99999792e-01 -6.43984717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28999999999996 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:172.56, Y:107.41, Z:-0.65 [[-4.57101978e-01 8.89414237e-01 -3.09703880e-04 1.72556295e+02] [-8.89414058e-01 -4.57102083e-01 -5.65816947e-04 1.07407639e+02] [-6.44811936e-04 1.68189387e-05 9.99999792e-01 -6.47043329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:172.55, Y:107.40, Z:-0.65 [[-4.54217890e-01 8.90890573e-01 -3.09483296e-04 1.72550897e+02] [-8.90890393e-01 -4.54217995e-01 -5.65937573e-04 1.07402141e+02] [-6.44761331e-04 1.86567251e-05 9.99999792e-01 -6.48552398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34999999999997 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:172.55, Y:107.41, Z:-0.65 [[-4.50370404e-01 8.92841757e-01 -3.09261689e-04 1.72554508e+02] [-8.92841578e-01 -4.50370510e-01 -5.66058646e-04 1.07410656e+02] [-6.44683141e-04 2.11856338e-05 9.99999792e-01 -6.48929629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:172.55, Y:107.41, Z:-0.65 [[-4.48493838e-01 8.93785870e-01 -3.09039696e-04 1.72554637e+02] [-8.93785691e-01 -4.48493944e-01 -5.66179817e-04 1.07409636e+02] [-6.44645953e-04 2.22870997e-05 9.99999792e-01 -6.48360434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40999999999997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:172.56, Y:107.41, Z:-0.65 [[-4.47246303e-01 8.94410783e-01 -3.08817919e-04 1.72556577e+02] [-8.94410604e-01 -4.47246409e-01 -5.66300758e-04 1.07413598e+02] [-6.44623210e-04 2.29341012e-05 9.99999792e-01 -6.47781683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:172.56, Y:107.42, Z:-0.65 [[-4.45958266e-01 8.95053702e-01 -3.08595907e-04 1.72557439e+02] [-8.95053523e-01 -4.45958372e-01 -5.66421713e-04 1.07417152e+02] [-6.44598780e-04 2.36094089e-05 9.99999792e-01 -6.47402711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46999999999997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:172.56, Y:107.42, Z:-0.65 [[-4.45607947e-01 8.95228162e-01 -3.08374111e-04 1.72558664e+02] [-8.95227983e-01 -4.45608053e-01 -5.66542439e-04 1.07419558e+02] [-6.44598734e-04 2.36093207e-05 9.99999792e-01 -6.47401088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:172.56, Y:107.42, Z:-0.65 [[-4.43643263e-01 8.96203414e-01 -3.08152344e-04 1.72559038e+02] [-8.96203236e-01 -4.43643370e-01 -5.66663036e-04 1.07423395e+02] [-6.44555092e-04 2.47708892e-05 9.99999792e-01 -6.47285395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:172.55, Y:107.41, Z:-0.65 [[-4.41678564e-01 8.97173312e-01 -3.07930605e-04 1.72551610e+02] [-8.97173133e-01 -4.41678670e-01 -5.66783506e-04 1.07413544e+02] [-6.44509415e-04 2.59309413e-05 9.99999792e-01 -6.46821241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:172.55, Y:107.41, Z:-0.64 [[-4.38177953e-01 8.98888195e-01 -3.07707646e-04 1.72549131e+02] [-8.98888016e-01 -4.38178060e-01 -5.66904525e-04 1.07414747e+02] [-6.44414525e-04 2.81896514e-05 9.99999792e-01 -6.44914678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:172.55, Y:107.42, Z:-0.64 [[-4.36739720e-01 8.99587863e-01 -3.07483143e-04 1.72552090e+02] [-8.99587684e-01 -4.36739827e-01 -5.67026267e-04 1.07421297e+02] [-6.44380082e-04 2.89651552e-05 9.99999792e-01 -6.43943432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:172.56, Y:107.43, Z:-0.64 [[-4.35513581e-01 9.00182107e-01 -3.07258669e-04 1.72555967e+02] [-9.00181929e-01 -4.35513689e-01 -5.67147878e-04 1.07429217e+02] [-6.44351728e-04 2.95880978e-05 9.99999792e-01 -6.43672741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:172.56, Y:107.43, Z:-0.64 [[-4.34225739e-01 9.00804037e-01 -3.07035070e-04 1.72557653e+02] [-9.00803859e-01 -4.34225846e-01 -5.67268902e-04 1.07432365e+02] [-6.44320680e-04 3.02556179e-05 9.99999792e-01 -6.42929215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:172.56, Y:107.43, Z:-0.64 [[-4.32256977e-01 9.01750415e-01 -3.06812032e-04 1.72555344e+02] [-9.01750237e-01 -4.32257085e-01 -5.67389508e-04 1.07428553e+02] [-6.44265399e-04 3.14097491e-05 9.99999792e-01 -6.43545290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:172.56, Y:107.44, Z:-0.64 [[-4.30245934e-01 9.02711661e-01 -3.06588414e-04 1.72558473e+02] [-9.02711483e-01 -4.30246042e-01 -5.67510314e-04 1.07435051e+02] [-6.44206629e-04 3.25918777e-05 9.99999792e-01 -6.44071335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:172.56, Y:107.44, Z:-0.64 [[-4.28311607e-01 9.03631050e-01 -3.06364518e-04 1.72558053e+02] [-9.03630872e-01 -4.28311715e-01 -5.67631156e-04 1.07435969e+02] [-6.44148649e-04 3.37174242e-05 9.99999792e-01 -6.44812327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:172.56, Y:107.47, Z:-0.65 [[-4.47525920e-01 8.94270908e-01 -3.06140806e-04 1.72560624e+02] [-8.94270728e-01 -4.47526024e-01 -5.67751785e-04 1.07468567e+02] [-6.44729882e-04 1.96891209e-05 9.99999792e-01 -6.49340221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:172.56, Y:107.44, Z:-0.65 [[-4.25234621e-01 9.05083095e-01 -3.28174756e-04 1.72558266e+02] [-9.05082927e-01 -4.25234743e-01 -5.55839043e-04 1.07437226e+02] [-6.42631829e-04 6.06633642e-05 9.99999792e-01 -6.45408801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:172.55, Y:107.43, Z:-0.65 [[-4.25113958e-01 9.05139784e-01 -3.05757656e-04 1.72553412e+02] [-9.05139607e-01 -4.25114067e-01 -5.67908246e-04 1.07426757e+02] [-6.44018228e-04 3.53276421e-05 9.99999792e-01 -6.45139344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:172.56, Y:107.44, Z:-0.65 [[-4.24738465e-01 9.05316046e-01 -3.06173471e-04 1.72560678e+02] [-9.05315868e-01 -4.24738574e-01 -5.67684469e-04 1.07440089e+02] [-6.43977543e-04 3.60662717e-05 9.99999792e-01 -6.46479758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:172.56, Y:107.43, Z:-0.65 [[-4.24302062e-01 9.05520661e-01 -3.05476479e-04 1.72557190e+02] [-9.05520483e-01 -4.24302171e-01 -5.68059280e-04 1.07430907e+02] [-6.44003748e-04 3.55864847e-05 9.99999792e-01 -6.46069733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91999999999996 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:172.57, Y:107.49, Z:-0.65 [[-4.49566384e-01 8.93246871e-01 -3.05250586e-04 1.72574214e+02] [-8.93246691e-01 -4.49566487e-01 -5.68180639e-04 1.07494816e+02] [-6.44756012e-04 1.72291602e-05 9.99999792e-01 -6.49638998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:172.58, Y:107.51, Z:-0.65 [[-4.50891540e-01 8.92578686e-01 -3.28171937e-04 1.72582314e+02] [-8.92578514e-01 -4.50891658e-01 -5.55781496e-04 1.07507740e+02] [-6.44048706e-04 4.23220449e-05 9.99999792e-01 -6.49287192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97999999999996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:172.58, Y:107.50, Z:-0.65 [[-4.49816381e-01 8.93120995e-01 -3.33647142e-04 1.72576569e+02] [-8.93120826e-01 -4.49816502e-01 -5.52818151e-04 1.07495611e+02] [-6.43813488e-04 4.93205514e-05 9.99999792e-01 -6.49900096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:172.58, Y:107.50, Z:-0.65 [[-4.50069501e-01 8.92993468e-01 -3.32310056e-04 1.72577929e+02] [-8.92993298e-01 -4.50069621e-01 -5.53540868e-04 1.07500881e+02] [-6.43871041e-04 4.76187904e-05 9.99999792e-01 -6.53366930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03999999999996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:172.58, Y:107.50, Z:-0.65 [[-4.49066552e-01 8.93498252e-01 -3.26493360e-04 1.72578735e+02] [-8.93498079e-01 -4.49066668e-01 -5.56680665e-04 1.07498692e+02] [-6.44010487e-04 4.17345238e-05 9.99999792e-01 -6.51847054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:172.57, Y:107.48, Z:-0.66 [[-4.55129551e-01 8.90425169e-01 -3.30889095e-04 1.72565105e+02] [-8.90424998e-01 -4.55129670e-01 -5.54308725e-04 1.07481547e+02] [-6.44167885e-04 4.23496399e-05 9.99999792e-01 -6.55451325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09999999999997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:172.58, Y:107.51, Z:-0.66 [[-4.56319705e-01 8.89815830e-01 -3.39456225e-04 1.72578801e+02] [-8.89815662e-01 -4.56319828e-01 -5.49677654e-04 1.07506172e+02] [-6.44012485e-04 5.12247209e-05 9.99999791e-01 -6.55596533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:172.59, Y:107.52, Z:-0.66 [[-4.56216926e-01 8.89868530e-01 -3.39800642e-04 1.72586197e+02] [-8.89868362e-01 -4.56217050e-01 -5.49491229e-04 1.07517920e+02] [-6.43997798e-04 5.16906417e-05 9.99999791e-01 -6.55087347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15999999999997 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:172.58, Y:107.46, Z:-0.65 [[-4.27289404e-01 9.04114845e-01 -3.34722399e-04 1.72575381e+02] [-9.04114679e-01 -4.27289530e-01 -5.52224599e-04 1.07459717e+02] [-6.42297834e-04 6.66677140e-05 9.99999792e-01 -6.50492860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:172.58, Y:107.47, Z:-0.65 [[-4.29203890e-01 9.03207578e-01 -3.04235806e-04 1.72580534e+02] [-9.03207399e-01 -4.29203997e-01 -5.68538556e-04 1.07468899e+02] [-6.44087556e-04 3.07690713e-05 9.99999792e-01 -6.51741335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21999999999997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:172.58, Y:107.50, Z:-0.66 [[-4.60175217e-01 8.87828067e-01 -3.04011736e-04 1.72576146e+02] [-8.87827885e-01 -4.60175317e-01 -5.68658346e-04 1.07498053e+02] [-6.44769538e-04 8.22761891e-06 9.99999792e-01 -6.56977965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:172.58, Y:107.50, Z:-0.66 [[-4.65173187e-01 8.85219628e-01 -3.40065442e-04 1.72576345e+02] [-8.85219459e-01 -4.65173309e-01 -5.49199106e-04 1.07503752e+02] [-6.44351195e-04 4.55598486e-05 9.99999791e-01 -6.59134157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:172.58, Y:107.51, Z:-0.66 [[-4.60483169e-01 8.87668369e-01 -3.42158244e-04 1.72581436e+02] [-8.87668202e-01 -4.60483293e-01 -5.48069088e-04 1.07507131e+02] [-6.44061748e-04 5.13464029e-05 9.99999791e-01 -6.57917080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:172.58, Y:107.47, Z:-0.65 [[-4.33038376e-01 9.01375423e-01 -3.34677407e-04 1.72581147e+02] [-9.01375256e-01 -4.33038500e-01 -5.52086746e-04 1.07473093e+02] [-6.42565627e-04 6.25951853e-05 9.99999792e-01 -6.53744951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:172.59, Y:107.53, Z:-0.66 [[-4.68569685e-01 8.83426487e-01 -3.03588682e-04 1.72587347e+02] [-8.83426304e-01 -4.68569784e-01 -5.68683304e-04 1.07526020e+02] [-6.44642376e-04 1.73047051e-06 9.99999792e-01 -6.58099633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:172.60, Y:107.53, Z:-0.66 [[-4.67017058e-01 8.84248241e-01 -3.41318246e-04 1.72596645e+02] [-8.84248072e-01 -4.67017180e-01 -5.48321370e-04 1.07533745e+02] [-6.44253692e-04 4.57345673e-05 9.99999791e-01 -6.56348700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:172.60, Y:107.54, Z:-0.66 [[-4.71935168e-01 8.81633192e-01 -3.34963960e-04 1.72600711e+02] [-8.81633020e-01 -4.71935285e-01 -5.51747922e-04 1.07537786e+02] [-6.44520594e-04 3.49260397e-05 9.99999792e-01 -6.57963964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:172.60, Y:107.53, Z:-0.66 [[-4.81854524e-01 8.76251166e-01 -3.34511459e-04 1.72598774e+02] [-8.76250993e-01 -4.81854639e-01 -5.51991834e-04 1.07534649e+02] [-6.44869386e-04 2.71362361e-05 9.99999792e-01 -6.56611001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:172.60, Y:107.54, Z:-0.65 [[-4.86521132e-01 8.73668744e-01 -3.38807620e-04 1.72603397e+02] [-8.73668571e-01 -4.86521249e-01 -5.49674248e-04 1.07540968e+02] [-6.45070316e-04 2.85774319e-05 9.99999792e-01 -6.53888798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:172.60, Y:107.54, Z:-0.65 [[-4.90589527e-01 8.71390728e-01 -3.38443256e-04 1.72604570e+02] [-8.71390555e-01 -4.90589644e-01 -5.49870751e-04 1.07541432e+02] [-6.45189031e-04 2.51554246e-05 9.99999792e-01 -6.53899784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:172.61, Y:107.55, Z:-0.65 [[-4.94043713e-01 8.69437000e-01 -3.37558807e-04 1.72607339e+02] [-8.69436826e-01 -4.94043827e-01 -5.50347592e-04 1.07547137e+02] [-6.45261405e-04 2.15902904e-05 9.99999792e-01 -6.52525096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:172.61, Y:107.55, Z:-0.65 [[-4.97830394e-01 8.67274343e-01 -3.36558359e-04 1.72607774e+02] [-8.67274168e-01 -4.97830508e-01 -5.50886784e-04 1.07547436e+02] [-6.45318992e-04 1.76401861e-05 9.99999792e-01 -6.54457871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:172.61, Y:107.55, Z:-0.65 [[-4.99351416e-01 8.66399475e-01 -3.36105171e-04 1.72613313e+02] [-8.66399300e-01 -4.99351529e-01 -5.51130909e-04 1.07552725e+02] [-6.45334161e-04 1.59932856e-05 9.99999792e-01 -6.53058081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:172.62, Y:107.56, Z:-0.65 [[-5.01810759e-01 8.64977369e-01 -3.36050485e-04 1.72617224e+02] [-8.64977194e-01 -5.01810871e-01 -5.51160366e-04 1.07563408e+02] [-6.45375030e-04 1.40978044e-05 9.99999792e-01 -6.54314860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:172.62, Y:107.56, Z:-0.66 [[-5.06197687e-01 8.62417412e-01 -3.30590194e-04 1.72616588e+02] [-8.62417234e-01 -5.06197795e-01 -5.54097763e-04 1.07562651e+02] [-6.45207586e-04 4.62367492e-06 9.99999792e-01 -6.55745800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66999999999996 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:172.62, Y:107.57, Z:-0.66 [[-5.11239853e-01 8.59438015e-01 -3.32463784e-04 1.72618840e+02] [-8.59437838e-01 -5.11239961e-01 -5.53089836e-04 1.07567207e+02] [-6.45315203e-04 2.97038932e-06 9.99999792e-01 -6.57462314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:172.62, Y:107.58, Z:-0.66 [[-5.19510015e-01 8.54464296e-01 -3.31852647e-04 1.72624288e+02] [-8.54464117e-01 -5.19510121e-01 -5.53418548e-04 1.07575501e+02] [-6.45277199e-04 -3.95029930e-06 9.99999792e-01 -6.57974451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72999999999996 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:172.63, Y:107.58, Z:-0.66 [[-5.21973719e-01 8.52961504e-01 -3.29906203e-04 1.72628021e+02] [-8.52961324e-01 -5.21973823e-01 -5.54465017e-04 1.07579570e+02] [-6.45139717e-04 -8.01893479e-06 9.99999792e-01 -6.55199358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:172.63, Y:107.57, Z:-0.65 [[-5.22949844e-01 8.52363393e-01 -3.26675506e-04 1.72625873e+02] [-8.52363212e-01 -5.22949946e-01 -5.56199870e-04 1.07572104e+02] [-6.44919347e-04 -1.24184522e-05 9.99999792e-01 -6.54065199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78999999999996 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:172.63, Y:107.58, Z:-0.66 [[-5.26544686e-01 8.50147391e-01 -3.29074230e-04 1.72628525e+02] [-8.50147210e-01 -5.26544788e-01 -5.54912327e-04 1.07579609e+02] [-6.45029587e-04 -1.24245988e-05 9.99999792e-01 -6.55150571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:172.62, Y:107.57, Z:-0.66 [[-5.29439826e-01 8.48347431e-01 -3.26030871e-04 1.72624590e+02] [-8.48347249e-01 -5.29439926e-01 -5.56543967e-04 1.07573662e+02] [-6.44756405e-04 -1.80691484e-05 9.99999792e-01 -6.56610953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84999999999997 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:172.63, Y:107.58, Z:-0.65 [[-5.27225823e-01 8.49725146e-01 -3.27937273e-04 1.72631572e+02] [-8.49724965e-01 -5.27225925e-01 -5.55522139e-04 1.07582750e+02] [-6.44938162e-04 -1.42291294e-05 9.99999792e-01 -6.54201032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:172.63, Y:107.59, Z:-0.66 [[-5.27482907e-01 8.49565582e-01 -3.23297549e-04 1.72632071e+02] [-8.49565399e-01 -5.27483006e-01 -5.58006118e-04 1.07587103e+02] [-6.44596755e-04 -1.96762781e-05 9.99999792e-01 -6.57158984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90999999999997 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:172.63, Y:107.56, Z:-0.66 [[-5.11130167e-01 8.59503258e-01 -3.18040066e-04 1.72633695e+02] [-8.59503075e-01 -5.11130266e-01 -5.60813249e-04 1.07564862e+02] [-6.44580718e-04 -1.32921551e-05 9.99999792e-01 -6.58578843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:172.64, Y:107.57, Z:-0.66 [[-5.11176626e-01 8.59475634e-01 -3.02850799e-04 1.72635378e+02] [-8.59475446e-01 -5.11176714e-01 -5.68899184e-04 1.07567371e+02] [-6.43765263e-04 -3.05151400e-05 9.99999792e-01 -6.59278276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96999999999997 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:172.64, Y:107.59, Z:-0.66 [[-5.25830986e-01 8.50589021e-01 -3.02636591e-04 1.72637539e+02] [-8.50588832e-01 -5.25831072e-01 -5.69013113e-04 1.07593538e+02] [-6.43132029e-04 -4.17854221e-05 9.99999792e-01 -6.58336767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:172.64, Y:107.59, Z:-0.66 [[-5.27145284e-01 8.49775115e-01 -3.22949072e-04 1.72636496e+02] [-8.49774931e-01 -5.27145383e-01 -5.58168872e-04 1.07594508e+02] [-6.44559129e-04 -1.98020628e-05 9.99999792e-01 -6.61997679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:172.64, Y:107.57, Z:-0.66 [[-5.09996615e-01 8.60176349e-01 -3.18573555e-04 1.72637528e+02] [-8.60176166e-01 -5.09996715e-01 -5.60499600e-04 1.07572390e+02] [-6.44599966e-04 -1.18235195e-05 9.99999792e-01 -6.59898074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:172.64, Y:107.58, Z:-0.66 [[-5.09605624e-01 8.60408053e-01 -3.02211729e-04 1.72639571e+02] [-8.60407865e-01 -5.09605713e-01 -5.69186967e-04 1.07575016e+02] [-6.43741873e-04 -3.00355312e-05 9.99999792e-01 -6.59949078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:172.64, Y:107.58, Z:-0.66 [[-5.07466965e-01 8.61671160e-01 -3.01997272e-04 1.72640661e+02] [-8.61670973e-01 -5.07467054e-01 -5.69300730e-04 1.07575110e+02] [-6.43803686e-04 -2.86790308e-05 9.99999792e-01 -6.58068433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:172.64, Y:107.57, Z:-0.66 [[-5.04904843e-01 8.63174958e-01 -3.01782598e-04 1.72638658e+02] [-8.63174771e-01 -5.04904933e-01 -5.69414505e-04 1.07570503e+02] [-6.43875863e-04 -2.70090167e-05 9.99999792e-01 -6.57757869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:172.64, Y:107.59, Z:-0.66 [[-5.17575152e-01 8.55637699e-01 -3.01567209e-04 1.72637877e+02] [-8.55637510e-01 -5.17575238e-01 -5.69528554e-04 1.07590902e+02] [-6.43393821e-04 -3.67416121e-05 9.99999792e-01 -6.58939703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:172.64, Y:107.57, Z:-0.66 [[-5.03169645e-01 8.64187601e-01 -3.13711238e-04 1.72638030e+02] [-8.64187418e-01 -5.03169742e-01 -5.63091398e-04 1.07567595e+02] [-6.44466608e-04 -1.22251939e-05 9.99999792e-01 -6.56308065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:172.64, Y:107.58, Z:-0.66 [[-5.01420871e-01 8.65203456e-01 -3.01276038e-04 1.72643304e+02] [-8.65203269e-01 -5.01420960e-01 -5.69667911e-04 1.07576357e+02] [-6.43944765e-04 -2.49783669e-05 9.99999792e-01 -6.56820213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:172.64, Y:107.58, Z:-0.66 [[-4.99869904e-01 8.66100449e-01 -3.01059379e-04 1.72642364e+02] [-8.66100262e-01 -4.99869995e-01 -5.69782388e-04 1.07576480e+02] [-6.43979332e-04 -2.40694602e-05 9.99999792e-01 -6.57227473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:172.64, Y:107.58, Z:-0.66 [[-4.97932657e-01 8.67215647e-01 -3.00842965e-04 1.72644311e+02] [-8.67215460e-01 -4.97932747e-01 -5.69896631e-04 1.07582314e+02] [-6.44022840e-04 -2.28744727e-05 9.99999792e-01 -6.57390547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:172.64, Y:107.58, Z:-0.66 [[-4.97796418e-01 8.67293858e-01 -3.00626613e-04 1.72643746e+02] [-8.67293671e-01 -4.97796509e-01 -5.70010736e-04 1.07581596e+02] [-6.44017688e-04 -2.30177443e-05 9.99999792e-01 -6.57411243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:172.65, Y:107.59, Z:-0.66 [[-4.96949805e-01 8.67779235e-01 -3.00410112e-04 1.72646143e+02] [-8.67779048e-01 -4.96949895e-01 -5.70124815e-04 1.07585809e+02] [-6.44031249e-04 -2.26338141e-05 9.99999792e-01 -6.57874437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:172.65, Y:107.59, Z:-0.66 [[-4.96620396e-01 8.67967794e-01 -3.00193496e-04 1.72647332e+02] [-8.67967607e-01 -4.96620486e-01 -5.70238849e-04 1.07588228e+02] [-6.44031196e-04 -2.26340123e-05 9.99999792e-01 -6.57872815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:172.65, Y:107.59, Z:-0.66 [[-4.95695384e-01 8.68496400e-01 -2.99977014e-04 1.72649490e+02] [-8.68496213e-01 -4.95695474e-01 -5.70352708e-04 1.07592748e+02] [-6.44046521e-04 -2.21923037e-05 9.99999792e-01 -6.57134653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41999999999996 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:172.65, Y:107.60, Z:-0.66 [[-4.95005778e-01 8.68889630e-01 -2.99760632e-04 1.72650828e+02] [-8.68889443e-01 -4.95005868e-01 -5.70466409e-04 1.07595609e+02] [-6.44055619e-04 -2.19253198e-05 9.99999792e-01 -6.56564175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:172.65, Y:107.59, Z:-0.66 [[-4.95073268e-01 8.68851178e-01 -2.99544455e-04 1.72647806e+02] [-8.68850991e-01 -4.95073358e-01 -5.70579898e-04 1.07590735e+02] [-6.44045496e-04 -2.22193576e-05 9.99999792e-01 -6.56640077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47999999999996 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:172.65, Y:107.60, Z:-0.66 [[-4.95759705e-01 8.68459686e-01 -2.99327595e-04 1.72652774e+02] [-8.68459498e-01 -4.95759795e-01 -5.70693641e-04 1.07601142e+02] [-6.44019007e-04 -2.29730182e-05 9.99999792e-01 -6.57385033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:172.65, Y:107.60, Z:-0.66 [[-4.96438209e-01 8.68072010e-01 -2.99110763e-04 1.72653204e+02] [-8.68071823e-01 -4.96438298e-01 -5.70807264e-04 1.07601789e+02] [-6.43991847e-04 -2.37209104e-05 9.99999792e-01 -6.57427456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53999999999996 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:172.65, Y:107.60, Z:-0.66 [[-4.96955639e-01 8.67775895e-01 -2.98894457e-04 1.72653742e+02] [-8.67775707e-01 -4.96955729e-01 -5.70920506e-04 1.07602956e+02] [-6.43968366e-04 -2.43488165e-05 9.99999792e-01 -6.57219219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:172.66, Y:107.61, Z:-0.66 [[-4.98691048e-01 8.66779758e-01 -2.98677788e-04 1.72658490e+02] [-8.66779571e-01 -4.98691137e-01 -5.71033834e-04 1.07612123e+02] [-6.43908535e-04 -2.58816565e-05 9.99999792e-01 -6.57480295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59999999999997 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:172.66, Y:107.62, Z:-0.66 [[-4.99605168e-01 8.66253189e-01 -2.98461540e-04 1.72659341e+02] [-8.66253001e-01 -4.99605257e-01 -5.71146838e-04 1.07615205e+02] [-6.43870724e-04 -2.68047077e-05 9.99999792e-01 -6.57619008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:172.66, Y:107.62, Z:-0.66 [[-5.04120509e-01 8.63633269e-01 -2.98245886e-04 1.72660341e+02] [-8.63633081e-01 -5.04120596e-01 -5.71259428e-04 1.07616765e+02] [-6.43710541e-04 -3.04085800e-05 9.99999792e-01 -6.57370915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65999999999997 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:172.66, Y:107.62, Z:-0.66 [[-5.05697651e-01 8.62710726e-01 -2.98030190e-04 1.72663883e+02] [-8.62710538e-01 -5.05697738e-01 -5.71371936e-04 1.07624464e+02] [-6.43641891e-04 -3.18276606e-05 9.99999792e-01 -6.56921060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:172.66, Y:107.62, Z:-0.66 [[-5.08497893e-01 8.61063182e-01 -2.97814839e-04 1.72663055e+02] [-8.61062993e-01 -5.08497979e-01 -5.71484161e-04 1.07623371e+02] [-6.43522214e-04 -3.41611550e-05 9.99999792e-01 -6.56509195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71999999999997 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:172.67, Y:107.63, Z:-0.66 [[-5.09645830e-01 8.60384240e-01 -2.97599588e-04 1.72666365e+02] [-8.60384050e-01 -5.09645915e-01 -5.71596230e-04 1.07629980e+02] [-6.43462803e-04 -3.52616960e-05 9.99999792e-01 -6.55790744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:172.67, Y:107.64, Z:-0.65 [[-5.12712241e-01 8.58560464e-01 -2.97384295e-04 1.72670217e+02] [-8.58560274e-01 -5.12712326e-01 -5.71708219e-04 1.07637765e+02] [-6.43318667e-04 -3.77994602e-05 9.99999792e-01 -6.54971988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:172.67, Y:107.64, Z:-0.65 [[-5.13388589e-01 8.58156203e-01 -2.97169802e-04 1.72671145e+02] [-8.58156013e-01 -5.13388674e-01 -5.71819689e-04 1.07639426e+02] [-6.43274224e-04 -3.85476510e-05 9.99999792e-01 -6.54807307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:172.67, Y:107.64, Z:-0.65 [[-5.14856469e-01 8.57276343e-01 -2.96955651e-04 1.72672893e+02] [-8.57276153e-01 -5.14856553e-01 -5.71930880e-04 1.07642015e+02] [-6.43192376e-04 -3.98893151e-05 9.99999792e-01 -6.54846155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:172.68, Y:107.66, Z:-0.66 [[-5.21893438e-01 8.53010640e-01 -2.96741458e-04 1.72676802e+02] [-8.53010449e-01 -5.21893520e-01 -5.72041990e-04 1.07661945e+02] [-6.42825348e-04 -4.54213967e-05 9.99999792e-01 -6.59254052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:172.67, Y:107.65, Z:-0.66 [[-5.14274284e-01 8.57625716e-01 -3.02608059e-04 1.72674536e+02] [-8.57625528e-01 -5.14274372e-01 -5.68998374e-04 1.07647378e+02] [-6.43611207e-04 -3.30968349e-05 9.99999792e-01 -6.55317741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.66 [[-5.13115884e-01 8.58319289e-01 -2.96328022e-04 1.72675225e+02] [-8.58319099e-01 -5.13115968e-01 -5.72250361e-04 1.07648241e+02] [-6.43224163e-04 -3.92867491e-05 9.99999792e-01 -6.55232042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.66 [[-5.11556616e-01 8.59249522e-01 -2.96113639e-04 1.72676449e+02] [-8.59249332e-01 -5.11556700e-01 -5.72361273e-04 1.07650938e+02] [-6.43280066e-04 -3.83597493e-05 9.99999792e-01 -6.55155622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-5.09575579e-01 8.60425849e-01 -2.95899145e-04 1.72677461e+02] [-8.60425659e-01 -5.09575664e-01 -5.72472141e-04 1.07652634e+02] [-6.43352831e-04 -3.71186058e-05 9.99999792e-01 -6.54850308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-5.07416570e-01 8.61700840e-01 -2.95684539e-04 1.72678442e+02] [-8.61700650e-01 -5.07416655e-01 -5.72582964e-04 1.07653309e+02] [-6.43430481e-04 -3.57465247e-05 9.99999792e-01 -6.54286652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:172.68, Y:107.66, Z:-0.65 [[-5.04727034e-01 8.63278944e-01 -2.95469718e-04 1.72679864e+02] [-8.63278754e-01 -5.04727119e-01 -5.72693797e-04 1.07655319e+02] [-6.43526075e-04 -3.39813115e-05 9.99999792e-01 -6.53939238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:172.68, Y:107.66, Z:-0.65 [[-5.01586098e-01 8.65107680e-01 -2.95254714e-04 1.72679967e+02] [-8.65107491e-01 -5.01586184e-01 -5.72804621e-04 1.07655656e+02] [-6.43633363e-04 -3.18837702e-05 9.99999792e-01 -6.53530430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-4.96352729e-01 8.68120891e-01 -2.95039495e-04 1.72680156e+02] [-8.68120703e-01 -4.96352815e-01 -5.72915455e-04 1.07651908e+02] [-6.43803559e-04 -2.82382554e-05 9.99999792e-01 -6.52740683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-4.93307399e-01 8.69855001e-01 -2.94823563e-04 1.72680579e+02] [-8.69854813e-01 -4.93307486e-01 -5.73026552e-04 1.07651260e+02] [-6.43888683e-04 -2.62245422e-05 9.99999792e-01 -6.52795119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-4.90586996e-01 8.71392169e-01 -2.94606881e-04 1.72683007e+02] [-8.71391981e-01 -4.90587084e-01 -5.73137932e-04 1.07654465e+02] [-6.43958237e-04 -2.44559426e-05 9.99999792e-01 -6.53006818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16999999999996 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-4.85393308e-01 8.74295859e-01 -2.94390085e-04 1.72681574e+02] [-8.74295672e-01 -4.85393397e-01 -5.73249267e-04 1.07651600e+02] [-6.44084464e-04 -2.08673805e-05 9.99999792e-01 -6.52535947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-4.83368045e-01 8.75417184e-01 -2.94172855e-04 1.72683184e+02] [-8.75416997e-01 -4.83368134e-01 -5.73360721e-04 1.07653960e+02] [-6.44123612e-04 -1.96203330e-05 9.99999792e-01 -6.52651062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22999999999996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:172.68, Y:107.66, Z:-0.65 [[-4.81361861e-01 8.76521918e-01 -2.93955083e-04 1.72684921e+02] [-8.76521730e-01 -4.81361950e-01 -5.73472348e-04 1.07656194e+02] [-6.44159874e-04 -1.83896983e-05 9.99999792e-01 -6.52740210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:172.68, Y:107.66, Z:-0.65 [[-4.79190875e-01 8.77710669e-01 -2.93737269e-04 1.72684982e+02] [-8.77710482e-01 -4.79190965e-01 -5.73583892e-04 1.07655402e+02] [-6.44196947e-04 -1.70398877e-05 9.99999792e-01 -6.52564934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28999999999996 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-4.76704463e-01 8.79063575e-01 -2.93519195e-04 1.72684023e+02] [-8.79063388e-01 -4.76704553e-01 -5.73695465e-04 1.07653677e+02] [-6.44236723e-04 -1.54612107e-05 9.99999792e-01 -6.52811427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:172.69, Y:107.66, Z:-0.65 [[-4.74518871e-01 8.80245281e-01 -2.93300430e-04 1.72686827e+02] [-8.80245094e-01 -4.74518961e-01 -5.73807287e-04 1.07658902e+02] [-6.44267772e-04 -1.41061213e-05 9.99999792e-01 -6.53073077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34999999999997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:172.68, Y:107.65, Z:-0.65 [[-4.71536567e-01 8.81846460e-01 -2.93081549e-04 1.72682572e+02] [-8.81846274e-01 -4.71536658e-01 -5.73919062e-04 1.07651755e+02] [-6.44307188e-04 -1.21709523e-05 9.99999792e-01 -6.54252830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:172.69, Y:107.66, Z:-0.65 [[-4.70677018e-01 8.82305536e-01 -2.92861972e-04 1.72686715e+02] [-8.82305349e-01 -4.70677109e-01 -5.74031087e-04 1.07660460e+02] [-6.44314232e-04 -1.17895554e-05 9.99999792e-01 -6.54774725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40999999999997 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:172.69, Y:107.67, Z:-0.66 [[-4.70335581e-01 8.82487595e-01 -2.92642059e-04 1.72689326e+02] [-8.82487409e-01 -4.70335672e-01 -5.74143177e-04 1.07665324e+02] [-6.44314231e-04 -1.17870328e-05 9.99999792e-01 -6.55273161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:172.69, Y:107.66, Z:-0.66 [[-4.69803759e-01 8.82770832e-01 -2.92422797e-04 1.72688617e+02] [-8.82770646e-01 -4.69803850e-01 -5.74254830e-04 1.07663798e+02] [-6.44316770e-04 -1.16448167e-05 9.99999792e-01 -6.55726620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46999999999997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:172.69, Y:107.67, Z:-0.66 [[-4.69323839e-01 8.83026075e-01 -2.92203419e-04 1.72689986e+02] [-8.83025888e-01 -4.69323930e-01 -5.74366436e-04 1.07666964e+02] [-6.44318597e-04 -1.15406775e-05 9.99999792e-01 -6.55030701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:172.69, Y:107.67, Z:-0.65 [[-4.69161089e-01 8.83112556e-01 -2.91983671e-04 1.72692793e+02] [-8.83112369e-01 -4.69161180e-01 -5.74478125e-04 1.07670336e+02] [-6.44316249e-04 -1.16683911e-05 9.99999792e-01 -6.54437862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:172.69, Y:107.67, Z:-0.65 [[-4.68070210e-01 8.83691232e-01 -2.91764135e-04 1.72693373e+02] [-8.83691045e-01 -4.68070301e-01 -5.74589601e-04 1.07671479e+02] [-6.44325919e-04 -1.11189214e-05 9.99999792e-01 -6.54616995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:172.69, Y:107.67, Z:-0.65 [[-4.65644604e-01 8.84971761e-01 -2.91544556e-04 1.72693640e+02] [-8.84971575e-01 -4.65644695e-01 -5.74700993e-04 1.07672710e+02] [-6.44350326e-04 -9.59777078e-06 9.99999792e-01 -6.54492626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:172.70, Y:107.68, Z:-0.66 [[-4.62264265e-01 8.86742164e-01 -2.91324681e-04 1.72695280e+02] [-8.86741977e-01 -4.62264356e-01 -5.74812429e-04 1.07675914e+02] [-6.44379433e-04 -7.38542130e-06 9.99999792e-01 -6.55855455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:172.69, Y:107.67, Z:-0.66 [[-4.61245267e-01 8.87272630e-01 -2.91104689e-04 1.72692841e+02] [-8.87272443e-01 -4.61245359e-01 -5.74923819e-04 1.07670428e+02] [-6.44384855e-04 -6.89172158e-06 9.99999792e-01 -6.56595396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:172.70, Y:107.68, Z:-0.66 [[-4.60616609e-01 8.87599152e-01 -2.90884104e-04 1.72697655e+02] [-8.87598966e-01 -4.60616701e-01 -5.75035403e-04 1.07679661e+02] [-6.44387012e-04 -6.68242779e-06 9.99999792e-01 -6.56854081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:172.70, Y:107.68, Z:-0.66 [[-4.58446880e-01 8.88721764e-01 -2.90663402e-04 1.72697222e+02] [-8.88721578e-01 -4.58446972e-01 -5.75146940e-04 1.07678585e+02] [-6.44399359e-04 -5.35548251e-06 9.99999792e-01 -6.55079103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:172.70, Y:107.68, Z:-0.65 [[-4.58118495e-01 8.88891085e-01 -2.90443773e-04 1.72699918e+02] [-8.88890899e-01 -4.58118587e-01 -5.75257829e-04 1.07681233e+02] [-6.44399246e-04 -5.36342407e-06 9.99999792e-01 -6.53723937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:172.70, Y:107.68, Z:-0.65 [[-4.57123412e-01 8.89403228e-01 -2.90222986e-04 1.72700541e+02] [-8.89403042e-01 -4.57123504e-01 -5.75369196e-04 1.07681234e+02] [-6.44402969e-04 -4.88952384e-06 9.99999792e-01 -6.52440272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:172.70, Y:107.69, Z:-0.65 [[-4.56566293e-01 8.89689348e-01 -2.90002048e-04 1.72703134e+02] [-8.89689162e-01 -4.56566385e-01 -5.75480534e-04 1.07685349e+02] [-6.44404088e-04 -4.73333485e-06 9.99999792e-01 -6.51779878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:172.70, Y:107.69, Z:-0.65 [[-4.54929956e-01 8.90527176e-01 -2.89781067e-04 1.72704414e+02] [-8.90526990e-01 -4.54930048e-01 -5.75591786e-04 1.07686633e+02] [-6.44410243e-04 -3.79608470e-06 9.99999792e-01 -6.51385627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:172.70, Y:107.68, Z:-0.65 [[-4.53369465e-01 8.91322638e-01 -2.89560152e-04 1.72702976e+02] [-8.91322452e-01 -4.53369557e-01 -5.75702900e-04 1.07684138e+02] [-6.44414785e-04 -2.91465127e-06 9.99999792e-01 -6.51217095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:172.70, Y:107.68, Z:-0.65 [[-4.52624282e-01 8.91701282e-01 -2.89338605e-04 1.72701921e+02] [-8.91701096e-01 -4.52624375e-01 -5.75814224e-04 1.07680602e+02] [-6.44415986e-04 -2.62394898e-06 9.99999792e-01 -6.51405023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:172.71, Y:107.69, Z:-0.65 [[-4.51667576e-01 8.92186257e-01 -2.89116047e-04 1.72707318e+02] [-8.92186071e-01 -4.51667668e-01 -5.75925948e-04 1.07691145e+02] [-6.44417587e-04 -2.18176637e-06 9.99999792e-01 -6.51302932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91999999999996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:172.71, Y:107.69, Z:-0.65 [[-4.50674207e-01 8.92688454e-01 -2.88893672e-04 1.72706865e+02] [-8.92688268e-01 -4.50674299e-01 -5.76037473e-04 1.07691095e+02] [-6.44418955e-04 -1.71323938e-06 9.99999792e-01 -6.51103314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:172.71, Y:107.70, Z:-0.65 [[-4.50245678e-01 8.92904668e-01 -2.88671773e-04 1.72709161e+02] [-8.92904482e-01 -4.50245770e-01 -5.76148653e-04 1.07695032e+02] [-6.44419067e-04 -1.65212096e-06 9.99999792e-01 -6.50936430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97999999999996 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:172.71, Y:107.69, Z:-0.65 [[-4.48888516e-01 8.93587722e-01 -2.88449721e-04 1.72707022e+02] [-8.93587536e-01 -4.48888609e-01 -5.76259802e-04 1.07691406e+02] [-6.44420478e-04 -9.21331765e-07 9.99999792e-01 -6.51119125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:172.71, Y:107.70, Z:-0.65 [[-4.49243648e-01 8.93409235e-01 -2.88227218e-04 1.72711155e+02] [-8.93409049e-01 -4.49243741e-01 -5.76371070e-04 1.07698033e+02] [-6.44419510e-04 -1.42623794e-06 9.99999792e-01 -6.50927000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03999999999996 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:172.71, Y:107.70, Z:-0.65 [[-4.48777396e-01 8.93643534e-01 -2.88004520e-04 1.72710832e+02] [-8.93643348e-01 -4.48777489e-01 -5.76482327e-04 1.07698059e+02] [-6.44419650e-04 -1.33891410e-06 9.99999792e-01 -6.50772314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:172.71, Y:107.71, Z:-0.66 [[-4.59941880e-01 8.87948976e-01 -2.87782041e-04 1.72709433e+02] [-8.87948789e-01 -4.59941970e-01 -5.76593369e-04 1.07711278e+02] [-6.44348530e-04 -9.66372393e-06 9.99999792e-01 -6.57426411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09999999999997 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:172.72, Y:107.71, Z:-0.65 [[-4.50478583e-01 8.92787185e-01 -2.98154166e-04 1.72716045e+02] [-8.92787002e-01 -4.50478681e-01 -5.71412111e-04 1.07709098e+02] [-6.44461506e-04 8.77924646e-06 9.99999792e-01 -6.50604736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:172.72, Y:107.71, Z:-0.65 [[-4.51285730e-01 8.92379464e-01 -2.87427912e-04 1.72715843e+02] [-8.92379277e-01 -4.51285822e-01 -5.76757554e-04 1.07707969e+02] [-6.44398739e-04 -3.78774144e-06 9.99999792e-01 -6.50788946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15999999999997 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:172.72, Y:107.72, Z:-0.66 [[-4.62953558e-01 8.86382491e-01 -2.87206035e-04 1.72715481e+02] [-8.86382304e-01 -4.62953647e-01 -5.76868021e-04 1.07724593e+02] [-6.44288795e-04 -1.24887563e-05 9.99999792e-01 -6.56626166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:172.72, Y:107.73, Z:-0.66 [[-4.64609303e-01 8.85515730e-01 -2.97739851e-04 1.72717761e+02] [-8.85515545e-01 -4.64609398e-01 -5.71616810e-04 1.07729846e+02] [-6.44508410e-04 -1.92522076e-06 9.99999792e-01 -6.56025242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21999999999997 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:172.72, Y:107.72, Z:-0.65 [[-4.55658841e-01 8.90154443e-01 -2.97531774e-04 1.72720894e+02] [-8.90154259e-01 -4.55658938e-01 -5.71720460e-04 1.07718600e+02] [-6.44492520e-04 4.33969337e-06 9.99999792e-01 -6.49807666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:172.72, Y:107.72, Z:-0.65 [[-4.56768679e-01 8.89585461e-01 -2.86770185e-04 1.72721041e+02] [-8.89585273e-01 -4.56768769e-01 -5.77068358e-04 1.07720106e+02] [-6.44339286e-04 -8.48021806e-06 9.99999792e-01 -6.48832878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:172.72, Y:107.72, Z:-0.65 [[-4.56427002e-01 8.89760816e-01 -2.86548595e-04 1.72722175e+02] [-8.89760629e-01 -4.56427091e-01 -5.77178370e-04 1.07722558e+02] [-6.44339239e-04 -8.48013441e-06 9.99999792e-01 -6.48831257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:172.73, Y:107.73, Z:-0.65 [[-4.59160709e-01 8.88353174e-01 -2.86326889e-04 1.72725036e+02] [-8.88352986e-01 -4.59160798e-01 -5.77288333e-04 1.07730398e+02] [-6.44306006e-04 -1.07087740e-05 9.99999792e-01 -6.49238030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:172.72, Y:107.74, Z:-0.65 [[-4.70727930e-01 8.82278377e-01 -2.86105546e-04 1.72723149e+02] [-8.82278188e-01 -4.70728016e-01 -5.77398011e-04 1.07743325e+02] [-6.44103676e-04 -1.93726877e-05 9.99999792e-01 -6.54869729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:172.73, Y:107.74, Z:-0.65 [[-4.61880000e-01 8.86942376e-01 -2.96411283e-04 1.72729409e+02] [-8.86942191e-01 -4.61880095e-01 -5.72287437e-04 1.07740636e+02] [-6.44492450e-04 -1.42844835e-06 9.99999792e-01 -6.49180967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:172.72, Y:107.73, Z:-0.65 [[-4.65353934e-01 8.85124643e-01 -2.85712817e-04 1.72724801e+02] [-8.85124455e-01 -4.65354022e-01 -5.77579674e-04 1.07730593e+02] [-6.44187612e-04 -1.58875723e-05 9.99999792e-01 -6.49107923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:172.73, Y:107.75, Z:-0.65 [[-4.66709735e-01 8.84410505e-01 -2.85491693e-04 1.72733716e+02] [-8.84410317e-01 -4.66709822e-01 -5.77688953e-04 1.07747891e+02] [-6.44155956e-04 -1.71212590e-05 9.99999792e-01 -6.49215404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:172.74, Y:107.75, Z:-0.65 [[-4.67964546e-01 8.83747193e-01 -2.85270784e-04 1.72735347e+02] [-8.83747005e-01 -4.67964633e-01 -5.77798021e-04 1.07750303e+02] [-6.44124017e-04 -1.82817879e-05 9.99999792e-01 -6.48196863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:172.74, Y:107.75, Z:-0.65 [[-4.68704305e-01 8.83355078e-01 -2.85051182e-04 1.72737927e+02] [-8.83354889e-01 -4.68704391e-01 -5.77906339e-04 1.07754193e+02] [-6.44101240e-04 -1.90658333e-05 9.99999792e-01 -6.48011938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:172.74, Y:107.75, Z:-0.65 [[-4.66831122e-01 8.84346438e-01 -2.84831685e-04 1.72736322e+02] [-8.84346250e-01 -4.66831208e-01 -5.78014501e-04 1.07752528e+02] [-6.44133385e-04 -1.79453252e-05 9.99999792e-01 -6.48570849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:172.74, Y:107.75, Z:-0.65 [[-4.65117507e-01 8.85248905e-01 -2.84611929e-04 1.72736996e+02] [-8.85248717e-01 -4.65117593e-01 -5.78122689e-04 1.07754171e+02] [-6.44160492e-04 -1.69426388e-05 9.99999792e-01 -6.48715809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:172.73, Y:107.76, Z:-0.66 [[-4.75712497e-01 8.79600784e-01 -2.84391658e-04 1.72732172e+02] [-8.79600594e-01 -4.75712582e-01 -5.78231024e-04 1.07762264e+02] [-6.43901152e-04 -2.49206534e-05 9.99999792e-01 -6.57322805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.61994171e-01 8.86882912e-01 -2.95039281e-04 1.72739782e+02] [-8.86882727e-01 -4.61994265e-01 -5.72986934e-04 1.07759077e+02] [-6.44478776e-04 -3.05138160e-06 9.99999792e-01 -6.49831680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:172.73, Y:107.77, Z:-0.66 [[-4.68946859e-01 8.83226337e-01 -2.84153358e-04 1.72733169e+02] [-8.83226148e-01 -4.68946944e-01 -5.78335510e-04 1.07765751e+02] [-6.44054003e-04 -2.02369453e-05 9.99999792e-01 -6.58512929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66999999999996 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:172.73, Y:107.75, Z:-0.65 [[-4.55615250e-01 8.90176757e-01 -2.91551925e-04 1.72732631e+02] [-8.90176572e-01 -4.55615343e-01 -5.74700108e-04 1.07746503e+02] [-6.44420209e-04 -2.30944033e-06 9.99999792e-01 -6.49070109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:172.74, Y:107.75, Z:-0.65 [[-4.53261340e-01 8.91377629e-01 -2.83683855e-04 1.72737068e+02] [-8.91377441e-01 -4.53261429e-01 -5.78558052e-04 1.07754581e+02] [-6.44296654e-04 -9.36860901e-06 9.99999792e-01 -6.49232987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72999999999996 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.49003443e-01 8.93529982e-01 -2.83461136e-04 1.72740071e+02] [-8.93529794e-01 -4.49003532e-01 -5.78667151e-04 1.07758898e+02] [-6.44331500e-04 -6.54257272e-06 9.99999792e-01 -6.48670762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:172.74, Y:107.75, Z:-0.65 [[-4.46812772e-01 8.94627446e-01 -2.83239116e-04 1.72736349e+02] [-8.94627258e-01 -4.46812862e-01 -5.78775802e-04 1.07749667e+02] [-6.44343598e-04 -5.21098717e-06 9.99999792e-01 -6.48168869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78999999999996 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:172.74, Y:107.75, Z:-0.65 [[-4.44566316e-01 8.95745896e-01 -2.83016238e-04 1.72735499e+02] [-8.95745709e-01 -4.44566406e-01 -5.78884767e-04 1.07745974e+02] [-6.44353166e-04 -3.84208770e-06 9.99999792e-01 -6.48146199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.41058195e-01 8.97478462e-01 -2.82791742e-04 1.72740272e+02] [-8.97478275e-01 -4.41058285e-01 -5.78994415e-04 1.07757455e+02] [-6.44362658e-04 -1.57078686e-06 9.99999792e-01 -6.48693200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84999999999997 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.37299110e-01 8.99316078e-01 -2.82567543e-04 1.72740010e+02] [-8.99315892e-01 -4.37299201e-01 -5.79103811e-04 1.07758079e+02] [-6.44363929e-04 8.75901127e-07 9.99999792e-01 -6.48723706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.30549302e-01 9.02567016e-01 -2.82343867e-04 1.72740800e+02] [-9.02566831e-01 -4.30549394e-01 -5.79212844e-04 1.07762657e+02] [-6.44341389e-04 5.45452310e-06 9.99999792e-01 -6.49533767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90999999999997 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.27336578e-01 9.04092567e-01 -2.82120148e-04 1.72740141e+02] [-9.04092381e-01 -4.27336671e-01 -5.79321791e-04 1.07761737e+02] [-6.44320810e-04 7.49728441e-06 9.99999792e-01 -6.49156362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.24315277e-01 9.05514476e-01 -2.82553546e-04 1.72738583e+02] [-9.05514291e-01 -4.24315371e-01 -5.79110831e-04 1.07757677e+02] [-6.44285053e-04 1.01307018e-05 9.99999792e-01 -6.48979230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96999999999997 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.21332109e-01 9.06906376e-01 -2.81838231e-04 1.72742293e+02] [-9.06906191e-01 -4.21332203e-01 -5.79458747e-04 1.07764573e+02] [-6.44262355e-04 1.14562609e-05 9.99999792e-01 -6.48299022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.18354381e-01 9.08283839e-01 -2.81613361e-04 1.72742407e+02] [-9.08283654e-01 -4.18354476e-01 -5.79568012e-04 1.07760475e+02] [-6.44226469e-04 1.33199954e-05 9.99999792e-01 -6.48255900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:172.74, Y:107.77, Z:-0.65 [[-4.16072869e-01 9.09331232e-01 -2.81388260e-04 1.72743006e+02] [-9.09331047e-01 -4.16072964e-01 -5.79677281e-04 1.07765289e+02] [-6.44196703e-04 1.46870916e-05 9.99999792e-01 -6.49279205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.13916380e-01 9.10314864e-01 -2.81162775e-04 1.72736401e+02] [-9.10314680e-01 -4.13916475e-01 -5.79786628e-04 1.07756249e+02] [-6.44166290e-04 1.59634192e-05 9.99999792e-01 -6.49740118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:172.74, Y:107.77, Z:-0.65 [[-4.12788234e-01 9.10826984e-01 -2.80936252e-04 1.72742648e+02] [-9.10826800e-01 -4.12788329e-01 -5.79896369e-04 1.07769599e+02] [-6.44152467e-04 1.65098691e-05 9.99999792e-01 -6.50073302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:172.74, Y:107.79, Z:-0.66 [[-4.32564477e-01 9.01602958e-01 -2.80709609e-04 1.72737177e+02] [-9.01602772e-01 -4.32564568e-01 -5.80006059e-04 1.07787298e+02] [-6.44360210e-04 2.19854363e-06 9.99999792e-01 -6.58546848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:172.74, Y:107.80, Z:-0.66 [[-4.33158133e-01 9.01317891e-01 -3.00534495e-04 1.72742033e+02] [-9.01317711e-01 -4.33158237e-01 -5.70373234e-04 1.07796401e+02] [-6.44266593e-04 2.38152576e-05 9.99999792e-01 -6.58598014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.12777302e-01 9.10831933e-01 -2.99950989e-04 1.72738352e+02] [-9.10831755e-01 -4.12777409e-01 -5.70656146e-04 1.07760527e+02] [-6.43584832e-04 3.76509814e-05 9.99999792e-01 -6.50773899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:172.74, Y:107.76, Z:-0.65 [[-4.13813126e-01 9.10361806e-01 -2.80184153e-04 1.72740096e+02] [-9.10361622e-01 -4.13813220e-01 -5.80201713e-04 1.07764083e+02] [-6.44137386e-04 1.49738153e-05 9.99999792e-01 -6.50212383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:172.74, Y:107.77, Z:-0.65 [[-4.14355521e-01 9.10115061e-01 -2.79587896e-04 1.72742522e+02] [-9.10114876e-01 -4.14355615e-01 -5.80489404e-04 1.07769730e+02] [-6.44160964e-04 1.39281140e-05 9.99999792e-01 -6.49816008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:172.75, Y:107.78, Z:-0.65 [[-4.14606359e-01 9.10000818e-01 -2.79897353e-04 1.72745667e+02] [-9.10000633e-01 -4.14606453e-01 -5.80340154e-04 1.07776873e+02] [-6.44157263e-04 1.40940504e-05 9.99999792e-01 -6.49294314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:172.75, Y:107.79, Z:-0.65 [[-4.14001998e-01 9.10275929e-01 -2.79670190e-04 1.72750428e+02] [-9.10275744e-01 -4.14002092e-01 -5.80449605e-04 1.07786890e+02] [-6.44153347e-04 1.42696944e-05 9.99999792e-01 -6.48528977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:172.74, Y:107.78, Z:-0.65 [[-4.12712283e-01 9.10861402e-01 -2.79444098e-04 1.72744866e+02] [-9.10861217e-01 -4.12712378e-01 -5.80558431e-04 1.07775892e+02] [-6.44138304e-04 1.49311951e-05 9.99999792e-01 -6.48561793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:172.75, Y:107.81, Z:-0.66 [[-4.30868849e-01 9.02414515e-01 -2.79217351e-04 1.72745117e+02] [-9.02414328e-01 -4.30868940e-01 -5.80667464e-04 1.07807966e+02] [-6.44308831e-04 1.77821628e-06 9.99999792e-01 -6.57270839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:172.75, Y:107.78, Z:-0.65 [[-4.08079569e-01 9.12946316e-01 -2.99197880e-04 1.72746247e+02] [-9.12946138e-01 -4.08079677e-01 -5.71034464e-04 1.07781310e+02] [-6.43420385e-04 4.01240505e-05 9.99999792e-01 -6.49921687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41999999999996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:172.75, Y:107.79, Z:-0.65 [[-4.06421399e-01 9.13685705e-01 -2.78867678e-04 1.72749103e+02] [-9.13685521e-01 -4.06421495e-01 -5.80795959e-04 1.07787230e+02] [-6.44002784e-04 1.87494531e-05 9.99999792e-01 -6.50294003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:172.75, Y:107.79, Z:-0.65 [[-4.04480524e-01 9.14546570e-01 -2.78640067e-04 1.72750842e+02] [-9.14546385e-01 -4.04480620e-01 -5.80905136e-04 1.07792645e+02] [-6.43969306e-04 1.98644524e-05 9.99999792e-01 -6.50624341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47999999999996 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:172.75, Y:107.79, Z:-0.65 [[-4.02009815e-01 9.15635315e-01 -2.78413030e-04 1.72747759e+02] [-9.15635131e-01 -4.02009911e-01 -5.81013928e-04 1.07788350e+02] [-6.43921669e-04 2.13514492e-05 9.99999792e-01 -6.50534122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:172.74, Y:107.78, Z:-0.65 [[-3.99599243e-01 9.16689897e-01 -2.78185526e-04 1.72744202e+02] [-9.16689713e-01 -3.99599340e-01 -5.81122835e-04 1.07783396e+02] [-6.43872184e-04 2.27935646e-05 9.99999792e-01 -6.50894432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53999999999996 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:172.73, Y:107.76, Z:-0.65 [[-3.97562433e-01 9.17575084e-01 -2.77956502e-04 1.72733702e+02] [-9.17574900e-01 -3.97562529e-01 -5.81232359e-04 1.07763952e+02] [-6.43829420e-04 2.39697584e-05 9.99999792e-01 -6.50858107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:172.75, Y:107.80, Z:-0.65 [[-3.95236020e-01 9.18579562e-01 -2.77724576e-04 1.72750027e+02] [-9.18579378e-01 -3.95236116e-01 -5.81343157e-04 1.07800489e+02] [-6.43776725e-04 2.53443129e-05 9.99999792e-01 -6.50302598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59999999999997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:172.75, Y:107.79, Z:-0.65 [[-3.94464202e-01 9.18911267e-01 -2.77493647e-04 1.72745302e+02] [-9.18911083e-01 -3.94464299e-01 -5.81453366e-04 1.07790860e+02] [-6.43765386e-04 2.56294498e-05 9.99999792e-01 -6.49785335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:172.75, Y:107.80, Z:-0.65 [[-3.94007844e-01 9.19107035e-01 -2.77264765e-04 1.72751204e+02] [-9.19106852e-01 -3.94007940e-01 -5.81562487e-04 1.07802017e+02] [-6.43762692e-04 2.56957642e-05 9.99999792e-01 -6.48365781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65999999999997 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:172.75, Y:107.79, Z:-0.65 [[-3.93850829e-01 9.19174329e-01 -2.77035568e-04 1.72748028e+02] [-9.19174146e-01 -3.93850926e-01 -5.81671648e-04 1.07794497e+02] [-6.43768362e-04 2.55520706e-05 9.99999792e-01 -6.47779224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:172.76, Y:107.84, Z:-0.65 [[-4.06956871e-01 9.13447332e-01 -2.76806249e-04 1.72761478e+02] [-9.13447147e-01 -4.06956965e-01 -5.81780756e-04 1.07840160e+02] [-6.44074310e-04 1.60882019e-05 9.99999792e-01 -6.49333804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71999999999997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:172.76, Y:107.81, Z:-0.65 [[-3.96809421e-01 9.17900975e-01 -2.89447577e-04 1.72756564e+02] [-9.17900795e-01 -3.96809524e-01 -5.75755796e-04 1.07809983e+02] [-6.43342361e-04 3.72188376e-05 9.99999792e-01 -6.47275524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:172.76, Y:107.82, Z:-0.65 [[-3.98489126e-01 9.17173015e-01 -2.76619844e-04 1.72760191e+02] [-9.17172831e-01 -3.98489222e-01 -5.81854239e-04 1.07817190e+02] [-6.43891034e-04 2.18456184e-05 9.99999792e-01 -6.47943805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:172.76, Y:107.81, Z:-0.65 [[-4.00989919e-01 9.16082425e-01 -2.76392245e-04 1.72758792e+02] [-9.16082240e-01 -4.00990014e-01 -5.81962333e-04 1.07814618e+02] [-6.43955996e-04 1.98369983e-05 9.99999792e-01 -6.48275766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:172.76, Y:107.83, Z:-0.65 [[-4.04134600e-01 9.14699485e-01 -2.76164604e-04 1.72763477e+02] [-9.14699300e-01 -4.04134694e-01 -5.82070338e-04 1.07825204e+02] [-6.44027137e-04 1.73728066e-05 9.99999792e-01 -6.48506454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:172.76, Y:107.82, Z:-0.65 [[-4.07349453e-01 9.13272329e-01 -2.75937190e-04 1.72760582e+02] [-9.13272143e-01 -4.07349547e-01 -5.82178127e-04 1.07819676e+02] [-6.44090063e-04 1.48558070e-05 9.99999792e-01 -6.48577680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:172.77, Y:107.83, Z:-0.65 [[-4.10617055e-01 9.11807851e-01 -2.75709733e-04 1.72767246e+02] [-9.11807666e-01 -4.10617148e-01 -5.82285826e-04 1.07834369e+02] [-6.44143933e-04 1.22977570e-05 9.99999792e-01 -6.47942617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:172.77, Y:107.84, Z:-0.65 [[-4.13465974e-01 9.10519529e-01 -2.75482581e-04 1.72767040e+02] [-9.10519343e-01 -4.13466066e-01 -5.82393273e-04 1.07835034e+02] [-6.44183148e-04 1.00324167e-05 9.99999792e-01 -6.46739503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:172.77, Y:107.84, Z:-0.64 [[-4.19884153e-01 9.07577668e-01 -2.75256384e-04 1.72769692e+02] [-9.07577481e-01 -4.19884243e-01 -5.82500161e-04 1.07840167e+02] [-6.44239956e-04 5.23390901e-06 9.99999792e-01 -6.43777717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:172.77, Y:107.85, Z:-0.64 [[-4.26769958e-01 9.04360176e-01 -2.75030222e-04 1.72772476e+02] [-9.04359988e-01 -4.26770046e-01 -5.82606925e-04 1.07849192e+02] [-6.44261162e-04 8.71958107e-08 9.99999792e-01 -6.43192392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:172.78, Y:107.87, Z:-0.64 [[-4.36485852e-01 8.99711079e-01 -2.74804778e-04 1.72776146e+02] [-8.99710890e-01 -4.36485938e-01 -5.82713243e-04 1.07871972e+02] [-6.44221982e-04 -7.10123440e-06 9.99999792e-01 -6.41704856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:172.77, Y:107.86, Z:-0.65 [[-4.33016322e-01 9.01386036e-01 -2.82162766e-04 1.72772228e+02] [-9.01385850e-01 -4.33016414e-01 -5.79241499e-04 1.07860208e+02] [-6.44301308e-04 3.51650073e-06 9.99999792e-01 -6.46318370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:172.77, Y:107.87, Z:-0.65 [[-4.36322825e-01 8.99790152e-01 -2.74469516e-04 1.72772986e+02] [-8.99789963e-01 -4.36322912e-01 -5.82864234e-04 1.07866981e+02] [-6.44212836e-04 -7.35205433e-06 9.99999792e-01 -6.46783930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:172.77, Y:107.87, Z:-0.65 [[-4.40497515e-01 8.97753788e-01 -2.74245702e-04 1.72773836e+02] [-8.97753599e-01 -4.40497600e-01 -5.82969523e-04 1.07869041e+02] [-6.44167671e-04 -1.05915602e-05 9.99999792e-01 -6.46918788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:172.78, Y:107.88, Z:-0.65 [[-4.44718342e-01 8.95670431e-01 -2.74022183e-04 1.72778469e+02] [-8.95670241e-01 -4.44718426e-01 -5.83074568e-04 1.07879524e+02] [-6.44105364e-04 -1.38704403e-05 9.99999792e-01 -6.47403908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:172.78, Y:107.90, Z:-0.65 [[-4.60294470e-01 8.87766257e-01 -2.73799291e-04 1.72779327e+02] [-8.87766065e-01 -4.60294550e-01 -5.83179215e-04 1.07899533e+02] [-6.43755150e-04 -2.53644484e-05 9.99999792e-01 -6.48543191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16999999999996 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:172.78, Y:107.90, Z:-0.65 [[-4.59992083e-01 8.87922971e-01 -2.85659504e-04 1.72780393e+02] [-8.87922783e-01 -4.59992171e-01 -5.77601583e-04 1.07901987e+02] [-6.44266849e-04 -1.20485730e-05 9.99999792e-01 -6.48535446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:172.78, Y:107.89, Z:-0.65 [[-4.59584329e-01 8.88134091e-01 -2.85067245e-04 1.72783570e+02] [-8.88133903e-01 -4.59584417e-01 -5.77879723e-04 1.07892714e+02] [-6.44247146e-04 -1.24065800e-05 9.99999792e-01 -6.48585581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22999999999996 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:172.79, Y:107.90, Z:-0.65 [[-4.64860059e-01 8.85384126e-01 -2.73252271e-04 1.72787802e+02] [-8.85383935e-01 -4.64860138e-01 -5.83413480e-04 1.07902500e+02] [-6.43569123e-04 -2.92724540e-05 9.99999792e-01 -6.48838362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:172.79, Y:107.91, Z:-0.65 [[-4.75699409e-01 8.79607866e-01 -2.73031665e-04 1.72786975e+02] [-8.79607673e-01 -4.75699486e-01 -5.83516703e-04 1.07911415e+02] [-6.43146905e-04 -3.74178038e-05 9.99999792e-01 -6.49567203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28999999999996 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:172.80, Y:107.92, Z:-0.65 [[-4.80157994e-01 8.77181977e-01 -2.83824586e-04 1.72796037e+02] [-8.77181786e-01 -4.80158077e-01 -5.78458971e-04 1.07917680e+02] [-6.43694451e-04 -2.87859419e-05 9.99999792e-01 -6.47123546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:172.80, Y:107.92, Z:-0.65 [[-4.83583062e-01 8.75298434e-01 -2.72837148e-04 1.72798561e+02] [-8.75298240e-01 -4.83583137e-01 -5.83595715e-04 1.07920183e+02] [-6.42759859e-04 -4.34031269e-05 9.99999792e-01 -6.45836751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34999999999997 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:172.80, Y:107.92, Z:-0.64 [[-4.86382354e-01 8.73746034e-01 -2.72619228e-04 1.72800318e+02] [-8.73745840e-01 -4.86382429e-01 -5.83697496e-04 1.07922132e+02] [-6.42600573e-04 -4.57002462e-05 9.99999792e-01 -6.44624438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:172.78, Y:107.89, Z:-0.64 [[-4.90305341e-01 8.71550686e-01 -2.72401340e-04 1.72783515e+02] [-8.71550492e-01 -4.90305414e-01 -5.83799162e-04 1.07889482e+02] [-6.42370412e-04 -4.88283252e-05 9.99999792e-01 -6.41461046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40999999999997 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:172.81, Y:107.94, Z:-0.64 [[-4.91005507e-01 8.71156423e-01 -2.81231394e-04 1.72805493e+02] [-8.71156231e-01 -4.91005586e-01 -5.79675816e-04 1.07935819e+02] [-6.43074496e-04 -3.96275372e-05 9.99999792e-01 -6.44277486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:172.80, Y:107.94, Z:-0.65 [[-4.94203467e-01 8.69346225e-01 -2.72060495e-04 1.72803826e+02] [-8.69346031e-01 -4.94203539e-01 -5.83948521e-04 1.07939415e+02] [-6.42106701e-04 -5.20746723e-05 9.99999793e-01 -6.46257410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46999999999997 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:172.80, Y:107.94, Z:-0.65 [[-5.03440540e-01 8.64029831e-01 -2.71843917e-04 1.72795812e+02] [-8.64029636e-01 -5.03440609e-01 -5.84049326e-04 1.07940642e+02] [-6.41493308e-04 -5.91529077e-05 9.99999793e-01 -6.48793635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:172.80, Y:107.95, Z:-0.65 [[-4.96138682e-01 8.68243243e-01 -2.80166733e-04 1.72804783e+02] [-8.68243051e-01 -4.96138759e-01 -5.80172721e-04 1.07948435e+02] [-6.42732620e-04 -4.45933102e-05 9.99999792e-01 -6.46405081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:172.81, Y:107.95, Z:-0.65 [[-4.95877148e-01 8.68392642e-01 -2.71580377e-04 1.72805131e+02] [-8.68392447e-01 -4.95877219e-01 -5.84164551e-04 1.07951725e+02] [-6.41954720e-04 -5.38355032e-05 9.99999793e-01 -6.45335846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:172.80, Y:107.95, Z:-0.64 [[-4.95895353e-01 8.68382246e-01 -2.71364312e-04 1.72800192e+02] [-8.68382051e-01 -4.95895425e-01 -5.84264904e-04 1.07948459e+02] [-6.41933590e-04 -5.40863534e-05 9.99999793e-01 -6.43560678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:172.80, Y:107.95, Z:-0.64 [[-4.94606715e-01 8.69116864e-01 -2.71147616e-04 1.72799781e+02] [-8.69116670e-01 -4.94606786e-01 -5.84365451e-04 1.07951931e+02] [-6.41993320e-04 -5.33721629e-05 9.99999793e-01 -6.43224225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:172.80, Y:107.98, Z:-0.64 [[-4.99613135e-01 8.66248603e-01 -2.70930325e-04 1.72804464e+02] [-8.66248407e-01 -4.99613206e-01 -5.84466177e-04 1.07975850e+02] [-6.41653377e-04 -5.73140163e-05 9.99999793e-01 -6.43256048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:172.80, Y:107.96, Z:-0.64 [[-4.92569944e-01 8.70272816e-01 -2.76413625e-04 1.72800720e+02] [-8.70272622e-01 -4.92570019e-01 -5.81923406e-04 1.07964041e+02] [-6.42585186e-04 -4.60827689e-05 9.99999792e-01 -6.43480818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:172.80, Y:107.97, Z:-0.64 [[-4.94889845e-01 8.68955677e-01 -2.70684220e-04 1.72799776e+02] [-8.68955482e-01 -4.94889916e-01 -5.84576369e-04 1.07972676e+02] [-6.41929845e-04 -5.40883717e-05 9.99999793e-01 -6.43610168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:172.80, Y:107.97, Z:-0.65 [[-4.94248584e-01 8.69320575e-01 -2.74055977e-04 1.72797126e+02] [-8.69320381e-01 -4.94248657e-01 -5.83015428e-04 1.07971727e+02] [-6.42279106e-04 -4.99121033e-05 9.99999793e-01 -6.45131407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:172.80, Y:107.97, Z:-0.64 [[-4.90698299e-01 8.71329504e-01 -2.74714305e-04 1.72796308e+02] [-8.71329310e-01 -4.90698373e-01 -5.82710832e-04 1.07974053e+02] [-6.42535003e-04 -4.65685881e-05 9.99999793e-01 -6.42810055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:172.79, Y:107.97, Z:-0.64 [[-4.86124664e-01 8.73889430e-01 -2.73600812e-04 1.72794022e+02] [-8.73889237e-01 -4.86124739e-01 -5.83225690e-04 1.07968044e+02] [-6.42678889e-04 -4.44235877e-05 9.99999793e-01 -6.42530945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:172.79, Y:107.97, Z:-0.64 [[-4.83749153e-01 8.75206652e-01 -2.70609842e-04 1.72793523e+02] [-8.75206458e-01 -4.83749227e-01 -5.84606947e-04 1.07969116e+02] [-6.42559190e-04 -4.59636340e-05 9.99999793e-01 -6.42031499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:172.79, Y:107.98, Z:-0.64 [[-4.82382976e-01 8.75960382e-01 -2.69917130e-04 1.72794638e+02] [-8.75960188e-01 -4.82383050e-01 -5.84926602e-04 1.07975277e+02] [-6.42575978e-04 -4.57219750e-05 9.99999793e-01 -6.42661688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:172.79, Y:107.97, Z:-0.64 [[-4.80811539e-01 8.76823923e-01 -2.69699489e-04 1.72792452e+02] [-8.76823729e-01 -4.80811612e-01 -5.85026935e-04 1.07973660e+02] [-6.42640258e-04 -4.48087889e-05 9.99999793e-01 -6.42667348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:172.79, Y:107.98, Z:-0.64 [[-4.78999586e-01 8.77815085e-01 -2.69481637e-04 1.72793706e+02] [-8.77814891e-01 -4.78999660e-01 -5.85127267e-04 1.07980230e+02] [-6.42715154e-04 -4.37207253e-05 9.99999793e-01 -6.42492871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91999999999996 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:172.79, Y:107.98, Z:-0.64 [[-4.77685943e-01 8.78530630e-01 -2.69263676e-04 1.72794337e+02] [-8.78530436e-01 -4.77686017e-01 -5.85227551e-04 1.07982929e+02] [-6.42763822e-04 -4.29986400e-05 9.99999793e-01 -6.42333676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:172.79, Y:107.98, Z:-0.64 [[-4.76032347e-01 8.79427730e-01 -2.69045994e-04 1.72793129e+02] [-8.79427536e-01 -4.76032421e-01 -5.85327609e-04 1.07981999e+02] [-6.42827946e-04 -4.20284196e-05 9.99999793e-01 -6.41884982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97999999999996 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:172.79, Y:107.99, Z:-0.65 [[-4.80134646e-01 8.77194762e-01 -2.68827958e-04 1.72791018e+02] [-8.77194568e-01 -4.80134719e-01 -5.85427731e-04 1.07988006e+02] [-6.42607775e-04 -4.52697112e-05 9.99999793e-01 -6.48304488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:172.79, Y:107.99, Z:-0.64 [[-4.70366385e-01 8.82471183e-01 -2.74046111e-04 1.72793004e+02] [-8.82470991e-01 -4.70366464e-01 -5.83030516e-04 1.07986179e+02] [-6.43409729e-04 -3.24002138e-05 9.99999792e-01 -6.41170015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03999999999996 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:172.79, Y:107.99, Z:-0.65 [[-4.74701930e-01 8.80146582e-01 -2.68556445e-04 1.72789787e+02] [-8.80146388e-01 -4.74702004e-01 -5.85548302e-04 1.07988927e+02] [-6.42852619e-04 -4.15919240e-05 9.99999793e-01 -6.47918525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:172.79, Y:107.99, Z:-0.64 [[-4.66541802e-01 8.84499108e-01 -2.74171367e-04 1.72793252e+02] [-8.84498916e-01 -4.66541881e-01 -5.82972474e-04 1.07987073e+02] [-6.43551059e-04 -2.94767512e-05 9.99999792e-01 -6.41322892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09999999999997 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:172.80, Y:107.99, Z:-0.64 [[-4.63705116e-01 8.85989556e-01 -2.68278418e-04 1.72795030e+02] [-8.85989363e-01 -4.63705192e-01 -5.85671855e-04 1.07987529e+02] [-6.43301242e-04 -3.38872105e-05 9.99999793e-01 -6.41292875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:172.80, Y:107.99, Z:-0.64 [[-4.62409696e-01 8.86666342e-01 -2.68059156e-04 1.72796011e+02] [-8.86666149e-01 -4.62409773e-01 -5.85772193e-04 1.07986827e+02] [-6.43337660e-04 -3.31877626e-05 9.99999793e-01 -6.40837122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15999999999997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:172.80, Y:107.99, Z:-0.64 [[-4.60904327e-01 8.87449790e-01 -2.67839463e-04 1.72797992e+02] [-8.87449597e-01 -4.60904404e-01 -5.85872628e-04 1.07987671e+02] [-6.43380929e-04 -3.23372057e-05 9.99999793e-01 -6.41462322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:172.80, Y:107.99, Z:-0.64 [[-4.59390881e-01 8.88234173e-01 -2.67619445e-04 1.72799874e+02] [-8.88233981e-01 -4.59390958e-01 -5.85973113e-04 1.07989235e+02] [-6.43423296e-04 -3.14820199e-05 9.99999793e-01 -6.41038815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21999999999997 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:172.80, Y:107.99, Z:-0.64 [[-4.57758489e-01 8.89076540e-01 -2.67399283e-04 1.72801883e+02] [-8.89076347e-01 -4.57758567e-01 -5.86073563e-04 1.07990472e+02] [-6.43468568e-04 -3.05417712e-05 9.99999793e-01 -6.42322380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:172.80, Y:107.99, Z:-0.64 [[-4.56005433e-01 8.89976951e-01 -2.67179011e-04 1.72803262e+02] [-8.89976759e-01 -4.56005510e-01 -5.86173963e-04 1.07989787e+02] [-6.43516418e-04 -2.95154016e-05 9.99999793e-01 -6.42064534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:172.81, Y:107.99, Z:-0.64 [[-4.52388763e-01 8.91820798e-01 -2.66958378e-04 1.72807523e+02] [-8.91820606e-01 -4.52388841e-01 -5.86274428e-04 1.07989153e+02] [-6.43620719e-04 -2.71449812e-05 9.99999793e-01 -6.42315199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:172.81, Y:107.99, Z:-0.64 [[-4.50574200e-01 8.92738942e-01 -2.66737416e-04 1.72810575e+02] [-8.92738750e-01 -4.50574278e-01 -5.86374942e-04 1.07990343e+02] [-6.43664764e-04 -2.60785930e-05 9.99999793e-01 -6.42423550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:172.81, Y:107.99, Z:-0.64 [[-4.48736670e-01 8.93663992e-01 -2.66516237e-04 1.72813764e+02] [-8.93663800e-01 -4.48736748e-01 -5.86475453e-04 1.07990449e+02] [-6.43707624e-04 -2.49971291e-05 9.99999793e-01 -6.42218824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:172.82, Y:107.99, Z:-0.64 [[-4.47074874e-01 8.94496499e-01 -2.66294874e-04 1.72815553e+02] [-8.94496307e-01 -4.47074952e-01 -5.86575948e-04 1.07987868e+02] [-6.43743900e-04 -2.40435868e-05 9.99999793e-01 -6.42233801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:172.82, Y:107.98, Z:-0.64 [[-4.43905544e-01 8.96073544e-01 -2.66073073e-04 1.72819432e+02] [-8.96073353e-01 -4.43905624e-01 -5.86676541e-04 1.07982066e+02] [-6.43816661e-04 -2.20079783e-05 9.99999793e-01 -6.42619692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:172.82, Y:107.98, Z:-0.64 [[-4.42362987e-01 8.96836059e-01 -2.65850357e-04 1.72823224e+02] [-8.96835868e-01 -4.42363066e-01 -5.86777446e-04 1.07983421e+02] [-6.43845552e-04 -2.11444884e-05 9.99999793e-01 -6.42319857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:172.83, Y:107.99, Z:-0.64 [[-4.40454254e-01 8.97775016e-01 -2.65627089e-04 1.72829701e+02] [-8.97774825e-01 -4.40454333e-01 -5.86878500e-04 1.07989495e+02] [-6.43881457e-04 -2.00198180e-05 9.99999793e-01 -6.43169930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:172.83, Y:107.98, Z:-0.64 [[-4.38581742e-01 8.98691263e-01 -2.65404296e-04 1.72830531e+02] [-8.98691071e-01 -4.38581822e-01 -5.86979236e-04 1.07982701e+02] [-6.43914610e-04 -1.89219043e-05 9.99999793e-01 -6.42911290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:172.84, Y:107.99, Z:-0.64 [[-4.36082742e-01 8.99906535e-01 -2.65181135e-04 1.72835350e+02] [-8.99906344e-01 -4.36082822e-01 -5.87080037e-04 1.07986595e+02] [-6.43958099e-04 -1.73772869e-05 9.99999793e-01 -6.43708742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:172.84, Y:107.98, Z:-0.64 [[-4.30145605e-01 9.02759485e-01 -2.64957529e-04 1.72835011e+02] [-9.02759295e-01 -4.30145686e-01 -5.87180936e-04 1.07984809e+02] [-6.44053498e-04 -1.33804271e-05 9.99999793e-01 -6.43149929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:172.83, Y:107.98, Z:-0.64 [[-4.19463697e-01 9.07772073e-01 -2.64733701e-04 1.72834931e+02] [-9.07771883e-01 -4.19463781e-01 -5.87281833e-04 1.07981765e+02] [-6.44164246e-04 -6.02559852e-06 9.99999793e-01 -6.43237581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:172.84, Y:107.98, Z:-0.64 [[-4.13890516e-01 9.10326629e-01 -2.64509017e-04 1.72835384e+02] [-9.10326439e-01 -4.13890601e-01 -5.87383012e-04 1.07981339e+02] [-6.44188193e-04 -2.32270646e-06 9.99999793e-01 -6.43777500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:172.84, Y:107.98, Z:-0.64 [[-4.08778346e-01 9.12633658e-01 -2.64283656e-04 1.72835539e+02] [-9.12633469e-01 -4.08778432e-01 -5.87484392e-04 1.07981119e+02] [-6.44191488e-04 1.04321208e-06 9.99999793e-01 -6.44129732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66999999999996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:172.84, Y:107.98, Z:-0.64 [[-4.03846615e-01 9.14826673e-01 -2.64057767e-04 1.72835344e+02] [-9.14826484e-01 -4.03846701e-01 -5.87585905e-04 1.07980145e+02] [-6.44178117e-04 4.27246016e-06 9.99999793e-01 -6.44851584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:172.83, Y:107.97, Z:-0.65 [[-3.95679659e-01 9.18388555e-01 -2.63831312e-04 1.72829445e+02] [-9.18388367e-01 -3.95679747e-01 -5.87687568e-04 1.07969172e+02] [-6.44118243e-04 9.76359133e-06 9.99999793e-01 -6.45270540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72999999999996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:172.83, Y:107.98, Z:-0.65 [[-3.92235920e-01 9.19864617e-01 -2.63603252e-04 1.72831544e+02] [-9.19864429e-01 -3.92236009e-01 -5.87789845e-04 1.07976682e+02] [-6.44081768e-04 1.19269640e-05 9.99999793e-01 -6.46113227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:172.83, Y:107.98, Z:-0.65 [[-3.89265518e-01 9.21125554e-01 -2.63374303e-04 1.72834477e+02] [-9.21125367e-01 -3.89265607e-01 -5.87892414e-04 1.07982872e+02] [-6.44045283e-04 1.37545065e-05 9.99999793e-01 -6.46253048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78999999999996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:172.83, Y:107.97, Z:-0.65 [[-3.88783710e-01 9.21329017e-01 -2.63146050e-04 1.72827414e+02] [-9.21328829e-01 -3.88783799e-01 -5.87994564e-04 1.07968702e+02] [-6.44043375e-04 1.38413340e-05 9.99999793e-01 -6.46676258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:172.84, Y:107.99, Z:-0.65 [[-3.89085635e-01 9.21201552e-01 -2.62916480e-04 1.72836117e+02] [-9.21201364e-01 -3.89085724e-01 -5.88097196e-04 1.07987470e+02] [-6.44053099e-04 1.33788492e-05 9.99999793e-01 -6.47268038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84999999999997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:172.84, Y:107.99, Z:-0.65 [[-3.89557455e-01 9.21002128e-01 -2.62686871e-04 1.72836804e+02] [-9.21001940e-01 -3.89557544e-01 -5.88199739e-04 1.07989415e+02] [-6.44064863e-04 1.27975241e-05 9.99999793e-01 -6.47365081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:172.83, Y:107.98, Z:-0.65 [[-3.90907959e-01 9.20429736e-01 -2.62458689e-04 1.72834503e+02] [-9.20429548e-01 -3.90908047e-01 -5.88301537e-04 1.07982675e+02] [-6.44087442e-04 1.16029793e-05 9.99999793e-01 -6.45920806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90999999999997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:172.84, Y:107.99, Z:-0.65 [[-3.91762340e-01 9.20066411e-01 -2.62230959e-04 1.72839811e+02] [-9.20066223e-01 -3.91762427e-01 -5.88403029e-04 1.07994211e+02] [-6.44102100e-04 1.07557006e-05 9.99999793e-01 -6.45471100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:172.84, Y:108.00, Z:-0.65 [[-3.92515741e-01 9.19745250e-01 -2.62001850e-04 1.72841731e+02] [-9.19745062e-01 -3.92515828e-01 -5.88505028e-04 1.07998837e+02] [-6.44114577e-04 9.97742018e-06 9.99999793e-01 -6.45191414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96999999999997 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:172.84, Y:107.99, Z:-0.65 [[-3.92866438e-01 9.19595505e-01 -2.61773704e-04 1.72839212e+02] [-9.19595317e-01 -3.92866525e-01 -5.88606492e-04 1.07994129e+02] [-6.44122010e-04 9.48213661e-06 9.99999793e-01 -6.46032948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:172.84, Y:108.00, Z:-0.65 [[-3.93647050e-01 9.19261623e-01 -2.61545097e-04 1.72842753e+02] [-9.19261434e-01 -3.93647137e-01 -5.88708055e-04 1.08003706e+02] [-6.44133201e-04 8.68513102e-06 9.99999793e-01 -6.46746935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:172.84, Y:108.01, Z:-0.65 [[-3.94119314e-01 9.19059246e-01 -2.61316372e-04 1.72841943e+02] [-9.19059058e-01 -3.94119400e-01 -5.88809564e-04 1.08006011e+02] [-6.44140726e-04 8.10395698e-06 9.99999793e-01 -6.48091195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:172.85, Y:108.01, Z:-0.65 [[-3.95027773e-01 9.18669141e-01 -2.61088186e-04 1.72845559e+02] [-9.18668952e-01 -3.95027859e-01 -5.88910729e-04 1.08013488e+02] [-6.44151220e-04 7.21751666e-06 9.99999793e-01 -6.47480188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:172.85, Y:108.02, Z:-0.65 [[-3.94673098e-01 9.18821570e-01 -2.60860305e-04 1.72846584e+02] [-9.18821381e-01 -3.94673184e-01 -5.89011652e-04 1.08015987e+02] [-6.44151178e-04 7.21697266e-06 9.99999793e-01 -6.47478567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:172.84, Y:108.01, Z:-0.65 [[-3.96302377e-01 9.18120013e-01 -2.60632883e-04 1.72844326e+02] [-9.18119824e-01 -3.96302462e-01 -5.89112267e-04 1.08008140e+02] [-6.44165216e-04 5.82562465e-06 9.99999793e-01 -6.46644377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:172.85, Y:108.01, Z:-0.65 [[-3.96883246e-01 9.17869066e-01 -2.60404502e-04 1.72845047e+02] [-9.17868876e-01 -3.96883331e-01 -5.89213201e-04 1.08009954e+02] [-6.44170776e-04 5.16834030e-06 9.99999793e-01 -6.46369199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:172.85, Y:108.02, Z:-0.65 [[-3.99491204e-01 9.16736991e-01 -2.60175156e-04 1.72851214e+02] [-9.16736801e-01 -3.99491289e-01 -5.89314454e-04 1.08024035e+02] [-6.44184068e-04 3.08619928e-06 9.99999793e-01 -6.50465392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:172.85, Y:108.02, Z:-0.65 [[-3.98478335e-01 9.17177709e-01 -2.59946697e-04 1.72850995e+02] [-9.17177519e-01 -3.98478419e-01 -5.89415210e-04 1.08022824e+02] [-6.44181641e-04 3.54807540e-06 9.99999793e-01 -6.46255140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:172.85, Y:108.03, Z:-0.65 [[-3.99404905e-01 9.16774593e-01 -2.59724505e-04 1.72854360e+02] [-9.16774404e-01 -3.99404989e-01 -5.89513103e-04 1.08030460e+02] [-6.44185898e-04 2.65435309e-06 9.99999793e-01 -6.46171794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:172.85, Y:108.03, Z:-0.65 [[-3.99978086e-01 9.16524666e-01 -2.59496889e-04 1.72852910e+02] [-9.16524476e-01 -3.99978170e-01 -5.89613280e-04 1.08028175e+02] [-6.44188205e-04 2.00285907e-06 9.99999793e-01 -6.45203128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:172.85, Y:108.02, Z:-0.64 [[-3.99682649e-01 9.16653540e-01 -2.59269346e-04 1.72849224e+02] [-9.16653351e-01 -3.99682733e-01 -5.89713319e-04 1.08019340e+02] [-6.44188283e-04 1.96193349e-06 9.99999793e-01 -6.44939929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:172.86, Y:108.03, Z:-0.64 [[-3.98874032e-01 9.17005692e-01 -2.59040231e-04 1.72855705e+02] [-9.17005503e-01 -3.98874116e-01 -5.89813944e-04 1.08033336e+02] [-6.44187188e-04 2.27985165e-06 9.99999793e-01 -6.44682221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:172.86, Y:108.04, Z:-0.64 [[-3.98025060e-01 9.17374506e-01 -2.58811077e-04 1.72858850e+02] [-9.17374316e-01 -3.98025144e-01 -5.89914480e-04 1.08040471e+02] [-6.44185821e-04 2.62588877e-06 9.99999793e-01 -6.44838546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:172.85, Y:108.03, Z:-0.65 [[-3.95635268e-01 9.18407681e-01 -2.58583419e-04 1.72853140e+02] [-9.18407491e-01 -3.95635352e-01 -5.90014255e-04 1.08030795e+02] [-6.44178366e-04 4.05450158e-06 9.99999793e-01 -6.45992765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41999999999996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:172.86, Y:108.04, Z:-0.65 [[-3.94791321e-01 9.18770780e-01 -2.58354957e-04 1.72858048e+02] [-9.18770590e-01 -3.94791406e-01 -5.90114277e-04 1.08043077e+02] [-6.44176071e-04 4.39694189e-06 9.99999793e-01 -6.46927856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:172.86, Y:108.05, Z:-0.65 [[-3.94199449e-01 9.19024879e-01 -2.58126189e-04 1.72858966e+02] [-9.19024689e-01 -3.94199533e-01 -5.90214327e-04 1.08045695e+02] [-6.44174874e-04 4.56217805e-06 9.99999793e-01 -6.47446278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47999999999996 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:172.86, Y:108.04, Z:-0.65 [[-3.93310470e-01 9.19405682e-01 -2.57898303e-04 1.72858123e+02] [-9.19405492e-01 -3.93310555e-01 -5.90313887e-04 1.08043720e+02] [-6.44172066e-04 4.93648327e-06 9.99999793e-01 -6.47478961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:172.86, Y:108.04, Z:-0.65 [[-3.92035474e-01 9.19950064e-01 -2.57669957e-04 1.72858614e+02] [-9.19949875e-01 -3.92035559e-01 -5.90413542e-04 1.08043338e+02] [-6.44166762e-04 5.58039146e-06 9.99999793e-01 -6.47301259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53999999999996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:172.86, Y:108.04, Z:-0.65 [[-3.91595275e-01 9.20137530e-01 -2.57440917e-04 1.72859222e+02] [-9.20137341e-01 -3.91595360e-01 -5.90513395e-04 1.08043924e+02] [-6.44166205e-04 5.63874555e-06 9.99999793e-01 -6.47666579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:172.86, Y:108.06, Z:-0.65 [[-3.91274533e-01 9.20273967e-01 -2.57211414e-04 1.72864574e+02] [-9.20273777e-01 -3.91274618e-01 -5.90613343e-04 1.08055847e+02] [-6.44166382e-04 5.61295900e-06 9.99999793e-01 -6.47556068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59999999999997 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:172.86, Y:108.05, Z:-0.65 [[-3.91055828e-01 9.20366923e-01 -2.56982643e-04 1.72863344e+02] [-9.20366734e-01 -3.91055913e-01 -5.90712867e-04 1.08053447e+02] [-6.44167166e-04 5.51656606e-06 9.99999793e-01 -6.47872645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:172.86, Y:108.05, Z:-0.65 [[-3.90684121e-01 9.20524770e-01 -2.56754256e-04 1.72862884e+02] [-9.20524580e-01 -3.90684205e-01 -5.90812119e-04 1.08054467e+02] [-6.44167022e-04 5.52769022e-06 9.99999793e-01 -6.48170960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65999999999997 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:172.87, Y:108.06, Z:-0.65 [[-3.90645910e-01 9.20540986e-01 -2.56525217e-04 1.72865660e+02] [-9.20540797e-01 -3.90645994e-01 -5.90911549e-04 1.08061250e+02] [-6.44168849e-04 5.30474809e-06 9.99999793e-01 -6.48225510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:172.87, Y:108.06, Z:-0.65 [[-3.90543789e-01 9.20584316e-01 -2.56296331e-04 1.72866886e+02] [-9.20584127e-01 -3.90543873e-01 -5.91010807e-04 1.08064772e+02] [-6.44170242e-04 5.12673415e-06 9.99999793e-01 -6.48237487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71999999999997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:172.87, Y:108.07, Z:-0.65 [[-3.90798214e-01 9.20476339e-01 -2.56067906e-04 1.72869178e+02] [-9.20476149e-01 -3.90798298e-01 -5.91109761e-04 1.08069574e+02] [-6.44173450e-04 4.69976155e-06 9.99999793e-01 -6.47629074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:172.87, Y:108.07, Z:-0.65 [[-3.92799731e-01 9.19624003e-01 -2.55839674e-04 1.72870414e+02] [-9.19623813e-01 -3.92799814e-01 -5.91208526e-04 1.08072508e+02] [-6.44183327e-04 3.04970714e-06 9.99999793e-01 -6.48305642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:172.87, Y:108.07, Z:-0.65 [[-3.93781710e-01 9.19203949e-01 -2.55611748e-04 1.72870204e+02] [-9.19203759e-01 -3.93781793e-01 -5.91307054e-04 1.08073194e+02] [-6.44187032e-04 2.11337638e-06 9.99999793e-01 -6.49071715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:172.87, Y:108.08, Z:-0.65 [[-3.94648588e-01 9.18832100e-01 -2.55383630e-04 1.72871947e+02] [-9.18831909e-01 -3.94648670e-01 -5.91405561e-04 1.08079842e+02] [-6.44189223e-04 1.25725851e-06 9.99999793e-01 -6.49041017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:172.87, Y:108.08, Z:-0.65 [[-3.95523552e-01 9.18455799e-01 -2.55155627e-04 1.72871073e+02] [-9.18455609e-01 -3.95523634e-01 -5.91503914e-04 1.08079106e+02] [-6.44190281e-04 3.95387766e-07 9.99999793e-01 -6.49538195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:172.87, Y:108.08, Z:-0.65 [[-3.97466659e-01 9.17616581e-01 -2.54927587e-04 1.72873113e+02] [-9.17616390e-01 -3.97466741e-01 -5.91602179e-04 1.08083645e+02] [-6.44189206e-04 -1.21640968e-06 9.99999793e-01 -6.49799767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:172.87, Y:108.08, Z:-0.65 [[-3.99878083e-01 9.16568303e-01 -2.54699432e-04 1.72870555e+02] [-9.16568112e-01 -3.99878164e-01 -5.91700389e-04 1.08080970e+02] [-6.44182563e-04 -3.15863974e-06 9.99999793e-01 -6.49895769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:172.88, Y:108.09, Z:-0.65 [[-4.02208644e-01 9.15548001e-01 -2.54470895e-04 1.72876566e+02] [-9.15547809e-01 -4.02208725e-01 -5.91798659e-04 1.08093409e+02] [-6.44170493e-04 -5.04626577e-06 9.99999793e-01 -6.49833163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:172.88, Y:108.10, Z:-0.65 [[-4.04209374e-01 9.14666451e-01 -2.54242741e-04 1.72879295e+02] [-9.14666260e-01 -4.04209454e-01 -5.91896660e-04 1.08099019e+02] [-6.44155337e-04 -6.70292112e-06 9.99999793e-01 -6.49459143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:172.88, Y:108.10, Z:-0.65 [[-4.06282537e-01 9.13747468e-01 -2.54015727e-04 1.72880998e+02] [-9.13747277e-01 -4.06282616e-01 -5.91994069e-04 1.08103401e+02] [-6.44135255e-04 -8.41067301e-06 9.99999793e-01 -6.48871456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:172.88, Y:108.11, Z:-0.65 [[-4.11724064e-01 9.11308527e-01 -2.53789166e-04 1.72881836e+02] [-9.11308334e-01 -4.11724142e-01 -5.92091180e-04 1.08105095e+02] [-6.44068867e-04 -1.24980044e-05 9.99999793e-01 -6.47652545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:172.89, Y:108.11, Z:-0.65 [[-4.14040079e-01 9.10258617e-01 -2.53562644e-04 1.72885291e+02] [-9.10258424e-01 -4.14040156e-01 -5.92188172e-04 1.08112969e+02] [-6.44029503e-04 -1.43821043e-05 9.99999793e-01 -6.47221968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:172.88, Y:108.11, Z:-0.65 [[-4.15928783e-01 9.09397154e-01 -2.53336498e-04 1.72881187e+02] [-9.09396961e-01 -4.15928860e-01 -5.92284901e-04 1.08105022e+02] [-6.43992164e-04 -1.59648967e-05 9.99999793e-01 -6.46974626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:172.89, Y:108.12, Z:-0.65 [[-4.17624877e-01 9.08619501e-01 -2.53109902e-04 1.72885352e+02] [-9.08619308e-01 -4.17624953e-01 -5.92381720e-04 1.08115119e+02] [-6.43954593e-04 -1.74127988e-05 9.99999793e-01 -6.46868431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:172.88, Y:108.12, Z:-0.65 [[-4.19354129e-01 9.07822698e-01 -2.52882965e-04 1.72884969e+02] [-9.07822505e-01 -4.19354204e-01 -5.92478581e-04 1.08115902e+02] [-6.43913039e-04 -1.88854922e-05 9.99999793e-01 -6.46682168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16999999999996 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:172.89, Y:108.12, Z:-0.65 [[-4.19278724e-01 9.07857526e-01 -2.52656481e-04 1.72887065e+02] [-9.07857333e-01 -4.19278800e-01 -5.92575147e-04 1.08122079e+02] [-6.43907313e-04 -1.90781121e-05 9.99999793e-01 -6.46644372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:172.89, Y:108.13, Z:-0.65 [[-4.19029883e-01 9.07972408e-01 -2.52430112e-04 1.72889758e+02] [-9.07972215e-01 -4.19029958e-01 -5.92671562e-04 1.08128983e+02] [-6.43905205e-04 -1.91475671e-05 9.99999793e-01 -6.47252112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22999999999996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:172.89, Y:108.13, Z:-0.65 [[-4.16874061e-01 9.08964220e-01 -2.52204379e-04 1.72888225e+02] [-9.08964027e-01 -4.16874137e-01 -5.92767605e-04 1.08132195e+02] [-6.43942026e-04 -1.78647310e-05 9.99999793e-01 -6.49199990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:172.89, Y:108.14, Z:-0.65 [[-4.16061885e-01 9.09336266e-01 -2.51979019e-04 1.72888842e+02] [-9.09336073e-01 -4.16061961e-01 -5.92863387e-04 1.08135367e+02] [-6.43951063e-04 -1.75342470e-05 9.99999793e-01 -6.50079850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28999999999996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:172.89, Y:108.13, Z:-0.65 [[-4.15403478e-01 9.09637228e-01 -2.51753622e-04 1.72887893e+02] [-9.09637035e-01 -4.15403554e-01 -5.92959084e-04 1.08134851e+02] [-6.43957007e-04 -1.73128470e-05 9.99999793e-01 -6.50685048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:172.89, Y:108.13, Z:-0.65 [[-4.14549578e-01 9.10026694e-01 -2.51527930e-04 1.72887367e+02] [-9.10026501e-01 -4.14549654e-01 -5.93054805e-04 1.08134095e+02] [-6.43966520e-04 -1.69535372e-05 9.99999793e-01 -6.50784133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34999999999997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:172.89, Y:108.14, Z:-0.65 [[-4.14245399e-01 9.10165197e-01 -2.51301639e-04 1.72890021e+02] [-9.10165004e-01 -4.14245475e-01 -5.93150679e-04 1.08141907e+02] [-6.43965671e-04 -1.69839817e-05 9.99999793e-01 -6.50442840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:172.89, Y:108.15, Z:-0.65 [[-4.14392674e-01 9.10098153e-01 -2.51075463e-04 1.72891469e+02] [-9.10097960e-01 -4.14392750e-01 -5.93246402e-04 1.08146067e+02] [-6.43956306e-04 -1.73336962e-05 9.99999793e-01 -6.49756626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40999999999997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:172.89, Y:108.15, Z:-0.65 [[-4.14222088e-01 9.10175807e-01 -2.50849846e-04 1.72892274e+02] [-9.10175614e-01 -4.14222163e-01 -5.93341787e-04 1.08148017e+02] [-6.43952905e-04 -1.74578609e-05 9.99999793e-01 -6.49048460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:172.89, Y:108.15, Z:-0.65 [[-4.13948565e-01 9.10300238e-01 -2.50624268e-04 1.72893263e+02] [-9.10300044e-01 -4.13948641e-01 -5.93437054e-04 1.08149735e+02] [-6.43951467e-04 -1.75091349e-05 9.99999793e-01 -6.48361877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46999999999997 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:172.89, Y:108.15, Z:-0.65 [[-4.13920464e-01 9.10313016e-01 -2.50398579e-04 1.72894501e+02] [-9.10312823e-01 -4.13920539e-01 -5.93532268e-04 1.08152311e+02] [-6.43945263e-04 -1.77341143e-05 9.99999793e-01 -6.47635156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:172.89, Y:108.15, Z:-0.65 [[-4.13926620e-01 9.10310217e-01 -2.50172744e-04 1.72894582e+02] [-9.10310023e-01 -4.13926695e-01 -5.93627442e-04 1.08152059e+02] [-6.43938302e-04 -1.79834444e-05 9.99999793e-01 -6.47020259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:172.90, Y:108.15, Z:-0.65 [[-4.13377414e-01 9.10559746e-01 -2.49946647e-04 1.72896570e+02] [-9.10559553e-01 -4.13377489e-01 -5.93722624e-04 1.08154923e+02] [-6.43942239e-04 -1.78402162e-05 9.99999793e-01 -6.47361555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:172.89, Y:108.16, Z:-0.65 [[-4.21004280e-01 9.07058617e-01 -2.49720328e-04 1.72893446e+02] [-9.07058423e-01 -4.21004353e-01 -5.93817799e-04 1.08162010e+02] [-6.43760896e-04 -2.34889081e-05 9.99999793e-01 -6.49533731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:172.90, Y:108.16, Z:-0.65 [[-4.13798625e-01 9.10368405e-01 -2.55879953e-04 1.72896454e+02] [-9.10368213e-01 -4.13798704e-01 -5.91226901e-04 1.08156633e+02] [-6.44117084e-04 -1.17039032e-05 9.99999793e-01 -6.49084143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:172.90, Y:108.17, Z:-0.65 [[-4.21831680e-01 9.06674126e-01 -2.49406227e-04 1.72897411e+02] [-9.06673932e-01 -4.21831754e-01 -5.93945312e-04 1.08172261e+02] [-6.43722313e-04 -2.44148245e-05 9.99999793e-01 -6.51932566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:172.90, Y:108.16, Z:-0.65 [[-4.15686294e-01 9.09508021e-01 -2.56252246e-04 1.72900291e+02] [-9.09507829e-01 -4.15686372e-01 -5.91068315e-04 1.08164256e+02] [-6.44101940e-04 -1.26355734e-05 9.99999792e-01 -6.50969409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:172.90, Y:108.17, Z:-0.65 [[-4.23796618e-01 9.05757343e-01 -2.49144067e-04 1.72898404e+02] [-9.05757149e-01 -4.23796691e-01 -5.94049482e-04 1.08171868e+02] [-6.43651112e-04 -2.60921420e-05 9.99999793e-01 -6.53802972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:172.90, Y:108.18, Z:-0.65 [[-4.28593839e-01 9.03497236e-01 -2.55723371e-04 1.72901077e+02] [-9.03497043e-01 -4.28593914e-01 -5.91288943e-04 1.08180733e+02] [-6.43829407e-04 -2.23774877e-05 9.99999793e-01 -6.53932587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:172.65, Y:107.57, Z:-0.65 [[-4.15512104e-01 9.09587614e-01 -2.53595220e-04 1.72654132e+02] [-9.09587421e-01 -4.15512181e-01 -5.92171775e-04 1.07571631e+02] [-6.44004015e-04 -1.53875180e-05 9.99999793e-01 -6.49734310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:172.90, Y:108.17, Z:-0.65 [[-4.15800847e-01 9.09455659e-01 -2.45667923e-04 1.72903543e+02] [-9.09455464e-01 -4.15800919e-01 -5.95453062e-04 1.08172062e+02] [-6.43687105e-04 -2.41658523e-05 9.99999793e-01 -6.49333082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:172.65, Y:107.55, Z:-0.65 [[-4.16161160e-01 9.09290838e-01 -2.46218452e-04 1.72645977e+02] [-9.09290644e-01 -4.16161232e-01 -5.95225333e-04 1.07550103e+02] [-6.43699516e-04 -2.38255303e-05 9.99999793e-01 -6.47990014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:172.91, Y:108.18, Z:-0.65 [[-4.16573928e-01 9.09101811e-01 -2.44845261e-04 1.72905982e+02] [-9.09101616e-01 -4.16573999e-01 -5.95792827e-04 1.08176664e+02] [-6.43632507e-04 -2.56025352e-05 9.99999793e-01 -6.48368602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:172.91, Y:108.18, Z:-0.65 [[-4.15868496e-01 9.09424727e-01 -2.45841151e-04 1.72908411e+02] [-9.09424532e-01 -4.15868568e-01 -5.95381610e-04 1.08181270e+02] [-6.43692365e-04 -2.40264814e-05 9.99999793e-01 -6.48214131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:172.91, Y:108.18, Z:-0.65 [[-4.15043414e-01 9.09801574e-01 -2.45614873e-04 1.72908272e+02] [-9.09801380e-01 -4.15043486e-01 -5.95474943e-04 1.08179669e+02] [-6.43704893e-04 -2.36872026e-05 9.99999793e-01 -6.48366641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91999999999996 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:172.90, Y:108.18, Z:-0.65 [[-4.29162543e-01 9.03227243e-01 -2.45388410e-04 1.72897407e+02] [-9.03227047e-01 -4.29162611e-01 -5.95568251e-04 1.08179137e+02] [-6.43245000e-04 -3.39541364e-05 9.99999793e-01 -6.51855815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:172.91, Y:108.20, Z:-0.65 [[-4.28961999e-01 9.03322499e-01 -2.57155602e-04 1.72905897e+02] [-9.03322306e-01 -4.28962076e-01 -5.90711223e-04 1.08199892e+02] [-6.43912739e-04 -2.10982751e-05 9.99999792e-01 -6.52413257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97999999999996 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:172.91, Y:108.20, Z:-0.65 [[-4.28657962e-01 9.03466814e-01 -2.58829301e-04 1.72906839e+02] [-9.03466622e-01 -4.28658040e-01 -5.90020163e-04 1.08202395e+02] [-6.44012898e-04 -1.90732070e-05 9.99999792e-01 -6.52410695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:172.91, Y:108.19, Z:-0.65 [[-4.11247610e-01 9.11523635e-01 -2.58417977e-04 1.72914892e+02] [-9.11523444e-01 -4.11247691e-01 -5.90189732e-04 1.08194076e+02] [-6.44245686e-04 -7.16007236e-06 9.99999792e-01 -6.49729313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03999999999996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:172.91, Y:108.19, Z:-0.65 [[-4.07803982e-01 9.13069468e-01 -2.44831078e-04 1.72913661e+02] [-9.13069273e-01 -4.07804055e-01 -5.95773225e-04 1.08192914e+02] [-6.43825447e-04 -1.94109585e-05 9.99999793e-01 -6.50470364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:172.91, Y:108.21, Z:-0.66 [[-4.24390257e-01 9.05479348e-01 -2.43805248e-04 1.72906619e+02] [-9.05479152e-01 -4.24390326e-01 -5.96194466e-04 1.08206582e+02] [-6.43310365e-04 -3.22585538e-05 9.99999793e-01 -6.58404692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09999999999997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:172.91, Y:108.19, Z:-0.65 [[-4.03214073e-01 9.15105645e-01 -2.62750122e-04 1.72912950e+02] [-9.15105456e-01 -4.03214159e-01 -5.88394526e-04 1.08189491e+02] [-6.44387722e-04 3.19511659e-06 9.99999792e-01 -6.51790457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:172.91, Y:108.19, Z:-0.65 [[-3.99479255e-01 9.16742202e-01 -2.44376084e-04 1.72912481e+02] [-9.16742008e-01 -3.99479330e-01 -5.95929272e-04 1.08186938e+02] [-6.43936707e-04 -1.40315592e-05 9.99999793e-01 -6.51401271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15999999999997 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:172.91, Y:108.19, Z:-0.65 [[-3.97468266e-01 9.17615888e-01 -2.43468303e-04 1.72914581e+02] [-9.17615695e-01 -3.97468340e-01 -5.96301243e-04 1.08190315e+02] [-6.43946437e-04 -1.36004847e-05 9.99999793e-01 -6.51514353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:172.92, Y:108.19, Z:-0.65 [[-3.95082062e-01 9.18645800e-01 -2.44090582e-04 1.72916628e+02] [-9.18645606e-01 -3.95082137e-01 -5.96046409e-04 1.08194185e+02] [-6.43991359e-04 -1.12545032e-05 9.99999793e-01 -6.51623954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21999999999997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:172.92, Y:108.19, Z:-0.65 [[-3.92566157e-01 9.19723737e-01 -2.43861978e-04 1.72916024e+02] [-9.19723544e-01 -3.92566233e-01 -5.96139924e-04 1.08191610e+02] [-6.44016017e-04 -9.73875656e-06 9.99999793e-01 -6.51825637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:172.90, Y:108.19, Z:-0.66 [[-4.03147709e-01 9.15134889e-01 -2.43632996e-04 1.72904376e+02] [-9.15134695e-01 -4.03147782e-01 -5.96233491e-04 1.08188016e+02] [-6.43854171e-04 -1.74131587e-05 9.99999793e-01 -6.56941035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:172.91, Y:108.19, Z:-0.66 [[-3.97121216e-01 9.17766132e-01 -2.57984490e-04 1.72908925e+02] [-9.17765942e-01 -3.97121300e-01 -5.90356491e-04 1.08192186e+02] [-6.44260329e-04 2.32629048e-06 9.99999792e-01 -6.56867422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:172.92, Y:108.20, Z:-0.65 [[-3.81801390e-01 9.24244358e-01 -2.55749151e-04 1.72920184e+02] [-9.24244169e-01 -3.81801476e-01 -5.91270699e-04 1.08195220e+02] [-6.44124010e-04 1.06266866e-05 9.99999793e-01 -6.53924243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:172.93, Y:108.22, Z:-0.66 [[-3.88873771e-01 9.21291013e-01 -2.43186370e-04 1.72925353e+02] [-9.21290820e-01 -3.88873847e-01 -5.96393320e-04 1.08224018e+02] [-6.44020625e-04 -7.87634888e-06 9.99999793e-01 -6.62405934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:172.92, Y:108.19, Z:-0.65 [[-3.73383479e-01 9.27677053e-01 -2.52458216e-04 1.72921099e+02] [-9.27676863e-01 -3.73383564e-01 -5.92610504e-04 1.08190555e+02] [-6.44014914e-04 1.29286747e-05 9.99999793e-01 -6.53948628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:172.93, Y:108.22, Z:-0.66 [[-3.82519674e-01 9.23947315e-01 -2.42755665e-04 1.72926010e+02] [-9.23947122e-01 -3.82519751e-01 -5.96558731e-04 1.08223336e+02] [-6.44047674e-04 -3.90205282e-06 9.99999793e-01 -6.58207455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:172.92, Y:108.19, Z:-0.65 [[-3.67464704e-01 9.30037434e-01 -2.51878914e-04 1.72920845e+02] [-9.30037245e-01 -3.67464790e-01 -5.92844094e-04 1.08188789e+02] [-6.43923832e-04 1.64074915e-05 9.99999793e-01 -6.53655546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:172.92, Y:108.20, Z:-0.66 [[-3.63531132e-01 9.31582019e-01 -2.42314525e-04 1.72920576e+02] [-9.31581827e-01 -3.63531213e-01 -5.96727925e-04 1.08195762e+02] [-6.43989898e-04 8.80662998e-06 9.99999793e-01 -6.57171424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:172.92, Y:108.20, Z:-0.66 [[-3.62313020e-01 9.32056445e-01 -2.42082178e-04 1.72921276e+02] [-9.32056254e-01 -3.62313101e-01 -5.96822169e-04 1.08199710e+02] [-6.43981494e-04 9.39776550e-06 9.99999793e-01 -6.57993065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:172.93, Y:108.23, Z:-0.66 [[-3.73460010e-01 9.27646248e-01 -2.41850225e-04 1.72925036e+02] [-9.27646056e-01 -3.73460089e-01 -5.96916148e-04 1.08228369e+02] [-6.44048432e-04 1.42709682e-06 9.99999793e-01 -6.59665483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:172.92, Y:108.20, Z:-0.66 [[-3.60456568e-01 9.32775963e-01 -2.54470288e-04 1.72920259e+02] [-9.32775776e-01 -3.60456658e-01 -5.91795638e-04 1.08199070e+02] [-6.43738256e-04 2.40470955e-05 9.99999793e-01 -6.57424327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.73504543e-01 9.27628319e-01 -2.41544445e-04 1.72916683e+02] [-9.27628127e-01 -3.73504621e-01 -5.97025176e-04 1.08216346e+02] [-6.44035427e-04 1.07180568e-06 9.99999793e-01 -6.58674969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:172.92, Y:108.21, Z:-0.66 [[-3.58900670e-01 9.33375725e-01 -2.54428708e-04 1.72922726e+02] [-9.33375538e-01 -3.58900759e-01 -5.91804064e-04 1.08206029e+02] [-6.43690204e-04 2.50786572e-05 9.99999793e-01 -6.55502309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:172.92, Y:108.21, Z:-0.66 [[-3.58799193e-01 9.33414742e-01 -2.41288825e-04 1.72922205e+02] [-9.33414551e-01 -3.58799274e-01 -5.97113784e-04 1.08206333e+02] [-6.43929064e-04 1.09785568e-05 9.99999793e-01 -6.55839397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66999999999996 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:172.91, Y:108.21, Z:-0.66 [[-3.73193767e-01 9.27753391e-01 -2.40964217e-04 1.72914562e+02] [-9.27753199e-01 -3.73193845e-01 -5.97244814e-04 1.08214890e+02] [-6.44022264e-04 6.67281122e-07 9.99999793e-01 -6.59774431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:172.92, Y:108.23, Z:-0.66 [[-3.72815729e-01 9.27905365e-01 -2.56173845e-04 1.72918428e+02] [-9.27905177e-01 -3.72815816e-01 -5.91089836e-04 1.08228839e+02] [-6.43981091e-04 1.73374489e-05 9.99999793e-01 -6.60554014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72999999999996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.68369502e-01 9.29679431e-01 -2.54999083e-04 1.72917152e+02] [-9.29679243e-01 -3.68369590e-01 -5.91564925e-04 1.08223917e+02] [-6.43899651e-04 1.91528776e-05 9.99999793e-01 -6.61507175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.53846633e-01 9.35303425e-01 -2.51652287e-04 1.72923522e+02] [-9.35303238e-01 -3.53846721e-01 -5.92915744e-04 1.08216738e+02] [-6.43602463e-04 2.55699594e-05 9.99999793e-01 -6.58646015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78999999999996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.63208573e-01 9.31707827e-01 -2.40479811e-04 1.72915132e+02] [-9.31707635e-01 -3.63208653e-01 -5.97413059e-04 1.08215618e+02] [-6.43958771e-04 7.07133188e-06 9.99999793e-01 -6.61470172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:172.69, Y:107.63, Z:-0.66 [[-3.46543519e-01 9.38033863e-01 -2.47196762e-04 1.72686853e+02] [-9.38033675e-01 -3.46543606e-01 -5.94746392e-04 1.07631928e+02] [-6.43556713e-04 2.57733793e-05 9.99999793e-01 -6.60717314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84999999999997 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.56549373e-01 9.34276451e-01 -2.39581640e-04 1.72916399e+02] [-9.34276260e-01 -3.56549453e-01 -5.97761801e-04 1.08224098e+02] [-6.43897477e-04 1.07038435e-05 9.99999793e-01 -6.62107429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:172.92, Y:108.24, Z:-0.66 [[-3.57771114e-01 9.33809278e-01 -2.50309223e-04 1.72921179e+02] [-9.33809090e-01 -3.57771201e-01 -5.93455105e-04 1.08240685e+02] [-6.43727314e-04 2.14199334e-05 9.99999793e-01 -6.64126134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90999999999997 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:172.92, Y:108.24, Z:-0.66 [[-3.51819992e-01 9.36067642e-01 -2.49340664e-04 1.72921799e+02] [-9.36067454e-01 -3.51820080e-01 -5.93843656e-04 1.08235733e+02] [-6.43600884e-04 2.44736095e-05 9.99999793e-01 -6.62056162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.42777268e-01 9.39416673e-01 -2.44318304e-04 1.72920681e+02] [-9.39416484e-01 -3.42777354e-01 -5.95854946e-04 1.08216671e+02] [-6.43502852e-04 2.52711123e-05 9.99999793e-01 -6.59812836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96999999999997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:172.92, Y:108.23, Z:-0.66 [[-3.54837170e-01 9.34928086e-01 -2.38046805e-04 1.72917166e+02] [-9.34927895e-01 -3.54837250e-01 -5.98362325e-04 1.08231541e+02] [-6.43893617e-04 1.02354041e-05 9.99999793e-01 -6.60149244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:172.91, Y:108.22, Z:-0.66 [[-3.50315400e-01 9.36631762e-01 -2.49358112e-04 1.72914056e+02] [-9.36631574e-01 -3.50315488e-01 -5.93833085e-04 1.08217505e+02] [-6.43556937e-04 2.55278059e-05 9.99999793e-01 -6.59682180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:172.93, Y:108.23, Z:-0.66 [[-3.41967051e-01 9.39711912e-01 -2.42932185e-04 1.72925353e+02] [-9.39711723e-01 -3.41967136e-01 -5.96401304e-04 1.08228119e+02] [-6.43520233e-04 2.43366274e-05 9.99999793e-01 -6.57376142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:172.92, Y:108.23, Z:-0.66 [[-3.45520550e-01 9.38411154e-01 -2.37223864e-04 1.72922245e+02] [-9.38410963e-01 -3.45520631e-01 -5.98678201e-04 1.08227582e+02] [-6.43772041e-04 1.57578536e-05 9.99999793e-01 -6.59040462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.42184568e-01 9.39632728e-01 -2.39335048e-04 1.72922247e+02] [-9.39632538e-01 -3.42184651e-01 -5.97836455e-04 1.08220779e+02] [-6.43643479e-04 2.03165900e-05 9.99999793e-01 -6.61472451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:172.92, Y:108.22, Z:-0.66 [[-3.42217707e-01 9.39620660e-01 -2.35973416e-04 1.72923788e+02] [-9.39620470e-01 -3.42217788e-01 -5.99175017e-04 1.08223874e+02] [-6.43751525e-04 1.66771513e-05 9.99999793e-01 -6.62992342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:172.93, Y:108.24, Z:-0.66 [[-3.42478045e-01 9.39525802e-01 -2.35464765e-04 1.72929913e+02] [-9.39525611e-01 -3.42478126e-01 -5.99377327e-04 1.08238976e+02] [-6.43771995e-04 1.59516021e-05 9.99999793e-01 -6.63811915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:172.93, Y:108.24, Z:-0.66 [[-3.42280560e-01 9.39597767e-01 -2.34732311e-04 1.72931604e+02] [-9.39597575e-01 -3.42280640e-01 -5.99668345e-04 1.08241213e+02] [-6.43791363e-04 1.52990937e-05 9.99999793e-01 -6.62048778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:172.93, Y:108.23, Z:-0.66 [[-3.41286394e-01 9.39959329e-01 -2.37768137e-04 1.72929261e+02] [-9.39959139e-01 -3.41286476e-01 -5.98462215e-04 1.08234845e+02] [-6.43677192e-04 1.92453221e-05 9.99999793e-01 -6.62088755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:172.93, Y:108.24, Z:-0.66 [[-3.40061469e-01 9.40403180e-01 -2.37533808e-04 1.72932672e+02] [-9.40402990e-01 -3.40061551e-01 -5.98555208e-04 1.08243757e+02] [-6.43659336e-04 1.98319405e-05 9.99999793e-01 -6.62298239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:172.93, Y:108.25, Z:-0.66 [[-3.38431670e-01 9.40990940e-01 -2.37299165e-04 1.72933666e+02] [-9.40990749e-01 -3.38431753e-01 -5.98648218e-04 1.08246328e+02] [-6.43632122e-04 2.06948030e-05 9.99999793e-01 -6.61823281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:172.93, Y:108.24, Z:-0.66 [[-3.35453726e-01 9.42056655e-01 -2.37065121e-04 1.72930664e+02] [-9.42056465e-01 -3.35453809e-01 -5.98740886e-04 1.08238616e+02] [-6.43572234e-04 2.24788694e-05 9.99999793e-01 -6.61347365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:172.93, Y:108.25, Z:-0.66 [[-3.33858883e-01 9.42623037e-01 -2.36830046e-04 1.72934364e+02] [-9.42622847e-01 -3.33858967e-01 -5.98833854e-04 1.08247171e+02] [-6.43542421e-04 2.33154103e-05 9.99999793e-01 -6.59858333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:172.94, Y:108.25, Z:-0.66 [[-3.32667166e-01 9.43044273e-01 -2.36594611e-04 1.72935417e+02] [-9.43044083e-01 -3.32667250e-01 -5.98926858e-04 1.08249675e+02] [-6.43521822e-04 2.38758471e-05 9.99999793e-01 -6.60684154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:172.94, Y:108.25, Z:-0.66 [[-3.32962513e-01 9.42940035e-01 -2.36359661e-04 1.72935356e+02] [-9.42939845e-01 -3.32962596e-01 -5.99019564e-04 1.08248617e+02] [-6.43538455e-04 2.34218828e-05 9.99999793e-01 -6.61552525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41999999999996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:172.94, Y:108.27, Z:-0.66 [[-3.35798985e-01 9.41933642e-01 -2.36124396e-04 1.72942798e+02] [-9.41933452e-01 -3.35799067e-01 -5.99112288e-04 1.08272931e+02] [-6.43614371e-04 2.12321694e-05 9.99999793e-01 -6.58743956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:172.94, Y:108.26, Z:-0.66 [[-3.33421732e-01 9.42777753e-01 -2.38593039e-04 1.72938568e+02] [-9.42777564e-01 -3.33421817e-01 -5.98139829e-04 1.08256074e+02] [-6.43465048e-04 2.55073461e-05 9.99999793e-01 -6.61334842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47999999999996 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:172.94, Y:108.26, Z:-0.66 [[-3.33375471e-01 9.42794113e-01 -2.35695011e-04 1.72938847e+02] [-9.42793923e-01 -3.33375554e-01 -5.99279615e-04 1.08256523e+02] [-6.43572248e-04 2.24266999e-05 9.99999793e-01 -6.61757338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:172.94, Y:108.26, Z:-0.66 [[-3.33690598e-01 9.42682624e-01 -2.35459724e-04 1.72940524e+02] [-9.42682434e-01 -3.33690680e-01 -5.99372046e-04 1.08259588e+02] [-6.43588328e-04 2.19589297e-05 9.99999793e-01 -6.61858647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53999999999996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:172.94, Y:108.26, Z:-0.66 [[-3.33482921e-01 9.42756112e-01 -2.35224240e-04 1.72939561e+02] [-9.42755921e-01 -3.33483004e-01 -5.99464448e-04 1.08257635e+02] [-6.43592058e-04 2.18478895e-05 9.99999793e-01 -6.61189975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:172.94, Y:108.26, Z:-0.66 [[-3.33530952e-01 9.42739120e-01 -2.34988358e-04 1.72940287e+02] [-9.42738930e-01 -3.33531035e-01 -5.99556899e-04 1.08258442e+02] [-6.43601653e-04 2.15618893e-05 9.99999793e-01 -6.61137135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59999999999997 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:172.95, Y:108.29, Z:-0.66 [[-3.39662628e-01 9.40547311e-01 -2.34751913e-04 1.72949560e+02] [-9.40547120e-01 -3.39662709e-01 -5.99649462e-04 1.08289244e+02] [-6.43735160e-04 1.71167238e-05 9.99999793e-01 -6.59880592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:172.95, Y:108.27, Z:-0.66 [[-3.35102193e-01 9.42181757e-01 -2.39560975e-04 1.72946266e+02] [-9.42181568e-01 -3.35102278e-01 -5.97766366e-04 1.08271287e+02] [-6.43481993e-04 2.53971153e-05 9.99999793e-01 -6.60988418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65999999999997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:172.95, Y:108.28, Z:-0.66 [[-3.37071573e-01 9.41478996e-01 -2.34489135e-04 1.72948895e+02] [-9.41478805e-01 -3.37071654e-01 -5.99749346e-04 1.08277000e+02] [-6.43691053e-04 1.86080951e-05 9.99999793e-01 -6.61309245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:172.96, Y:108.30, Z:-0.66 [[-3.39862505e-01 9.40475105e-01 -2.34254464e-04 1.72957106e+02] [-9.40474914e-01 -3.39862586e-01 -5.99840992e-04 1.08300772e+02] [-6.43749848e-04 1.64469844e-05 9.99999793e-01 -6.58234128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71999999999997 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:172.95, Y:108.27, Z:-0.66 [[-3.37767091e-01 9.41229694e-01 -2.37595285e-04 1.72945469e+02] [-9.41229504e-01 -3.37767173e-01 -5.98536671e-04 1.08269706e+02] [-6.43612375e-04 2.14657017e-05 9.99999793e-01 -6.61540420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:172.95, Y:108.28, Z:-0.66 [[-3.37518845e-01 9.41318742e-01 -2.33946356e-04 1.72948673e+02] [-9.41318551e-01 -3.37518926e-01 -5.99959523e-04 1.08279474e+02] [-6.43714466e-04 1.77204001e-05 9.99999793e-01 -6.62559628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:172.96, Y:108.31, Z:-0.66 [[-3.36453338e-01 9.41700110e-01 -2.33710361e-04 1.72961026e+02] [-9.41699919e-01 -3.36453419e-01 -6.00051439e-04 1.08311689e+02] [-6.43701156e-04 1.81957181e-05 9.99999793e-01 -6.57010974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:172.96, Y:108.31, Z:-0.66 [[-3.36845458e-01 9.41559919e-01 -2.35740086e-04 1.72957955e+02] [-9.41559729e-01 -3.36845540e-01 -5.99261060e-04 1.08307747e+02] [-6.43648192e-04 2.01050056e-05 9.99999793e-01 -6.57087553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:172.95, Y:108.29, Z:-0.66 [[-3.32183762e-01 9.43214659e-01 -2.37001606e-04 1.72951758e+02] [-9.43214469e-01 -3.32183845e-01 -5.98770275e-04 1.08291282e+02] [-6.43497005e-04 2.46415815e-05 9.99999793e-01 -6.59717497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:172.97, Y:108.33, Z:-0.66 [[-3.34292060e-01 9.42469503e-01 -2.33230062e-04 1.72966694e+02] [-9.42469312e-01 -3.34292140e-01 -6.00235761e-04 1.08331612e+02] [-6.43670876e-04 1.91581270e-05 9.99999793e-01 -6.56011554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:172.97, Y:108.33, Z:-0.66 [[-3.33947917e-01 9.42591498e-01 -2.37731492e-04 1.72967598e+02] [-9.42591308e-01 -3.33948001e-01 -5.98485474e-04 1.08334148e+02] [-6.43517276e-04 2.42206610e-05 9.99999793e-01 -6.56007512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:172.95, Y:108.29, Z:-0.66 [[-3.29704525e-01 9.44084144e-01 -2.37315195e-04 1.72952009e+02] [-9.44083954e-01 -3.29704609e-01 -5.98647095e-04 1.08292549e+02] [-6.43417143e-04 2.66688118e-05 9.99999793e-01 -6.59088908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:172.96, Y:108.32, Z:-0.66 [[-3.33848226e-01 9.42626813e-01 -2.32747052e-04 1.72962440e+02] [-9.42626622e-01 -3.33848307e-01 -6.00417898e-04 1.08323498e+02] [-6.43672218e-04 1.89451169e-05 9.99999793e-01 -6.55411689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:172.96, Y:108.32, Z:-0.66 [[-3.33262964e-01 9.42833888e-01 -2.38471541e-04 1.72959536e+02] [-9.42833698e-01 -3.33263048e-01 -5.98197047e-04 1.08317968e+02] [-6.43474200e-04 2.54820842e-05 9.99999793e-01 -6.55653672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:172.96, Y:108.32, Z:-0.65 [[-3.33079844e-01 9.42898595e-01 -2.37769730e-04 1.72959213e+02] [-9.42898406e-01 -3.33079928e-01 -5.98469046e-04 1.08317073e+02] [-6.43491948e-04 2.48547228e-05 9.99999793e-01 -6.54121530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:172.97, Y:108.34, Z:-0.65 [[-3.33591725e-01 9.42717616e-01 -2.38375922e-04 1.72969755e+02] [-9.42717427e-01 -3.33591810e-01 -5.98234161e-04 1.08340314e+02] [-6.43486137e-04 2.51551697e-05 9.99999793e-01 -6.52068759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:172.96, Y:108.32, Z:-0.65 [[-3.33432235e-01 9.42774038e-01 -2.40487172e-04 1.72959401e+02] [-9.42773849e-01 -3.33432320e-01 -5.97416360e-04 1.08319221e+02] [-6.43414830e-04 2.75271444e-05 9.99999793e-01 -6.54489689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:172.96, Y:108.30, Z:-0.65 [[-3.24971870e-01 9.45723652e-01 -2.38999760e-04 1.72956960e+02] [-9.45723464e-01 -3.24971957e-01 -5.97991639e-04 1.08301836e+02] [-6.43203057e-04 3.16972188e-05 9.99999793e-01 -6.53970723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:172.97, Y:108.34, Z:-0.65 [[-3.32046017e-01 9.43263160e-01 -2.31828433e-04 1.72967108e+02] [-9.43262969e-01 -3.32046097e-01 -6.00759001e-04 1.08338160e+02] [-6.43651560e-04 1.91955420e-05 9.99999793e-01 -6.52927527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16999999999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:172.96, Y:108.33, Z:-0.66 [[-3.32311000e-01 9.43169837e-01 -2.39178292e-04 1.72962091e+02] [-9.43169648e-01 -3.32311085e-01 -5.97919533e-04 1.08329153e+02] [-6.43421266e-04 2.68904682e-05 9.99999793e-01 -6.56893251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:172.96, Y:108.34, Z:-0.66 [[-3.31662053e-01 9.43398233e-01 -2.36276049e-04 1.72964767e+02] [-9.43398044e-01 -3.31662136e-01 -5.99038912e-04 1.08335328e+02] [-6.43496070e-04 2.42238870e-05 9.99999793e-01 -6.56611138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22999999999996 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:172.97, Y:108.34, Z:-0.66 [[-3.30380145e-01 9.43847923e-01 -2.41624981e-04 1.72969444e+02] [-9.43847735e-01 -3.30380232e-01 -5.96975282e-04 1.08343062e+02] [-6.43281997e-04 3.08284104e-05 9.99999793e-01 -6.56131870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:172.96, Y:108.33, Z:-0.66 [[-3.33319700e-01 9.42813831e-01 -2.40165350e-04 1.72961496e+02] [-9.42813642e-01 -3.33319785e-01 -5.97537797e-04 1.08326690e+02] [-6.43418762e-04 2.72600491e-05 9.99999793e-01 -6.58534240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28999999999996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:172.96, Y:108.32, Z:-0.66 [[-3.27476173e-01 9.44859406e-01 -2.43589734e-04 1.72963816e+02] [-9.44859218e-01 -3.27476262e-01 -5.96219186e-04 1.08324233e+02] [-6.43113161e-04 3.49104285e-05 9.99999793e-01 -6.56312413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:172.97, Y:108.33, Z:-0.66 [[-3.29210784e-01 9.44256429e-01 -2.37601352e-04 1.72967041e+02] [-9.44256239e-01 -3.29210869e-01 -5.98520580e-04 1.08329948e+02] [-6.43377853e-04 2.73171300e-05 9.99999793e-01 -6.56701951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34999999999997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:172.97, Y:108.35, Z:-0.66 [[-3.33150891e-01 9.42873495e-01 -2.39028499e-04 1.72972352e+02] [-9.42873305e-01 -3.33150976e-01 -5.97972343e-04 1.08345152e+02] [-6.43444851e-04 2.61585715e-05 9.99999793e-01 -6.59321033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:172.97, Y:108.33, Z:-0.66 [[-3.31600830e-01 9.43419753e-01 -2.43588723e-04 1.72967958e+02] [-9.43419565e-01 -3.31600918e-01 -5.96219651e-04 1.08333488e+02] [-6.43259640e-04 3.20994362e-05 9.99999793e-01 -6.58991519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40999999999997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:172.97, Y:108.34, Z:-0.66 [[-3.30484722e-01 9.43811310e-01 -2.45727308e-04 1.72971632e+02] [-9.43811123e-01 -3.30484811e-01 -5.95398252e-04 1.08340298e+02] [-6.43152747e-04 3.51501407e-05 9.99999793e-01 -6.59825744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:172.96, Y:108.31, Z:-0.66 [[-3.28575952e-01 9.44477520e-01 -2.41645034e-04 1.72961650e+02] [-9.44477332e-01 -3.28576039e-01 -5.96963329e-04 1.08311173e+02] [-6.43217212e-04 3.20804633e-05 9.99999793e-01 -6.60211190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46999999999997 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:172.96, Y:108.32, Z:-0.66 [[-3.26761348e-01 9.45106853e-01 -2.41084673e-04 1.72963652e+02] [-9.45106665e-01 -3.26761435e-01 -5.97177793e-04 1.08315976e+02] [-6.43173999e-04 3.27161105e-05 9.99999793e-01 -6.60910962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:172.96, Y:108.30, Z:-0.66 [[-3.24842195e-01 9.45768202e-01 -2.40163215e-04 1.72960595e+02] [-9.45768013e-01 -3.24842282e-01 -5.97530068e-04 1.08302698e+02] [-6.43140105e-04 3.30357077e-05 9.99999793e-01 -6.60419814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:172.81, Y:107.89, Z:-0.66 [[-3.16623457e-01 9.48551280e-01 -2.36193264e-04 1.72808152e+02] [-9.48551092e-01 -3.16623543e-01 -5.99031324e-04 1.07891147e+02] [-6.42996277e-04 3.43740096e-05 9.99999793e-01 -6.56300085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:172.79, Y:107.85, Z:-0.65 [[-3.16537189e-01 9.48580073e-01 -2.33111029e-04 1.72794421e+02] [-9.48579883e-01 -3.16537273e-01 -6.00180823e-04 1.07848475e+02] [-6.43107898e-04 3.11448823e-05 9.99999793e-01 -6.54805908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:172.99, Y:108.35, Z:-0.66 [[-3.20106290e-01 9.47381605e-01 -2.40329958e-04 1.72985385e+02] [-9.47381417e-01 -3.20106378e-01 -5.97449994e-04 1.08350633e+02] [-6.42944287e-04 3.64366349e-05 9.99999793e-01 -6.58299322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:172.99, Y:108.36, Z:-0.66 [[-3.31896168e-01 9.43315895e-01 -2.37975200e-04 1.72989014e+02] [-9.43315705e-01 -3.31896252e-01 -5.98347555e-04 1.08355026e+02] [-6.43413836e-04 2.58964830e-05 9.99999793e-01 -6.58698664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:172.99, Y:108.35, Z:-0.66 [[-3.31618108e-01 9.43413679e-01 -2.47390645e-04 1.72987182e+02] [-9.43413492e-01 -3.31618199e-01 -5.94755566e-04 1.08352570e+02] [-6.43139776e-04 3.61599570e-05 9.99999793e-01 -6.63400049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:172.93, Y:108.25, Z:-0.66 [[-3.56750768e-01 9.34199568e-01 -2.38701404e-04 1.72930914e+02] [-9.34199376e-01 -3.56750848e-01 -5.98057042e-04 1.08249883e+02] [-6.43861558e-04 9.63739326e-06 9.99999793e-01 -6.60874864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:172.92, Y:108.20, Z:-0.66 [[-3.47432069e-01 9.37705117e-01 -2.66219672e-04 1.72916014e+02] [-9.37704934e-01 -3.47432168e-01 -5.87667752e-04 1.08197032e+02] [-6.43552336e-04 4.54608770e-05 9.99999792e-01 -6.60297469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:172.94, Y:108.24, Z:-0.66 [[-3.41066927e-01 9.40038980e-01 -2.60953524e-04 1.72937843e+02] [-9.40038796e-01 -3.41067024e-01 -5.89649162e-04 1.08242236e+02] [-6.43295838e-04 4.41966093e-05 9.99999792e-01 -6.59287283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:172.92, Y:108.18, Z:-0.66 [[-3.28980504e-01 9.44336679e-01 -2.52448146e-04 1.72922199e+02] [-9.44336494e-01 -3.28980598e-01 -5.92835187e-04 1.08177268e+02] [-6.42886554e-04 4.33647780e-05 9.99999792e-01 -6.59600431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:173.09, Y:108.55, Z:-0.66 [[-2.72266718e-01 9.62221789e-01 -2.51124476e-04 1.73088791e+02] [-9.62221609e-01 -2.72266822e-01 -5.93336290e-04 1.08554034e+02] [-6.39293970e-04 8.00916726e-05 9.99999792e-01 -6.58240580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83 meters Centerline goodness : 0.987555 Centerline is valid? [True, True] Translation: X:172.70, Y:107.54, Z:-0.65 [[-3.14179026e-01 9.49363731e-01 -2.15888438e-04 1.72699156e+02] [-9.49363537e-01 -3.14179099e-01 -6.06972951e-04 1.07543182e+02] [-6.44065741e-04 1.42584411e-05 9.99999793e-01 -6.54167077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86 meters Centerline goodness : 0.987159 Centerline is valid? [True, True] Translation: X:172.71, Y:107.57, Z:-0.65 [[-3.15569948e-01 9.48902289e-01 -2.32836378e-04 1.72709099e+02] [-9.48902099e-01 -3.15570033e-01 -6.00493454e-04 1.07567639e+02] [-6.43285796e-04 3.14412397e-05 9.99999793e-01 -6.53470537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89 meters Centerline goodness : 0.170724 Centerline is valid? [True, False] Translation: X:173.26, Y:109.20, Z:-0.38 [[ 7.15470065e-01 6.23945001e-01 3.14317071e-01 1.73263054e+02] [ 1.59256577e-01 2.92397131e-01 -9.42942872e-01 1.09195784e+02] [-6.80249901e-01 7.24704459e-01 1.09834050e-01 -3.79008642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91999999999996 meters Centerline goodness : 0.162754 Centerline is valid? [False, False] Translation: X:173.21, Y:109.20, Z:-0.35 [[ 7.16675053e-01 6.08266215e-01 3.41158437e-01 1.73209996e+02] [ 1.59639556e-01 3.33111271e-01 -9.29275036e-01 1.09204798e+02] [-6.78890330e-01 7.20450618e-01 1.41629189e-01 -3.45260550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95 meters Centerline goodness : 0.162575 Centerline is valid? [False, False] Translation: X:173.15, Y:109.21, Z:-0.31 [[ 7.17546629e-01 5.90724228e-01 3.69014528e-01 1.73154390e+02] [ 1.59315947e-01 3.76559100e-01 -9.12590638e-01 1.09212005e+02] [-6.78045179e-01 7.13616235e-01 1.76086923e-01 -3.13322922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97999999999996 meters Centerline goodness : 0.153641 Centerline is valid? [False, False] Translation: X:173.10, Y:109.22, Z:-0.28 [[ 7.17425903e-01 5.73149218e-01 3.95979858e-01 1.73100370e+02] [ 1.60893875e-01 4.16725619e-01 -8.94680345e-01 1.09219937e+02] [-6.77800291e-01 7.05577588e-01 2.06753555e-01 -2.82430931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01 meters Centerline goodness : 0.211330 Centerline is valid? [False, False] Translation: X:173.04, Y:109.22, Z:-0.25 [[ 7.16356630e-01 5.57330033e-01 4.19781387e-01 1.73042018e+02] [ 1.58186695e-01 4.56241801e-01 -8.75682813e-01 1.09224549e+02] [-6.79566147e-01 6.93705019e-01 2.38669643e-01 -2.48546654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03999999999996 meters Centerline goodness : 0.213464 Centerline is valid? [False, False] Translation: X:172.98, Y:109.23, Z:-0.21 [[ 7.09563823e-01 5.45118382e-01 4.46503226e-01 1.72980972e+02] [ 1.56956752e-01 4.95468726e-01 -8.54327408e-01 1.09230937e+02] [-6.86937959e-01 6.76281518e-01 2.66006672e-01 -2.10120170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07 meters Centerline goodness : 0.210240 Centerline is valid? [False, False] Translation: X:172.92, Y:109.23, Z:-0.18 [[ 7.08092126e-01 5.31566230e-01 4.64804135e-01 1.72923759e+02] [ 1.50978947e-01 5.29054113e-01 -8.35049162e-01 1.09232917e+02] [-6.89790474e-01 6.61467375e-01 2.94363743e-01 -1.77938621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09999999999997 meters Centerline goodness : 0.211225 Centerline is valid? [False, False] Translation: X:172.87, Y:109.24, Z:-0.15 [[ 7.06845206e-01 5.17638950e-01 4.82099338e-01 1.72866479e+02] [ 1.44552681e-01 5.61454334e-01 -8.14784360e-01 1.09236249e+02] [-6.92440883e-01 6.45615171e-01 3.22035207e-01 -1.47577369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13 meters Centerline goodness : 0.223867 Centerline is valid? [False, False] Translation: X:172.81, Y:109.24, Z:-0.12 [[ 7.07429727e-01 5.03563325e-01 4.95950764e-01 1.72812427e+02] [ 1.37113166e-01 5.90591704e-01 -7.95236706e-01 1.09238058e+02] [-6.93356446e-01 6.30575465e-01 3.48756966e-01 -1.20011863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15999999999997 meters Centerline goodness : 0.219573 Centerline is valid? [False, False] Translation: X:172.76, Y:109.24, Z:-0.09 [[ 7.08539851e-01 4.93423045e-01 5.04484863e-01 1.72760439e+02] [ 1.26380427e-01 6.14615078e-01 -7.78637460e-01 1.09239751e+02] [-6.94261670e-01 6.15452683e-01 3.73120260e-01 -9.23924317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19 meters Centerline goodness : 0.226964 Centerline is valid? [False, False] Translation: X:172.71, Y:109.24, Z:-0.07 [[ 7.10660225e-01 4.80190946e-01 5.14177693e-01 1.72708122e+02] [ 1.16147055e-01 6.40742143e-01 -7.58919870e-01 1.09237979e+02] [-6.93881767e-01 5.99054390e-01 3.99577191e-01 -6.59562795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21999999999997 meters Centerline goodness : 0.230758 Centerline is valid? [False, False] Translation: X:172.66, Y:109.24, Z:-0.04 [[ 7.12335038e-01 4.65719389e-01 5.25056420e-01 1.72658367e+02] [ 1.08486976e-01 6.66057821e-01 -7.37968533e-01 1.09236444e+02] [-6.93404189e-01 5.82642626e-01 4.23931835e-01 -4.37403674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25 meters Centerline goodness : 0.219758 Centerline is valid? [False, False] Translation: X:172.60, Y:109.24, Z:-0.02 [[ 7.12810491e-01 4.50427977e-01 5.37601936e-01 1.72603947e+02] [ 1.03293902e-01 6.90737315e-01 -7.15690108e-01 1.09236059e+02] [-6.93708565e-01 5.65682419e-01 4.45838342e-01 -1.75049710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28 meters Centerline goodness : 0.232863 Centerline is valid? [False, False] Translation: X:172.54, Y:109.24, Z:0.01 [[ 7.12553672e-01 4.34359663e-01 5.50998137e-01 1.72543127e+02] [ 1.00899899e-01 7.13723087e-01 -6.93122331e-01 1.09236186e+02] [-6.94324473e-01 5.49482519e-01 4.64739160e-01 1.44960352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31 meters Centerline goodness : 0.201305 Centerline is valid? [False, False] Translation: X:172.49, Y:109.24, Z:0.04 [[ 7.10939336e-01 4.21008149e-01 5.63309328e-01 1.72487006e+02] [ 9.62802955e-02 7.35193598e-01 -6.70984708e-01 1.09237652e+02] [-6.96631441e-01 5.31265012e-01 4.82143259e-01 4.30238673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34 meters Centerline goodness : 0.201913 Centerline is valid? [False, False] Translation: X:172.44, Y:109.24, Z:0.07 [[ 7.11523356e-01 4.09496351e-01 5.71005475e-01 1.72440462e+02] [ 9.09799339e-02 7.52100943e-01 -6.52737944e-01 1.09236113e+02] [-6.96747562e-01 5.16388333e-01 4.97881436e-01 6.77653913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6644.81 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%| | 0/12379 [00:00