+ python -m lidar_slam --no-model /working/f5d9b053-cb01-4ee7-9660-7228cd122273 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/f5d9b053-cb01-4ee7-9660-7228cd122273 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: True The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.007552018 Adjusted end_distance from 9.223372036854776e+18 to 113.457552018 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007552018 meters Centerline goodness : 0.992875 Centerline is valid? [0, True] SLAMing on 0.037552018 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99999946e-01 -3.28702765e-04 0.00000000e+00 3.08054661e-02] [ 3.28702765e-04 9.99999946e-01 0.00000000e+00 -1.77172473e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06812262e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06755201799999999 meters Centerline goodness : 0.990145 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:0.00 [[ 9.99995743e-01 2.91799680e-03 0.00000000e+00 6.16099087e-02] [-2.91799680e-03 9.99995743e-01 0.00000000e+00 -5.99203839e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79473340e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09755201799999999 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:-0.00 [[ 9.99997558e-01 2.21017717e-03 0.00000000e+00 9.14656720e-02] [-2.21017717e-03 9.99997558e-01 0.00000000e+00 -7.32443835e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84659856e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.127552018 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 1.00000000e+00 -1.83135638e-05 0.00000000e+00 1.20905021e-01] [ 1.83135638e-05 1.00000000e+00 0.00000000e+00 -6.10263968e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74793888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.157552018 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:0.00 [[ 9.99999957e-01 2.92895456e-04 0.00000000e+00 1.51556823e-01] [-2.92895456e-04 9.99999957e-01 0.00000000e+00 -7.40363432e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25076612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.187552018 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:0.00 [[ 9.99999941e-01 -3.43629103e-04 0.00000000e+00 1.81582413e-01] [ 3.43629103e-04 9.99999941e-01 0.00000000e+00 -7.65939664e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73781565e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21755201799999999 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.01, Z:0.00 [[ 9.99999510e-01 -9.89685693e-04 0.00000000e+00 2.11824354e-01] [ 9.89685693e-04 9.99999510e-01 0.00000000e+00 -8.80827389e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22091095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24755201799999998 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:0.00 [[ 9.99999023e-01 -1.39810194e-03 0.00000000e+00 2.41884496e-01] [ 1.39810194e-03 9.99999023e-01 0.00000000e+00 -8.74924009e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58793541e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.277552018 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.01, Z:0.00 [[ 9.99998196e-01 -1.89972356e-03 0.00000000e+00 2.72141322e-01] [ 1.89972356e-03 9.99998196e-01 0.00000000e+00 -9.33736602e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90357222e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.307552018 meters Centerline goodness : 0.990866 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.00 [[ 9.99998643e-01 -1.64731707e-03 0.00000000e+00 3.03585059e-01] [ 1.64731707e-03 9.99998643e-01 0.00000000e+00 -1.09892742e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53536185e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33755201799999995 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.01, Z:0.00 [[ 0.99999743 -0.00226614 0. 0.33491567] [ 0.00226614 0.99999743 0. -0.01169459] [ 0. 0. 1. 0.00120961] [ 0. 0. 0. 1. ]] SLAMing on 0.367552018 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:0.00 [[ 9.99998283e-01 -1.85322889e-03 0.00000000e+00 3.66029254e-01] [ 1.85322889e-03 9.99998283e-01 0.00000000e+00 -1.17558967e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53432127e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.397552018 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.01, Z:0.00 [[ 9.99999800e-01 -6.32026746e-04 0.00000000e+00 3.96018381e-01] [ 6.32026746e-04 9.99999800e-01 0.00000000e+00 -1.28657647e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49499777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.427552018 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.01, Z:0.00 [[ 9.99999278e-01 -1.20183852e-03 0.00000000e+00 4.26895208e-01] [ 1.20183852e-03 9.99999278e-01 0.00000000e+00 -1.32162857e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10764669e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45755201799999995 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.01, Z:0.00 [[ 9.99999938e-01 -3.53128498e-04 0.00000000e+00 4.57296822e-01] [ 3.53128498e-04 9.99999938e-01 0.00000000e+00 -1.28022589e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29969164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.487552018 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.01, Z:0.00 [[ 9.99999642e-01 -8.46050442e-04 0.00000000e+00 4.87531956e-01] [ 8.46050442e-04 9.99999642e-01 0.00000000e+00 -1.33138619e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94143409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5175520180000001 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.01, Z:0.00 [[ 9.99999714e-01 -7.56760317e-04 0.00000000e+00 5.17837254e-01] [ 7.56760317e-04 9.99999714e-01 0.00000000e+00 -1.41167962e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67818850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5475520180000001 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.02, Z:0.00 [[ 9.99999573e-01 -9.23710971e-04 0.00000000e+00 5.47835855e-01] [ 9.23710971e-04 9.99999573e-01 0.00000000e+00 -1.55572364e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89615606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.577552018 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.02, Z:0.00 [[ 0.99999655 -0.00262736 0. 0.5784063 ] [ 0.00262736 0.99999655 0. -0.01585201] [ 0. 0. 1. 0.00496699] [ 0. 0. 0. 1. ]] SLAMing on 0.607552018 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.02, Z:0.00 [[ 0.99999753 -0.00222071 0. 0.60787305] [ 0.00222071 0.99999753 0. -0.0178565 ] [ 0. 0. 1. 0.00412181] [ 0. 0. 0. 1. ]] SLAMing on 0.637552018 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.02, Z:0.00 [[ 0.99999281 -0.0037933 0. 0.63901386] [ 0.0037933 0.99999281 0. -0.02013984] [ 0. 0. 1. 0.00187094] [ 0. 0. 0. 1. ]] SLAMing on 0.667552018 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.02, Z:0.00 [[ 0.99999189 -0.00402668 0. 0.67068853] [ 0.00402668 0.99999189 0. -0.02210472] [ 0. 0. 1. 0.00187094] [ 0. 0. 0. 1. ]] SLAMing on 0.697552018 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.02, Z:0.00 [[ 0.99998443 -0.00557998 0. 0.70244461] [ 0.00557998 0.99998443 0. -0.02455024] [ 0. 0. 1. 0.00178 ] [ 0. 0. 0. 1. ]] SLAMing on 0.727552018 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.03, Z:0.00 [[ 0.9999472 -0.01027602 0. 0.73653231] [ 0.01027602 0.9999472 0. -0.02701175] [ 0. 0. 1. 0.00215066] [ 0. 0. 0. 1. ]] SLAMing on 0.757552018 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.03, Z:0.00 [[ 0.99992946 -0.01187722 0. 0.76821143] [ 0.01187722 0.99992946 0. -0.02862448] [ 0. 0. 1. 0.0028571 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7875520180000001 meters Centerline goodness : 0.991309 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.03, Z:0.00 [[ 0.9999524 -0.00975674 0. 0.79320354] [ 0.00975674 0.9999524 0. -0.03052854] [ 0. 0. 1. 0.00435675] [ 0. 0. 0. 1. ]] SLAMing on 0.817552018 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.03, Z:0.00 [[ 0.99990811 -0.01355625 0. 0.82701857] [ 0.01355625 0.99990811 0. -0.03208626] [ 0. 0. 1. 0.00482651] [ 0. 0. 0. 1. ]] SLAMing on 0.847552018 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.03, Z:0.01 [[ 0.99990271 -0.01394912 0. 0.85782304] [ 0.01394912 0.99990271 0. -0.03355205] [ 0. 0. 1. 0.00589864] [ 0. 0. 0. 1. ]] SLAMing on 0.877552018 meters Centerline goodness : 0.991644 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.04, Z:0.01 [[ 0.99989135 -0.01474077 0. 0.89029233] [ 0.01474077 0.99989135 0. -0.03533238] [ 0. 0. 1. 0.00725839] [ 0. 0. 0. 1. ]] SLAMing on 0.907552018 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.04, Z:0.01 [[ 0.99989642 -0.01439281 0. 0.92304593] [ 0.01439281 0.99989642 0. -0.03756431] [ 0. 0. 1. 0.0070939 ] [ 0. 0. 0. 1. ]] SLAMing on 0.937552018 meters Centerline goodness : 0.990555 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.04, Z:0.01 [[ 0.99993717 -0.01120972 0. 0.94979283] [ 0.01120972 0.99993717 0. -0.03982635] [ 0. 0. 1. 0.00564016] [ 0. 0. 0. 1. ]] SLAMing on 0.967552018 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.04, Z:0.01 [[ 0.99992751 -0.01204068 0. 0.98371771] [ 0.01204068 0.99992751 0. -0.04224313] [ 0. 0. 1. 0.00532342] [ 0. 0. 0. 1. ]] SLAMing on 0.997552018 meters Centerline goodness : 0.991700 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.04, Z:0.01 [[ 0.99991387 -0.0131243 0. 1.0166693 ] [ 0.0131243 0.99991387 0. -0.04455363] [ 0. 0. 1. 0.00609618] [ 0. 0. 0. 1. ]] SLAMing on 1.027552018 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.05, Z:0.00 [[ 0.99996921 -0.00784697 0. 1.04708031] [ 0.00784697 0.99996921 0. -0.04951823] [ 0. 0. 1. 0.00281675] [ 0. 0. 0. 1. ]] SLAMing on 1.057552018 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.05, Z:0.00 [[ 0.99995716 -0.0092562 0. 1.07911679] [ 0.0092562 0.99995716 0. -0.05099752] [ 0. 0. 1. 0.00467989] [ 0. 0. 0. 1. ]] SLAMing on 1.087552018 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.05, Z:0.00 [[ 0.99998482 -0.00551023 0. 1.10666325] [ 0.00551023 0.99998482 0. -0.05269991] [ 0. 0. 1. 0.00486472] [ 0. 0. 0. 1. ]] SLAMing on 1.1175520179999998 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.06, Z:0.01 [[ 0.9999868 -0.00513775 0. 1.13816829] [ 0.00513775 0.9999868 0. -0.05504462] [ 0. 0. 1. 0.00679207] [ 0. 0. 0. 1. ]] SLAMing on 1.1475520179999998 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.06, Z:0.01 [[ 0.99999372 -0.00354398 0. 1.1700185 ] [ 0.00354398 0.99999372 0. -0.05786982] [ 0. 0. 1. 0.00668611] [ 0. 0. 0. 1. ]] SLAMing on 1.1775520179999999 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.06, Z:0.01 [[ 9.99999999e-01 -3.49127198e-05 0.00000000e+00 1.19837511e+00] [ 3.49127198e-05 9.99999999e-01 0.00000000e+00 -6.08782928e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85680355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.207552018 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.06, Z:0.01 [[ 0.99999849 0.00174032 0. 1.22800326] [-0.00174032 0.99999849 0. -0.06412156] [ 0. 0. 1. 0.0077989 ] [ 0. 0. 0. 1. ]] SLAMing on 1.237552018 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.07, Z:0.01 [[ 9.99999984e-01 1.76795228e-04 0.00000000e+00 1.25824196e+00] [-1.76795228e-04 9.99999984e-01 0.00000000e+00 -6.58864423e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14342419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.267552018 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.07, Z:0.01 [[ 9.99999828e-01 -5.86456241e-04 0.00000000e+00 1.28811659e+00] [ 5.86456241e-04 9.99999828e-01 0.00000000e+00 -6.77195600e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59654121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.297552018 meters Centerline goodness : 0.990174 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.07, Z:0.01 [[ 9.99999790e-01 -6.48784976e-04 0.00000000e+00 1.31802734e+00] [ 6.48784976e-04 9.99999790e-01 0.00000000e+00 -6.97135023e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28400111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3275520179999998 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.07, Z:0.00 [[ 0.99999811 -0.00194657 0. 1.3478492 ] [ 0.00194657 0.99999811 0. -0.07458984] [ 0. 0. 1. 0.00327587] [ 0. 0. 0. 1. ]] SLAMing on 1.3575520179999998 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.08, Z:0.00 [[ 0.99999431 -0.00337231 0. 1.37897568] [ 0.00337231 0.99999431 0. -0.07824233] [ 0. 0. 1. 0.0026644 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3875520179999998 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.08, Z:0.00 [[ 0.99999596 -0.00284376 0. 1.40622589] [ 0.00284376 0.99999596 0. -0.08172338] [ 0. 0. 1. 0.00203495] [ 0. 0. 0. 1. ]] SLAMing on 1.4175520179999999 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.09, Z:0.00 [[ 0.99996099 -0.00883263 0. 1.43878514] [ 0.00883263 0.99996099 0. -0.08544957] [ 0. 0. 1. 0.00349937] [ 0. 0. 0. 1. ]] SLAMing on 1.4475520179999999 meters Centerline goodness : 0.990201 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.09, Z:0.00 [[ 0.99995014 -0.00998563 0. 1.46955326] [ 0.00998563 0.99995014 0. -0.08756131] [ 0. 0. 1. 0.00379323] [ 0. 0. 0. 1. ]] SLAMing on 1.477552018 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.09, Z:0.00 [[ 0.9999286 -0.01194944 0. 1.50189737] [ 0.01194944 0.9999286 0. -0.08967126] [ 0. 0. 1. 0.00443426] [ 0. 0. 0. 1. ]] SLAMing on 1.507552018 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.09, Z:0.01 [[ 0.99991127 -0.01332099 0. 1.53457332] [ 0.01332099 0.99991127 0. -0.0929646 ] [ 0. 0. 1. 0.00513926] [ 0. 0. 0. 1. ]] SLAMing on 1.537552018 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.10, Z:0.01 [[ 0.99986863 -0.01620902 0. 1.56582833] [ 0.01620902 0.99986863 0. -0.09829674] [ 0. 0. 1. 0.0060475 ] [ 0. 0. 0. 1. ]] SLAMing on 1.567552018 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.10, Z:0.01 [[ 0.99984126 -0.01781704 0. 1.59802686] [ 0.01781704 0.99984126 0. -0.10193402] [ 0. 0. 1. 0.0059847 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5975520179999998 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.10, Z:0.01 [[ 0.99981771 -0.01909335 0. 1.6302081 ] [ 0.01909335 0.99981771 0. -0.10495211] [ 0. 0. 1. 0.00665064] [ 0. 0. 0. 1. ]] SLAMing on 1.6275520179999998 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.11, Z:0.01 [[ 0.99978993 -0.02049628 0. 1.66325515] [ 0.02049628 0.99978993 0. -0.10717621] [ 0. 0. 1. 0.00675328] [ 0. 0. 0. 1. ]] SLAMing on 1.6575520179999998 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.11, Z:0.01 [[ 0.9997418 -0.02272307 0. 1.69536318] [ 0.02272307 0.9997418 0. -0.10903067] [ 0. 0. 1. 0.00753566] [ 0. 0. 0. 1. ]] SLAMing on 1.6875520179999999 meters Centerline goodness : 0.990602 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.11, Z:0.01 [[ 0.99972698 -0.02336571 0. 1.72684365] [ 0.02336571 0.99972698 0. -0.11137392] [ 0. 0. 1. 0.00743572] [ 0. 0. 0. 1. ]] SLAMing on 1.717552018 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.11, Z:0.01 [[ 0.99971944 -0.02368619 0. 1.76009558] [ 0.02368619 0.99971944 0. -0.11443584] [ 0. 0. 1. 0.00687942] [ 0. 0. 0. 1. ]] SLAMing on 1.747552018 meters Centerline goodness : 0.991886 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.12, Z:0.01 [[ 0.99969255 -0.02479511 0. 1.79094509] [ 0.02479511 0.99969255 0. -0.11785988] [ 0. 0. 1. 0.00525022] [ 0. 0. 0. 1. ]] SLAMing on 1.777552018 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.12, Z:0.00 [[ 0.99967567 -0.02546686 0. 1.82166256] [ 0.02546686 0.99967567 0. -0.1197282 ] [ 0. 0. 1. 0.00490128] [ 0. 0. 0. 1. ]] SLAMing on 1.8075520179999998 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.12, Z:0.01 [[ 0.99961311 -0.02781407 0. 1.85410749] [ 0.02781407 0.99961311 0. -0.12112845] [ 0. 0. 1. 0.005245 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8375520179999998 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.12, Z:0.00 [[ 0.99960902 -0.02796095 0. 1.88585233] [ 0.02796095 0.99960902 0. -0.12340593] [ 0. 0. 1. 0.00448439] [ 0. 0. 0. 1. ]] SLAMing on 1.8675520179999998 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.13, Z:0.00 [[ 0.99959674 -0.02839638 0. 1.91700901] [ 0.02839638 0.99959674 0. -0.126011 ] [ 0. 0. 1. 0.00320017] [ 0. 0. 0. 1. ]] SLAMing on 1.8975520179999998 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.13, Z:0.00 [[ 0.99956046 -0.02964601 0. 1.94992911] [ 0.02964601 0.99956046 0. -0.12803263] [ 0. 0. 1. 0.00374081] [ 0. 0. 0. 1. ]] SLAMing on 1.9275520179999999 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.13, Z:0.00 [[ 0.99957204 -0.02925315 0. 1.98231275] [ 0.02925315 0.99957204 0. -0.13007487] [ 0. 0. 1. 0.00313233] [ 0. 0. 0. 1. ]] SLAMing on 1.957552018 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.13, Z:0.00 [[ 0.99958745 -0.02872143 0. 2.01330458] [ 0.02872143 0.99958745 0. -0.13079124] [ 0. 0. 1. 0.0042216 ] [ 0. 0. 0. 1. ]] SLAMing on 1.987552018 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.13, Z:0.00 [[ 0.99957494 -0.02915381 0. 2.0448287 ] [ 0.02915381 0.99957494 0. -0.13149077] [ 0. 0. 1. 0.00496265] [ 0. 0. 0. 1. ]] SLAMing on 2.017552018 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.13, Z:0.01 [[ 0.99954837 -0.03005083 0. 2.07645697] [ 0.03005083 0.99954837 0. -0.13245384] [ 0. 0. 1. 0.00618811] [ 0. 0. 0. 1. ]] SLAMing on 2.047552018 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.13, Z:0.01 [[ 0.9995478 -0.03006985 0. 2.10687819] [ 0.03006985 0.9995478 0. -0.1348503 ] [ 0. 0. 1. 0.00601716] [ 0. 0. 0. 1. ]] SLAMing on 2.077552018 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.14, Z:0.01 [[ 0.99947283 -0.03246623 0. 2.14002963] [ 0.03246623 0.99947283 0. -0.13658289] [ 0. 0. 1. 0.00629023] [ 0. 0. 0. 1. ]] SLAMing on 2.1075520180000002 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.14, Z:0.01 [[ 0.9994221 -0.03399204 0. 2.17156905] [ 0.03399204 0.9994221 0. -0.1386152 ] [ 0. 0. 1. 0.00618451] [ 0. 0. 0. 1. ]] SLAMing on 2.137552018 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.14, Z:0.01 [[ 0.99938108 -0.03517736 0. 2.20459773] [ 0.03517736 0.99938108 0. -0.14068226] [ 0. 0. 1. 0.0056938 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1675520180000003 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.14, Z:0.01 [[ 0.99930091 -0.03738582 0. 2.23591591] [ 0.03738582 0.99930091 0. -0.14231015] [ 0. 0. 1. 0.00592466] [ 0. 0. 0. 1. ]] SLAMing on 2.197552018 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.14, Z:0.00 [[ 0.99928436 -0.0378256 0. 2.26880427] [ 0.0378256 0.99928436 0. -0.14430538] [ 0. 0. 1. 0.00485694] [ 0. 0. 0. 1. ]] SLAMing on 2.227552018 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.15, Z:0.01 [[ 0.99924475 -0.03885778 0. 2.3011752 ] [ 0.03885778 0.99924475 0. -0.14537226] [ 0. 0. 1. 0.00584928] [ 0. 0. 0. 1. ]] SLAMing on 2.257552018 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.15, Z:0.01 [[ 0.99925878 -0.03849539 0. 2.33196797] [ 0.03849539 0.99925878 0. -0.14712744] [ 0. 0. 1. 0.00505423] [ 0. 0. 0. 1. ]] SLAMing on 2.287552018 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.15, Z:0.01 [[ 0.99926474 -0.03834041 0. 2.3645748 ] [ 0.03834041 0.99926474 0. -0.14895811] [ 0. 0. 1. 0.0057679 ] [ 0. 0. 0. 1. ]] SLAMing on 2.317552018 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.15, Z:0.01 [[ 0.99928187 -0.03789112 0. 2.39651476] [ 0.03789112 0.99928187 0. -0.15026451] [ 0. 0. 1. 0.00590782] [ 0. 0. 0. 1. ]] SLAMing on 2.347552018 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.15, Z:0.00 [[ 0.99928286 -0.03786522 0. 2.42994789] [ 0.03786522 0.99928286 0. -0.15230201] [ 0. 0. 1. 0.0048208 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3775520180000003 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.16, Z:0.01 [[ 0.99938836 -0.03497004 0. 2.46274906] [ 0.03497004 0.99938836 0. -0.15521976] [ 0. 0. 1. 0.00502278] [ 0. 0. 0. 1. ]] SLAMing on 2.407552018 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.16, Z:0.01 [[ 0.99937659 -0.03530492 0. 2.49723163] [ 0.03530492 0.99937659 0. -0.15763264] [ 0. 0. 1. 0.00507202] [ 0. 0. 0. 1. ]] SLAMing on 2.437552018 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.16, Z:0.00 [[ 0.99941041 -0.03433413 0. 2.5292792 ] [ 0.03433413 0.99941041 0. -0.16155653] [ 0. 0. 1. 0.00409123] [ 0. 0. 0. 1. ]] SLAMing on 2.467552018 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.16, Z:0.00 [[ 0.99934774 -0.03611234 0. 2.55891044] [ 0.03611234 0.99934774 0. -0.160939 ] [ 0. 0. 1. 0.00492653] [ 0. 0. 0. 1. ]] SLAMing on 2.497552018 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.15, Z:0.01 [[ 0.99901224 -0.04443586 0. 2.57531921] [ 0.04443586 0.99901224 0. -0.15055223] [ 0. 0. 1. 0.0062627 ] [ 0. 0. 0. 1. ]] SLAMing on 2.527552018 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.16, Z:0.00 [[ 0.99919539 -0.04010707 0. 2.6147586 ] [ 0.04010707 0.99919539 0. -0.1600149 ] [ 0. 0. 1. 0.00489492] [ 0. 0. 0. 1. ]] SLAMing on 2.557552018 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.16, Z:0.00 [[ 0.999185 -0.040365 0. 2.64698088] [ 0.040365 0.999185 0. -0.16125275] [ 0. 0. 1. 0.00455989] [ 0. 0. 0. 1. ]] SLAMing on 2.5875520180000002 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.16, Z:0.00 [[ 0.9991738 -0.04064139 0. 2.67942253] [ 0.04064139 0.9991738 0. -0.16208684] [ 0. 0. 1. 0.0041221 ] [ 0. 0. 0. 1. ]] SLAMing on 2.617552018 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.16, Z:0.00 [[ 0.99917049 -0.04072261 0. 2.71188647] [ 0.04072261 0.99917049 0. -0.16334473] [ 0. 0. 1. 0.0041221 ] [ 0. 0. 0. 1. ]] SLAMing on 2.647552018 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.16, Z:0.00 [[ 0.99918398 -0.04039032 0. 2.74410146] [ 0.04039032 0.99918398 0. -0.16492488] [ 0. 0. 1. 0.00330937] [ 0. 0. 0. 1. ]] SLAMing on 2.677552018 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.16, Z:0.00 [[ 0.99918954 -0.04025261 0. 2.77391798] [ 0.04025261 0.99918954 0. -0.16464499] [ 0. 0. 1. 0.00296353] [ 0. 0. 0. 1. ]] SLAMing on 2.707552018 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.17, Z:0.00 [[ 0.9991999 -0.0399946 0. 2.80678475] [ 0.0399946 0.9991999 0. -0.16637407] [ 0. 0. 1. 0.00310588] [ 0. 0. 0. 1. ]] SLAMing on 2.737552018 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.17, Z:0.00 [[ 9.99205965e-01 -3.98426781e-02 0.00000000e+00 2.83844829e+00] [ 3.98426781e-02 9.99205965e-01 0.00000000e+00 -1.67625963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81497800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.767552018 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.17, Z:0.00 [[ 0.99925591 -0.03856986 0. 2.87209405] [ 0.03856986 0.99925591 0. -0.17018433] [ 0. 0. 1. 0.0037695 ] [ 0. 0. 0. 1. ]] SLAMing on 2.797552018 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.17, Z:0.00 [[ 0.99926789 -0.03825804 0. 2.90411395] [ 0.03825804 0.99926789 0. -0.1706924 ] [ 0. 0. 1. 0.00445748] [ 0. 0. 0. 1. ]] SLAMing on 2.827552018 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.17, Z:0.00 [[ 0.99927923 -0.03796077 0. 2.93687463] [ 0.03796077 0.99927923 0. -0.17260829] [ 0. 0. 1. 0.00489375] [ 0. 0. 0. 1. ]] SLAMing on 2.8575520180000002 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.17, Z:0.00 [[ 0.99927483 -0.03807634 0. 2.9700402 ] [ 0.03807634 0.99927483 0. -0.17386208] [ 0. 0. 1. 0.0049203 ] [ 0. 0. 0. 1. ]] SLAMing on 2.887552018 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.18, Z:0.01 [[ 0.99930564 -0.03725905 0. 3.00435274] [ 0.03725905 0.99930564 0. -0.17603697] [ 0. 0. 1. 0.00566792] [ 0. 0. 0. 1. ]] SLAMing on 2.917552018 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.18, Z:0.01 [[ 0.99930951 -0.03715517 0. 3.0370767 ] [ 0.03715517 0.99930951 0. -0.17769359] [ 0. 0. 1. 0.00581166] [ 0. 0. 0. 1. ]] SLAMing on 2.947552018 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.18, Z:0.01 [[ 0.99929002 -0.0376756 0. 3.06988635] [ 0.0376756 0.99929002 0. -0.17898499] [ 0. 0. 1. 0.005377 ] [ 0. 0. 0. 1. ]] SLAMing on 2.977552018 meters Centerline goodness : 0.990057 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.18, Z:0.00 [[ 0.99932108 -0.0368426 0. 3.10172345] [ 0.0368426 0.99932108 0. -0.18109946] [ 0. 0. 1. 0.00374071] [ 0. 0. 0. 1. ]] SLAMing on 3.007552018 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.18, Z:0.00 [[ 9.99336901e-01 -3.64109528e-02 0.00000000e+00 3.13414919e+00] [ 3.64109528e-02 9.99336901e-01 0.00000000e+00 -1.82761023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95364530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.037552018 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.18, Z:0.00 [[ 9.99363609e-01 -3.56703904e-02 0.00000000e+00 3.16625799e+00] [ 3.56703904e-02 9.99363609e-01 0.00000000e+00 -1.84454805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84008129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.067552018 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.19, Z:0.00 [[ 9.99344580e-01 -3.61996032e-02 0.00000000e+00 3.19929104e+00] [ 3.61996032e-02 9.99344580e-01 0.00000000e+00 -1.85558942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45947769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.097552018 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.19, Z:0.00 [[ 9.99345570e-01 -3.61722514e-02 0.00000000e+00 3.23175284e+00] [ 3.61722514e-02 9.99345570e-01 0.00000000e+00 -1.87079765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81575878e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1275520180000003 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.19, Z:0.00 [[ 9.99347968e-01 -3.61059340e-02 0.00000000e+00 3.26399326e+00] [ 3.61059340e-02 9.99347968e-01 0.00000000e+00 -1.88397021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09360595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.157552018 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.19, Z:0.00 [[ 9.99362626e-01 -3.56979254e-02 0.00000000e+00 3.29651896e+00] [ 3.56979254e-02 9.99362626e-01 0.00000000e+00 -1.89849979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43839622e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.187552018 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.19, Z:0.00 [[ 9.99370138e-01 -3.54870053e-02 0.00000000e+00 3.32879460e+00] [ 3.54870053e-02 9.99370138e-01 0.00000000e+00 -1.91295748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50524505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.217552018 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.19, Z:0.00 [[ 9.99401864e-01 -3.45819796e-02 0.00000000e+00 3.36148733e+00] [ 3.45819796e-02 9.99401864e-01 0.00000000e+00 -1.92094861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47980093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.247552018 meters Centerline goodness : 0.988849 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.19, Z:0.00 [[ 0.99953235 -0.03057921 0. 3.3893203 ] [ 0.03057921 0.99953235 0. -0.19325012] [ 0. 0. 1. 0.00367304] [ 0. 0. 0. 1. ]] SLAMing on 3.277552018 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.19, Z:0.00 [[ 9.99462759e-01 -3.27749005e-02 0.00000000e+00 3.42459141e+00] [ 3.27749005e-02 9.99462759e-01 0.00000000e+00 -1.93500022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08855963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.307552018 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.19, Z:0.00 [[ 9.99456818e-01 -3.29555498e-02 0.00000000e+00 3.45693426e+00] [ 3.29555498e-02 9.99456818e-01 0.00000000e+00 -1.94353057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29613540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3375520180000002 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.19, Z:0.00 [[ 9.99479050e-01 -3.22742586e-02 0.00000000e+00 3.48842969e+00] [ 3.22742586e-02 9.99479050e-01 0.00000000e+00 -1.94701439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87580435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.367552018 meters Centerline goodness : 0.989592 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.20, Z:0.00 [[ 9.99457256e-01 -3.29422687e-02 0.00000000e+00 3.52085094e+00] [ 3.29422687e-02 9.99457256e-01 0.00000000e+00 -1.95782136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30633100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.397552018 meters Centerline goodness : 0.989546 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.20, Z:0.00 [[ 9.99463809e-01 -3.27428682e-02 0.00000000e+00 3.55189141e+00] [ 3.27428682e-02 9.99463809e-01 0.00000000e+00 -1.97105312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65416012e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.427552018 meters Centerline goodness : 0.990108 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.20, Z:0.00 [[ 9.99379256e-01 -3.52293000e-02 0.00000000e+00 3.58219105e+00] [ 3.52293000e-02 9.99379256e-01 0.00000000e+00 -1.97345697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20237080e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.457552018 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.20, Z:0.00 [[ 9.99335972e-01 -3.64364554e-02 0.00000000e+00 3.61490961e+00] [ 3.64364554e-02 9.99335972e-01 0.00000000e+00 -1.98577340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71777726e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.487552018 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.20, Z:0.00 [[ 9.99272482e-01 -3.81379889e-02 0.00000000e+00 3.64660422e+00] [ 3.81379889e-02 9.99272482e-01 0.00000000e+00 -1.98582758e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76594172e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.517552018 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.20, Z:0.00 [[ 9.99185360e-01 -4.03561236e-02 0.00000000e+00 3.67891244e+00] [ 4.03561236e-02 9.99185360e-01 0.00000000e+00 -1.98389378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00479054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.547552018 meters Centerline goodness : 0.989809 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.20, Z:0.00 [[ 9.99251946e-01 -3.86723205e-02 0.00000000e+00 3.70613767e+00] [ 3.86723205e-02 9.99251946e-01 0.00000000e+00 -1.99108738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20531394e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.577552018 meters Centerline goodness : 0.990254 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.20, Z:0.00 [[ 9.99102506e-01 -4.23577901e-02 0.00000000e+00 3.74149216e+00] [ 4.23577901e-02 9.99102506e-01 0.00000000e+00 -1.99656329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67715522e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.607552018 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.20, Z:-0.00 [[ 9.99088412e-01 -4.26889326e-02 0.00000000e+00 3.77279292e+00] [ 4.26889326e-02 9.99088412e-01 0.00000000e+00 -2.00732609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23409550e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.637552018 meters Centerline goodness : 0.989867 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.20, Z:0.00 [[ 9.98954648e-01 -4.57122689e-02 0.00000000e+00 3.80400621e+00] [ 4.57122689e-02 9.98954648e-01 0.00000000e+00 -2.01010548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54123094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.667552018 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.20, Z:0.00 [[ 9.98920406e-01 -4.64545136e-02 0.00000000e+00 3.83514164e+00] [ 4.64545136e-02 9.98920406e-01 0.00000000e+00 -2.02167525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69820639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.697552018 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.20, Z:0.00 [[ 9.98851893e-01 -4.79050773e-02 0.00000000e+00 3.86680974e+00] [ 4.79050773e-02 9.98851893e-01 0.00000000e+00 -2.02505946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39049529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.727552018 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.20, Z:0.00 [[ 9.98770697e-01 -4.95690989e-02 0.00000000e+00 3.89936542e+00] [ 4.95690989e-02 9.98770697e-01 0.00000000e+00 -2.03389501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45621757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.757552018 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.20, Z:0.00 [[ 9.98638420e-01 -5.21661477e-02 0.00000000e+00 3.92932130e+00] [ 5.21661477e-02 9.98638420e-01 0.00000000e+00 -2.03404415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19413682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.787552018 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.20, Z:0.00 [[ 9.98568353e-01 -5.34906001e-02 0.00000000e+00 3.96186280e+00] [ 5.34906001e-02 9.98568353e-01 0.00000000e+00 -2.04497371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58019760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.817552018 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.21, Z:0.00 [[ 9.98506036e-01 -5.46415207e-02 0.00000000e+00 3.99456907e+00] [ 5.46415207e-02 9.98506036e-01 0.00000000e+00 -2.05458335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26111685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.847552018 meters Centerline goodness : 0.990145 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.21, Z:-0.00 [[ 9.98414166e-01 -5.62952365e-02 0.00000000e+00 4.02589709e+00] [ 5.62952365e-02 9.98414166e-01 0.00000000e+00 -2.06502269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24399847e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.877552018 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.21, Z:0.00 [[ 9.98346051e-01 -5.74905419e-02 0.00000000e+00 4.05903062e+00] [ 5.74905419e-02 9.98346051e-01 0.00000000e+00 -2.06835901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28458071e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.907552018 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.21, Z:-0.00 [[ 9.98318361e-01 -5.79693957e-02 0.00000000e+00 4.08980842e+00] [ 5.79693957e-02 9.98318361e-01 0.00000000e+00 -2.06526305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48060144e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.937552018 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.21, Z:-0.00 [[ 9.98365682e-01 -5.71486254e-02 0.00000000e+00 4.12105780e+00] [ 5.71486254e-02 9.98365682e-01 0.00000000e+00 -2.07042833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31891866e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.967552018 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.21, Z:0.00 [[ 9.98428641e-01 -5.60379147e-02 0.00000000e+00 4.15361107e+00] [ 5.60379147e-02 9.98428641e-01 0.00000000e+00 -2.06124332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37512428e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.997552018 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.21, Z:0.00 [[ 9.98477919e-01 -5.51529274e-02 0.00000000e+00 4.18657738e+00] [ 5.51529274e-02 9.98477919e-01 0.00000000e+00 -2.06227570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89431260e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027552018 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.21, Z:0.00 [[ 9.98547679e-01 -5.38751524e-02 0.00000000e+00 4.21738901e+00] [ 5.38751524e-02 9.98547679e-01 0.00000000e+00 -2.06654386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61207697e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.057552018 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.21, Z:0.00 [[ 9.98619812e-01 -5.25211450e-02 0.00000000e+00 4.25002782e+00] [ 5.25211450e-02 9.98619812e-01 0.00000000e+00 -2.07534513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32487099e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.087552018 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.21, Z:0.00 [[ 9.98654500e-01 -5.18574059e-02 0.00000000e+00 4.28321897e+00] [ 5.18574059e-02 9.98654500e-01 0.00000000e+00 -2.07549192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80667320e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.117552018 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.21, Z:0.00 [[ 9.98672175e-01 -5.15158805e-02 0.00000000e+00 4.31545082e+00] [ 5.15158805e-02 9.98672175e-01 0.00000000e+00 -2.08117318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56806328e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.147552018 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.21, Z:0.00 [[ 9.98685269e-01 -5.12614265e-02 0.00000000e+00 4.34798298e+00] [ 5.12614265e-02 9.98685269e-01 0.00000000e+00 -2.08482198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59980916e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.177552018 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.21, Z:0.00 [[ 9.98679012e-01 -5.13831827e-02 0.00000000e+00 4.38030608e+00] [ 5.13831827e-02 9.98679012e-01 0.00000000e+00 -2.08457489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62241449e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.207552018 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.21, Z:0.00 [[ 9.98674562e-01 -5.14695879e-02 0.00000000e+00 4.41334155e+00] [ 5.14695879e-02 9.98674562e-01 0.00000000e+00 -2.09323053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58699468e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.237552018 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.21, Z:0.00 [[ 9.98663127e-01 -5.16910011e-02 0.00000000e+00 4.44497342e+00] [ 5.16910011e-02 9.98663127e-01 0.00000000e+00 -2.09971260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20229904e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.267552018 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.21, Z:0.00 [[ 9.98630017e-01 -5.23267603e-02 0.00000000e+00 4.47762775e+00] [ 5.23267603e-02 9.98630017e-01 0.00000000e+00 -2.10944654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89057586e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.297552018 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.21, Z:-0.00 [[ 9.98605066e-01 -5.28007754e-02 0.00000000e+00 4.51088219e+00] [ 5.28007754e-02 9.98605066e-01 0.00000000e+00 -2.12048047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50928368e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3275520180000004 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.21, Z:-0.00 [[ 9.98556588e-01 -5.37097815e-02 0.00000000e+00 4.54210897e+00] [ 5.37097815e-02 9.98556588e-01 0.00000000e+00 -2.11848845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57554150e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.357552018 meters Centerline goodness : 0.991901 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.21, Z:-0.00 [[ 9.98587373e-01 -5.31343409e-02 0.00000000e+00 4.57337884e+00] [ 5.31343409e-02 9.98587373e-01 0.00000000e+00 -2.12521363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75755492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387552018 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.21, Z:-0.00 [[ 9.98610765e-01 -5.26928848e-02 0.00000000e+00 4.60739282e+00] [ 5.26928848e-02 9.98610765e-01 0.00000000e+00 -2.14022330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20136451e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.417552018 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.21, Z:-0.00 [[ 9.98651104e-01 -5.19227484e-02 0.00000000e+00 4.63906540e+00] [ 5.19227484e-02 9.98651104e-01 0.00000000e+00 -2.14515226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40934606e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.447552018 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.22, Z:0.00 [[ 9.98679650e-01 -5.13707828e-02 0.00000000e+00 4.67255125e+00] [ 5.13707828e-02 9.98679650e-01 0.00000000e+00 -2.15291926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79970695e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.477552018 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.22, Z:0.00 [[ 9.98663027e-01 -5.16929201e-02 0.00000000e+00 4.70509052e+00] [ 5.16929201e-02 9.98663027e-01 0.00000000e+00 -2.16000779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79970695e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507552018 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.22, Z:0.00 [[ 9.98731888e-01 -5.03449750e-02 0.00000000e+00 4.73741504e+00] [ 5.03449750e-02 9.98731888e-01 0.00000000e+00 -2.16301281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05588632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.537552018 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.22, Z:0.00 [[ 9.98835625e-01 -4.82430642e-02 0.00000000e+00 4.77082513e+00] [ 4.82430642e-02 9.98835625e-01 0.00000000e+00 -2.15491763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49378361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567552018 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.22, Z:0.00 [[ 9.98887260e-01 -4.71618735e-02 0.00000000e+00 4.80380899e+00] [ 4.71618735e-02 9.98887260e-01 0.00000000e+00 -2.15374479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47766354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.597552018 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.22, Z:0.00 [[ 9.98961870e-01 -4.55541628e-02 0.00000000e+00 4.83688893e+00] [ 4.55541628e-02 9.98961870e-01 0.00000000e+00 -2.15609882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60095229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627552018 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.22, Z:0.00 [[ 9.99018249e-01 -4.43005448e-02 0.00000000e+00 4.86686794e+00] [ 4.43005448e-02 9.99018249e-01 0.00000000e+00 -2.15103474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09373271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.657552018 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.21, Z:0.00 [[ 9.99120859e-01 -4.19226538e-02 0.00000000e+00 4.89918459e+00] [ 4.19226538e-02 9.99120859e-01 0.00000000e+00 -2.14663684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60990572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687552018 meters Centerline goodness : 0.991636 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.21, Z:0.00 [[ 9.99154599e-01 -4.11106806e-02 0.00000000e+00 4.93259681e+00] [ 4.11106806e-02 9.99154599e-01 0.00000000e+00 -2.14273098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64957126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.717552018 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.21, Z:0.00 [[ 9.99207643e-01 -3.98005802e-02 0.00000000e+00 4.96560116e+00] [ 3.98005802e-02 9.99207643e-01 0.00000000e+00 -2.14129862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80443211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.747552018 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.21, Z:0.00 [[ 9.99292706e-01 -3.76043618e-02 0.00000000e+00 4.99561458e+00] [ 3.76043618e-02 9.99292706e-01 0.00000000e+00 -2.12238354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05359255e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.777552018 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.21, Z:-0.00 [[ 9.99323403e-01 -3.67795601e-02 0.00000000e+00 5.02816193e+00] [ 3.67795601e-02 9.99323403e-01 0.00000000e+00 -2.12491169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92581630e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.807552018 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.21, Z:0.00 [[ 9.99335174e-01 -3.64583275e-02 0.00000000e+00 5.06029443e+00] [ 3.64583275e-02 9.99335174e-01 0.00000000e+00 -2.11996306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11435098e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.837552018 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.21, Z:0.00 [[ 9.99378374e-01 -3.52542864e-02 0.00000000e+00 5.09186625e+00] [ 3.52542864e-02 9.99378374e-01 0.00000000e+00 -2.11771551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36825134e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867552018 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.21, Z:0.00 [[ 9.99465504e-01 -3.26910767e-02 0.00000000e+00 5.12382276e+00] [ 3.26910767e-02 9.99465504e-01 0.00000000e+00 -2.10775528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39919817e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.897552018 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.21, Z:0.00 [[ 9.99505308e-01 -3.14505880e-02 0.00000000e+00 5.15553064e+00] [ 3.14505880e-02 9.99505308e-01 0.00000000e+00 -2.10838622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68734457e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927552018 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.21, Z:0.00 [[ 9.99539584e-01 -3.03417077e-02 0.00000000e+00 5.18743554e+00] [ 3.03417077e-02 9.99539584e-01 0.00000000e+00 -2.10838497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58172671e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.957552018 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.21, Z:-0.00 [[ 9.99578669e-01 -2.90255713e-02 0.00000000e+00 5.21751225e+00] [ 2.90255713e-02 9.99578669e-01 0.00000000e+00 -2.10341991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52032001e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.987552018 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.21, Z:-0.00 [[ 9.99594303e-01 -2.84820795e-02 0.00000000e+00 5.25044689e+00] [ 2.84820795e-02 9.99594303e-01 0.00000000e+00 -2.11101947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23080039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.017552018 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.21, Z:-0.00 [[ 9.99614101e-01 -2.77785693e-02 0.00000000e+00 5.28195879e+00] [ 2.77785693e-02 9.99614101e-01 0.00000000e+00 -2.12177633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35566843e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.047552018 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.21, Z:-0.00 [[ 9.99603699e-01 -2.81504092e-02 0.00000000e+00 5.31416102e+00] [ 2.81504092e-02 9.99603699e-01 0.00000000e+00 -2.12832653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25980082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.077552018 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.21, Z:-0.00 [[ 9.99629702e-01 -2.72113662e-02 0.00000000e+00 5.34703505e+00] [ 2.72113662e-02 9.99629702e-01 0.00000000e+00 -2.13906379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66981008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.107552018 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.21, Z:-0.00 [[ 9.99635838e-01 -2.69850284e-02 0.00000000e+00 5.38011454e+00] [ 2.69850284e-02 9.99635838e-01 0.00000000e+00 -2.14893432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27008884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.137552018 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.22, Z:-0.00 [[ 9.99643693e-01 -2.66924653e-02 0.00000000e+00 5.41117644e+00] [ 2.66924653e-02 9.99643693e-01 0.00000000e+00 -2.15520164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19384588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.167552018 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.22, Z:-0.00 [[ 9.99659991e-01 -2.60749495e-02 0.00000000e+00 5.44504394e+00] [ 2.60749495e-02 9.99659991e-01 0.00000000e+00 -2.17034412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36911915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.197552018 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.22, Z:-0.00 [[ 9.99676212e-01 -2.54454483e-02 0.00000000e+00 5.47840620e+00] [ 2.54454483e-02 9.99676212e-01 0.00000000e+00 -2.18092870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01449883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.227552018 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.21, Z:-0.00 [[ 9.99589115e-01 -2.86635995e-02 0.00000000e+00 5.50166256e+00] [ 2.86635995e-02 9.99589115e-01 0.00000000e+00 -2.13289194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69636300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.257552018 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.22, Z:-0.00 [[ 9.99642768e-01 -2.67270688e-02 0.00000000e+00 5.53772070e+00] [ 2.67270688e-02 9.99642768e-01 0.00000000e+00 -2.17555455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82360453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2875520179999995 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.21, Z:-0.00 [[ 9.99538958e-01 -3.03623262e-02 0.00000000e+00 5.56510413e+00] [ 3.03623262e-02 9.99538958e-01 0.00000000e+00 -2.14244665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23294552e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.317552018 meters Centerline goodness : 0.991622 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.21, Z:-0.00 [[ 9.99502525e-01 -3.15388946e-02 0.00000000e+00 5.59700179e+00] [ 3.15388946e-02 9.99502525e-01 0.00000000e+00 -2.14917660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19283723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347552018 meters Centerline goodness : 0.991364 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.22, Z:-0.00 [[ 9.99480966e-01 -3.22148947e-02 0.00000000e+00 5.63185396e+00] [ 3.22148947e-02 9.99480966e-01 0.00000000e+00 -2.18456186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60832446e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.377552018 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.22, Z:0.00 [[ 9.99330917e-01 -3.65748189e-02 0.00000000e+00 5.66528884e+00] [ 3.65748189e-02 9.99330917e-01 0.00000000e+00 -2.21737735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69534573e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407552018 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.22, Z:-0.00 [[ 9.99233262e-01 -3.91521099e-02 0.00000000e+00 5.69654488e+00] [ 3.91521099e-02 9.99233262e-01 0.00000000e+00 -2.22660295e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72587932e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.437552018 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.22, Z:-0.00 [[ 9.99087290e-01 -4.27151836e-02 0.00000000e+00 5.72903108e+00] [ 4.27151836e-02 9.99087290e-01 0.00000000e+00 -2.24229138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40470283e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467552018 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.23, Z:0.00 [[ 9.98971612e-01 -4.53400369e-02 0.00000000e+00 5.76194890e+00] [ 4.53400369e-02 9.98971612e-01 0.00000000e+00 -2.25968118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26252564e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.497552018 meters Centerline goodness : 0.991687 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.23, Z:0.00 [[ 9.98729428e-01 -5.03937422e-02 0.00000000e+00 5.79608473e+00] [ 5.03937422e-02 9.98729428e-01 0.00000000e+00 -2.27583437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45585128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.527552018 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.23, Z:0.00 [[ 9.98601352e-01 -5.28709824e-02 0.00000000e+00 5.82862272e+00] [ 5.28709824e-02 9.98601352e-01 0.00000000e+00 -2.28446959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40407618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.557552018 meters Centerline goodness : 0.990450 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.23, Z:0.00 [[ 9.98592124e-01 -5.30449891e-02 0.00000000e+00 5.86022679e+00] [ 5.30449891e-02 9.98592124e-01 0.00000000e+00 -2.30212071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71257518e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587552018 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.23, Z:-0.00 [[ 9.98550243e-01 -5.38276078e-02 0.00000000e+00 5.89219708e+00] [ 5.38276078e-02 9.98550243e-01 0.00000000e+00 -2.31541260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79241384e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.617552018 meters Centerline goodness : 0.990589 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.23, Z:0.00 [[ 9.98539017e-01 -5.40354663e-02 0.00000000e+00 5.92678188e+00] [ 5.40354663e-02 9.98539017e-01 0.00000000e+00 -2.32451167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80773027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.647552018 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.23, Z:0.00 [[ 9.98553160e-01 -5.37734685e-02 0.00000000e+00 5.95998555e+00] [ 5.37734685e-02 9.98553160e-01 0.00000000e+00 -2.32021637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48269880e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.677552018 meters Centerline goodness : 0.990623 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.23, Z:-0.00 [[ 9.98748720e-01 -5.00099413e-02 0.00000000e+00 5.99232005e+00] [ 5.00099413e-02 9.98748720e-01 0.00000000e+00 -2.33500115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49667175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.707552018 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.23, Z:-0.00 [[ 9.98763156e-01 -4.97207960e-02 0.00000000e+00 6.02505074e+00] [ 4.97207960e-02 9.98763156e-01 0.00000000e+00 -2.33291682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41689270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.737552018 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.23, Z:-0.00 [[ 9.98886965e-01 -4.71681145e-02 0.00000000e+00 6.05733136e+00] [ 4.71681145e-02 9.98886965e-01 0.00000000e+00 -2.33612337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65655437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767552018 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.23, Z:-0.01 [[ 9.99076535e-01 -4.29659893e-02 0.00000000e+00 6.08119463e+00] [ 4.29659893e-02 9.99076535e-01 0.00000000e+00 -2.34158442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03197051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.797552018 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.23, Z:-0.00 [[ 9.98920976e-01 -4.64422589e-02 0.00000000e+00 6.12101029e+00] [ 4.64422589e-02 9.98920976e-01 0.00000000e+00 -2.34246902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98965031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827552018 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.23, Z:-0.00 [[ 9.98911934e-01 -4.66363398e-02 0.00000000e+00 6.15362726e+00] [ 4.66363398e-02 9.98911934e-01 0.00000000e+00 -2.34663068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31522107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.857552018 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.23, Z:-0.00 [[ 9.98891269e-01 -4.70768892e-02 0.00000000e+00 6.18365266e+00] [ 4.70768892e-02 9.98891269e-01 0.00000000e+00 -2.34523087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21338443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887552018 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.23, Z:-0.01 [[ 9.98826176e-01 -4.84383194e-02 0.00000000e+00 6.21505171e+00] [ 4.84383194e-02 9.98826176e-01 0.00000000e+00 -2.34573590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12500867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.917552018 meters Centerline goodness : 0.991605 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.23, Z:-0.01 [[ 9.98740612e-01 -5.01716027e-02 0.00000000e+00 6.24733710e+00] [ 5.01716027e-02 9.98740612e-01 0.00000000e+00 -2.34859769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22591069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947552018 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.23, Z:-0.01 [[ 9.98668572e-01 -5.15856906e-02 0.00000000e+00 6.27760063e+00] [ 5.15856906e-02 9.98668572e-01 0.00000000e+00 -2.34504540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61493468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.977552018 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.24, Z:-0.01 [[ 0.99880185 -0.04893725 0. 6.30294409] [ 0.04893725 0.99880185 0. -0.23543666] [ 0. 0. 1. -0.00746631] [ 0. 0. 0. 1. ]] SLAMing on 6.007552018 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.23, Z:-0.01 [[ 0.9985795 -0.0532821 0. 6.3399072] [ 0.0532821 0.9985795 0. -0.2344611] [ 0. 0. 1. -0.0063923] [ 0. 0. 0. 1. ]] SLAMing on 6.0375520179999995 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.23, Z:-0.01 [[ 0.99855579 -0.05372461 0. 6.37286933] [ 0.05372461 0.99855579 0. -0.23420557] [ 0. 0. 1. -0.00656693] [ 0. 0. 0. 1. ]] SLAMing on 6.067552018 meters Centerline goodness : 0.989116 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.23, Z:-0.01 [[ 0.9986938 -0.05109489 0. 6.39793899] [ 0.05109489 0.9986938 0. -0.23332964] [ 0. 0. 1. -0.00754352] [ 0. 0. 0. 1. ]] SLAMing on 6.097552018 meters Centerline goodness : 0.989955 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.23, Z:-0.01 [[ 0.998523 -0.05433056 0. 6.43532515] [ 0.05433056 0.998523 0. -0.23261893] [ 0. 0. 1. -0.00734295] [ 0. 0. 0. 1. ]] SLAMing on 6.127552018 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.23, Z:-0.01 [[ 0.99853571 -0.05409661 0. 6.46653187] [ 0.05409661 0.99853571 0. -0.23248909] [ 0. 0. 1. -0.00839674] [ 0. 0. 0. 1. ]] SLAMing on 6.157552018 meters Centerline goodness : 0.988088 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.23, Z:-0.00 [[ 9.98740257e-01 -5.01786807e-02 0.00000000e+00 6.49093943e+00] [ 5.01786807e-02 9.98740257e-01 0.00000000e+00 -2.32520066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07292173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.187552018 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.23, Z:-0.01 [[ 0.9985606 -0.05363516 0. 6.52807206] [ 0.05363516 0.9985606 0. -0.2303011 ] [ 0. 0. 1. -0.00787381] [ 0. 0. 0. 1. ]] SLAMing on 6.217552018 meters Centerline goodness : 0.987474 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.23, Z:-0.00 [[ 9.98734110e-01 -5.03008696e-02 0.00000000e+00 6.55490531e+00] [ 5.03008696e-02 9.98734110e-01 0.00000000e+00 -2.29715516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15142330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.247552018 meters Centerline goodness : 0.986860 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.23, Z:0.00 [[ 9.98779929e-01 -4.93827237e-02 0.00000000e+00 6.58536584e+00] [ 4.93827237e-02 9.98779929e-01 0.00000000e+00 -2.29081817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34597723e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.277552018 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.23, Z:-0.01 [[ 0.99866955 -0.05156672 0. 6.62316975] [ 0.05156672 0.99866955 0. -0.22838055] [ 0. 0. 1. -0.00711724] [ 0. 0. 0. 1. ]] SLAMing on 6.307552018 meters Centerline goodness : 0.989834 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.23, Z:-0.01 [[ 0.99877693 -0.0494434 0. 6.65426743] [ 0.0494434 0.99877693 0. -0.22705052] [ 0. 0. 1. -0.00701151] [ 0. 0. 0. 1. ]] SLAMing on 6.337552018 meters Centerline goodness : 0.987247 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.23, Z:-0.00 [[ 9.98928874e-01 -4.62720625e-02 0.00000000e+00 6.68131021e+00] [ 4.62720625e-02 9.98928874e-01 0.00000000e+00 -2.26750727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28275493e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367552018 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.23, Z:-0.01 [[ 0.99878455 -0.04928914 0. 6.71605562] [ 0.04928914 0.99878455 0. -0.22521551] [ 0. 0. 1. -0.00743356] [ 0. 0. 0. 1. ]] SLAMing on 6.397552018 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.23, Z:-0.01 [[ 0.99876661 -0.04965138 0. 6.74759371] [ 0.04965138 0.99876661 0. -0.22538496] [ 0. 0. 1. -0.00743356] [ 0. 0. 0. 1. ]] SLAMing on 6.427552018 meters Centerline goodness : 0.987943 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.23, Z:-0.00 [[ 9.98980264e-01 -4.51490093e-02 0.00000000e+00 6.77365002e+00] [ 4.51490093e-02 9.98980264e-01 0.00000000e+00 -2.26167942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80374507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.457552018 meters Centerline goodness : 0.988703 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.23, Z:-0.00 [[ 9.98952917e-01 -4.57500859e-02 0.00000000e+00 6.80561993e+00] [ 4.57500859e-02 9.98952917e-01 0.00000000e+00 -2.25794083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37185248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487552018 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.23, Z:-0.00 [[ 9.98940259e-01 -4.60256436e-02 0.00000000e+00 6.83797167e+00] [ 4.60256436e-02 9.98940259e-01 0.00000000e+00 -2.26305393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82191340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.517552018 meters Centerline goodness : 0.988749 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.23, Z:-0.00 [[ 9.98892264e-01 -4.70557665e-02 0.00000000e+00 6.87050199e+00] [ 4.70557665e-02 9.98892264e-01 0.00000000e+00 -2.26306570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70283921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547552018 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.23, Z:-0.00 [[ 9.98807078e-01 -4.88305266e-02 0.00000000e+00 6.90151306e+00] [ 4.88305266e-02 9.98807078e-01 0.00000000e+00 -2.26609274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97318023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577552018 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.23, Z:-0.01 [[ 9.98751975e-01 -4.99448888e-02 0.00000000e+00 6.93326966e+00] [ 4.99448888e-02 9.98751975e-01 0.00000000e+00 -2.27184249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96799244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607552018 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.23, Z:-0.01 [[ 0.99854435 -0.0539368 0. 6.97009898] [ 0.0539368 0.99854435 0. -0.22720524] [ 0. 0. 1. -0.01110117] [ 0. 0. 0. 1. ]] SLAMing on 6.637552018 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.23, Z:-0.01 [[ 0.9985061 -0.05464039 0. 7.00004375] [ 0.05464039 0.9985061 0. -0.22621608] [ 0. 0. 1. -0.01199511] [ 0. 0. 0. 1. ]] SLAMing on 6.667552018 meters Centerline goodness : 0.990656 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.23, Z:-0.01 [[ 9.98746655e-01 -5.00511636e-02 0.00000000e+00 7.02748503e+00] [ 5.00511636e-02 9.98746655e-01 0.00000000e+00 -2.29497185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02330421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.697552018 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.23, Z:-0.01 [[ 0.99858613 -0.05315768 0. 7.0645866 ] [ 0.05315768 0.99858613 0. -0.22945806] [ 0. 0. 1. -0.01333241] [ 0. 0. 0. 1. ]] SLAMing on 6.727552018 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.23, Z:-0.01 [[ 0.99863072 -0.05231335 0. 7.09463847] [ 0.05231335 0.99863072 0. -0.22966087] [ 0. 0. 1. -0.0139942 ] [ 0. 0. 0. 1. ]] SLAMing on 6.757552018 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.23, Z:-0.01 [[ 0.99869104 -0.05114891 0. 7.12723038] [ 0.05114891 0.99869104 0. -0.23013269] [ 0. 0. 1. -0.01433375] [ 0. 0. 0. 1. ]] SLAMing on 6.7875520179999995 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.23, Z:-0.01 [[ 0.9987173 -0.05063349 0. 7.15801505] [ 0.05063349 0.9987173 0. -0.2298609 ] [ 0. 0. 1. -0.01404884] [ 0. 0. 0. 1. ]] SLAMing on 6.817552018 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.23, Z:-0.01 [[ 0.9987614 -0.0497561 0. 7.18906675] [ 0.0497561 0.9987614 0. -0.23031943] [ 0. 0. 1. -0.01375063] [ 0. 0. 0. 1. ]] SLAMing on 6.847552018 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.23, Z:-0.01 [[ 0.9988204 -0.04855727 0. 7.22146985] [ 0.04855727 0.9988204 0. -0.23028299] [ 0. 0. 1. -0.01210444] [ 0. 0. 0. 1. ]] SLAMing on 6.877552018 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.23, Z:-0.01 [[ 0.99883586 -0.0482382 0. 7.25408096] [ 0.0482382 0.99883586 0. -0.2305169 ] [ 0. 0. 1. -0.01130545] [ 0. 0. 0. 1. ]] SLAMing on 6.907552018 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.23, Z:-0.01 [[ 0.99890183 -0.0468522 0. 7.28725298] [ 0.0468522 0.99890183 0. -0.2315835 ] [ 0. 0. 1. -0.01123541] [ 0. 0. 0. 1. ]] SLAMing on 6.937552018 meters Centerline goodness : 0.990043 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.23, Z:-0.01 [[ 0.99897165 -0.04533915 0. 7.31890324] [ 0.04533915 0.99897165 0. -0.23237976] [ 0. 0. 1. -0.01135534] [ 0. 0. 0. 1. ]] SLAMing on 6.967552018 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.23, Z:-0.01 [[ 0.9990731 -0.04304588 0. 7.35144874] [ 0.04304588 0.9990731 0. -0.23297166] [ 0. 0. 1. -0.01234772] [ 0. 0. 0. 1. ]] SLAMing on 6.9975520179999995 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.23, Z:-0.01 [[ 0.99913287 -0.04163548 0. 7.38238625] [ 0.04163548 0.99913287 0. -0.23321335] [ 0. 0. 1. -0.0126641 ] [ 0. 0. 0. 1. ]] SLAMing on 7.027552018 meters Centerline goodness : 0.990445 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.23, Z:-0.01 [[ 0.99919103 -0.0402156 0. 7.41324628] [ 0.0402156 0.99919103 0. -0.23341462] [ 0. 0. 1. -0.01312398] [ 0. 0. 0. 1. ]] SLAMing on 7.057552018 meters Centerline goodness : 0.987646 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.23, Z:-0.01 [[ 9.99352870e-01 -3.59700099e-02 0.00000000e+00 7.43977557e+00] [ 3.59700099e-02 9.99352870e-01 0.00000000e+00 -2.34687907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34157115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087552018 meters Centerline goodness : 0.989166 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.23, Z:-0.01 [[ 0.99926601 -0.0383073 0. 7.47613004] [ 0.0383073 0.99926601 0. -0.23427108] [ 0. 0. 1. -0.01380156] [ 0. 0. 0. 1. ]] SLAMing on 7.117552018 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.23, Z:-0.01 [[ 0.99930039 -0.03739953 0. 7.50673182] [ 0.03739953 0.99930039 0. -0.23458647] [ 0. 0. 1. -0.01352544] [ 0. 0. 0. 1. ]] SLAMing on 7.147552018 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.23, Z:-0.01 [[ 0.99928172 -0.03789522 0. 7.53962207] [ 0.03789522 0.99928172 0. -0.23455046] [ 0. 0. 1. -0.01452932] [ 0. 0. 0. 1. ]] SLAMing on 7.177552018 meters Centerline goodness : 0.990778 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.24, Z:-0.02 [[ 0.9993013 -0.03737526 0. 7.57129523] [ 0.03737526 0.9993013 0. -0.23541733] [ 0. 0. 1. -0.01509143] [ 0. 0. 0. 1. ]] SLAMing on 7.2075520179999994 meters Centerline goodness : 0.989901 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.24, Z:-0.01 [[ 0.99933342 -0.03650637 0. 7.60093234] [ 0.03650637 0.99933342 0. -0.23535328] [ 0. 0. 1. -0.01443502] [ 0. 0. 0. 1. ]] SLAMing on 7.237552018 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.24, Z:-0.01 [[ 0.9994196 -0.03406556 0. 7.62953204] [ 0.03406556 0.9994196 0. -0.23615814] [ 0. 0. 1. -0.01282976] [ 0. 0. 0. 1. ]] SLAMing on 7.267552018 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.24, Z:-0.02 [[ 0.99935054 -0.03603475 0. 7.66567342] [ 0.03603475 0.99935054 0. -0.23685396] [ 0. 0. 1. -0.01559169] [ 0. 0. 0. 1. ]] SLAMing on 7.297552018 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.24, Z:-0.01 [[ 0.99939839 -0.03468235 0. 7.69421353] [ 0.03468235 0.99939839 0. -0.23741814] [ 0. 0. 1. -0.01347723] [ 0. 0. 0. 1. ]] SLAMing on 7.327552018 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.24, Z:-0.02 [[ 0.99934692 -0.0361349 0. 7.72820277] [ 0.0361349 0.99934692 0. -0.23773251] [ 0. 0. 1. -0.01675059] [ 0. 0. 0. 1. ]] SLAMing on 7.357552018 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.24, Z:-0.02 [[ 0.99935369 -0.03594716 0. 7.76109528] [ 0.03594716 0.99935369 0. -0.23774651] [ 0. 0. 1. -0.01694564] [ 0. 0. 0. 1. ]] SLAMing on 7.387552018 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.24, Z:-0.02 [[ 0.99935057 -0.03603388 0. 7.79320926] [ 0.03603388 0.99935057 0. -0.23803077] [ 0. 0. 1. -0.01751418] [ 0. 0. 0. 1. ]] SLAMing on 7.417552018 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.24, Z:-0.02 [[ 0.99934749 -0.03611924 0. 7.82327303] [ 0.03611924 0.99934749 0. -0.23751501] [ 0. 0. 1. -0.0170724 ] [ 0. 0. 0. 1. ]] SLAMing on 7.447552018 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.24, Z:-0.02 [[ 0.99933721 -0.03640257 0. 7.85572 ] [ 0.03640257 0.99933721 0. -0.23890784] [ 0. 0. 1. -0.01822197] [ 0. 0. 0. 1. ]] SLAMing on 7.477552018 meters Centerline goodness : 0.991485 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.24, Z:-0.02 [[ 0.99931357 -0.03704587 0. 7.88546672] [ 0.03704587 0.99931357 0. -0.23907231] [ 0. 0. 1. -0.01850172] [ 0. 0. 0. 1. ]] SLAMing on 7.507552018 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.24, Z:-0.02 [[ 0.99929106 -0.03764798 0. 7.91868368] [ 0.03764798 0.99929106 0. -0.24016758] [ 0. 0. 1. -0.01881702] [ 0. 0. 0. 1. ]] SLAMing on 7.5375520179999995 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.24, Z:-0.02 [[ 0.99924614 -0.038822 0. 7.94878233] [ 0.038822 0.99924614 0. -0.23983726] [ 0. 0. 1. -0.01855507] [ 0. 0. 0. 1. ]] SLAMing on 7.567552018 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.24, Z:-0.02 [[ 0.99918577 -0.04034588 0. 7.98162415] [ 0.04034588 0.99918577 0. -0.24105634] [ 0. 0. 1. -0.01789239] [ 0. 0. 0. 1. ]] SLAMing on 7.597552018 meters Centerline goodness : 0.991794 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.24, Z:-0.02 [[ 0.99913431 -0.04160086 0. 8.01457962] [ 0.04160086 0.99913431 0. -0.24136189] [ 0. 0. 1. -0.01771227] [ 0. 0. 0. 1. ]] SLAMing on 7.627552018 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.23, Z:-0.02 [[ 0.99884944 -0.04795616 0. 8.03674012] [ 0.04795616 0.99884944 0. -0.23366996] [ 0. 0. 1. -0.0173898 ] [ 0. 0. 0. 1. ]] SLAMing on 7.657552018 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.23, Z:-0.02 [[ 0.99881818 -0.04860288 0. 8.06865326] [ 0.04860288 0.99881818 0. -0.23476562] [ 0. 0. 1. -0.01714531] [ 0. 0. 0. 1. ]] SLAMing on 7.687552018 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.24, Z:-0.02 [[ 0.99902273 -0.04419938 0. 8.10861827] [ 0.04419938 0.99902273 0. -0.24248553] [ 0. 0. 1. -0.01735455] [ 0. 0. 0. 1. ]] SLAMing on 7.717552018 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.24, Z:-0.02 [[ 0.99904144 -0.04377445 0. 8.1408644 ] [ 0.04377445 0.99904144 0. -0.24415875] [ 0. 0. 1. -0.01615262] [ 0. 0. 0. 1. ]] SLAMing on 7.7475520179999995 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.24, Z:-0.02 [[ 0.99898229 -0.04510407 0. 8.17391676] [ 0.04510407 0.99898229 0. -0.24468454] [ 0. 0. 1. -0.01736862] [ 0. 0. 0. 1. ]] SLAMing on 7.777552018 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.25, Z:-0.02 [[ 0.99883921 -0.04816889 0. 8.20617857] [ 0.04816889 0.99883921 0. -0.24567915] [ 0. 0. 1. -0.01916675] [ 0. 0. 0. 1. ]] SLAMing on 7.807552018 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.25, Z:-0.02 [[ 0.99878252 -0.04933024 0. 8.2370175 ] [ 0.04933024 0.99878252 0. -0.24687813] [ 0. 0. 1. -0.01991035] [ 0. 0. 0. 1. ]] SLAMing on 7.837552018 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.25, Z:-0.02 [[ 0.99868424 -0.05128155 0. 8.26969455] [ 0.05128155 0.99868424 0. -0.24755597] [ 0. 0. 1. -0.02070102] [ 0. 0. 0. 1. ]] SLAMing on 7.867552018 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.25, Z:-0.02 [[ 0.99856121 -0.05362384 0. 8.30209754] [ 0.05362384 0.99856121 0. -0.24732383] [ 0. 0. 1. -0.02090191] [ 0. 0. 0. 1. ]] SLAMing on 7.897552018 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.25, Z:-0.02 [[ 0.99838318 -0.05684205 0. 8.33563304] [ 0.05684205 0.99838318 0. -0.2481337 ] [ 0. 0. 1. -0.02161623] [ 0. 0. 0. 1. ]] SLAMing on 7.927552018 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.25, Z:-0.02 [[ 0.99844338 -0.05577468 0. 8.36229145] [ 0.05577468 0.99844338 0. -0.24859129] [ 0. 0. 1. -0.0210846 ] [ 0. 0. 0. 1. ]] SLAMing on 7.9575520179999994 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.25, Z:-0.02 [[ 0.99819355 -0.06008027 0. 8.39960828] [ 0.06008027 0.99819355 0. -0.24891002] [ 0. 0. 1. -0.0220734 ] [ 0. 0. 0. 1. ]] SLAMing on 7.987552018 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.25, Z:-0.02 [[ 0.99800651 -0.0631111 0. 8.43033777] [ 0.0631111 0.99800651 0. -0.24895049] [ 0. 0. 1. -0.02272856] [ 0. 0. 0. 1. ]] SLAMing on 8.017552018 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.25, Z:-0.02 [[ 0.9979273 -0.06435139 0. 8.46304753] [ 0.06435139 0.9979273 0. -0.24955807] [ 0. 0. 1. -0.02263322] [ 0. 0. 0. 1. ]] SLAMing on 8.047552018 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.25, Z:-0.02 [[ 0.99779704 -0.06634053 0. 8.49606523] [ 0.06634053 0.99779704 0. -0.24904933] [ 0. 0. 1. -0.02299957] [ 0. 0. 0. 1. ]] SLAMing on 8.077552018 meters Centerline goodness : 0.991535 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.25, Z:-0.02 [[ 0.99796805 -0.06371638 0. 8.52217368] [ 0.06371638 0.99796805 0. -0.24947415] [ 0. 0. 1. -0.02118777] [ 0. 0. 0. 1. ]] SLAMing on 8.107552018 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.25, Z:-0.02 [[ 0.99765593 -0.06842992 0. 8.55867864] [ 0.06842992 0.99765593 0. -0.24835232] [ 0. 0. 1. -0.02351076] [ 0. 0. 0. 1. ]] SLAMing on 8.137552018 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.25, Z:-0.02 [[ 0.99756707 -0.06971325 0. 8.59113595] [ 0.06971325 0.99756707 0. -0.2487223 ] [ 0. 0. 1. -0.02386175] [ 0. 0. 0. 1. ]] SLAMing on 8.167552018 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.25, Z:-0.02 [[ 0.99772055 -0.06748121 0. 8.61769251] [ 0.06748121 0.99772055 0. -0.24858528] [ 0. 0. 1. -0.02184385] [ 0. 0. 0. 1. ]] SLAMing on 8.197552018 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.25, Z:-0.02 [[ 0.99738713 -0.07224198 0. 8.65357576] [ 0.07224198 0.99738713 0. -0.24761721] [ 0. 0. 1. -0.0244253 ] [ 0. 0. 0. 1. ]] SLAMing on 8.227552017999999 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.25, Z:-0.02 [[ 0.99732167 -0.07314021 0. 8.68446682] [ 0.07314021 0.99732167 0. -0.24663858] [ 0. 0. 1. -0.02425288] [ 0. 0. 0. 1. ]] SLAMing on 8.257552018 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.25, Z:-0.02 [[ 0.99736389 -0.07256221 0. 8.71521245] [ 0.07256221 0.99736389 0. -0.24627518] [ 0. 0. 1. -0.02449202] [ 0. 0. 0. 1. ]] SLAMing on 8.287552018 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.25, Z:-0.02 [[ 0.99734004 -0.07288926 0. 8.74676961] [ 0.07288926 0.99734004 0. -0.24594253] [ 0. 0. 1. -0.02449202] [ 0. 0. 0. 1. ]] SLAMing on 8.317552018 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.25, Z:-0.02 [[ 0.9975655 -0.06973575 0. 8.77334806] [ 0.06973575 0.9975655 0. -0.24537339] [ 0. 0. 1. -0.02350681] [ 0. 0. 0. 1. ]] SLAMing on 8.347552018 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.24, Z:-0.03 [[ 0.99735164 -0.07273043 0. 8.80898805] [ 0.07273043 0.99735164 0. -0.24300562] [ 0. 0. 1. -0.02573388] [ 0. 0. 0. 1. ]] SLAMing on 8.377552018 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.24, Z:-0.03 [[ 0.99728312 -0.07366395 0. 8.84229169] [ 0.07366395 0.99728312 0. -0.2414743 ] [ 0. 0. 1. -0.02543061] [ 0. 0. 0. 1. ]] SLAMing on 8.407552018 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.24, Z:-0.03 [[ 0.99727215 -0.07381227 0. 8.87474174] [ 0.07381227 0.99727215 0. -0.23961172] [ 0. 0. 1. -0.02518148] [ 0. 0. 0. 1. ]] SLAMing on 8.437552018 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.24, Z:-0.03 [[ 0.99736162 -0.07259342 0. 8.90616981] [ 0.07259342 0.99736162 0. -0.23780094] [ 0. 0. 1. -0.02501274] [ 0. 0. 0. 1. ]] SLAMing on 8.467552018 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.23, Z:-0.02 [[ 0.99757451 -0.06960675 0. 8.93596038] [ 0.06960675 0.99757451 0. -0.23306155] [ 0. 0. 1. -0.02440191] [ 0. 0. 0. 1. ]] SLAMing on 8.497552018 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.23, Z:-0.02 [[ 0.99762374 -0.06889752 0. 8.9686065 ] [ 0.06889752 0.99762374 0. -0.23175691] [ 0. 0. 1. -0.02429994] [ 0. 0. 0. 1. ]] SLAMing on 8.527552018 meters Centerline goodness : 0.991795 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.23, Z:-0.03 [[ 0.99775129 -0.06702509 0. 9.00184491] [ 0.06702509 0.99775129 0. -0.2305608 ] [ 0. 0. 1. -0.02521021] [ 0. 0. 0. 1. ]] SLAMing on 8.557552017999999 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.23, Z:-0.03 [[ 0.99791459 -0.06454822 0. 9.0342703 ] [ 0.06454822 0.99791459 0. -0.22718986] [ 0. 0. 1. -0.02583897] [ 0. 0. 0. 1. ]] SLAMing on 8.587552018 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.22, Z:-0.03 [[ 0.99794956 -0.06400525 0. 9.06422882] [ 0.06400525 0.99794956 0. -0.22465989] [ 0. 0. 1. -0.02573062] [ 0. 0. 0. 1. ]] SLAMing on 8.617552018 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.22, Z:-0.03 [[ 0.99792699 -0.06435622 0. 9.0968287 ] [ 0.06435622 0.99792699 0. -0.22237755] [ 0. 0. 1. -0.02603458] [ 0. 0. 0. 1. ]] SLAMing on 8.647552018 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.22, Z:-0.03 [[ 0.99807195 -0.0620676 0. 9.12850317] [ 0.0620676 0.99807195 0. -0.22154235] [ 0. 0. 1. -0.02684316] [ 0. 0. 0. 1. ]] SLAMing on 8.677552018 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.22, Z:-0.03 [[ 0.99804426 -0.06251127 0. 9.16144964] [ 0.06251127 0.99804426 0. -0.21913084] [ 0. 0. 1. -0.02777276] [ 0. 0. 0. 1. ]] SLAMing on 8.707552018 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.22, Z:-0.03 [[ 0.99796223 -0.06380735 0. 9.19360898] [ 0.06380735 0.99796223 0. -0.21725129] [ 0. 0. 1. -0.02788175] [ 0. 0. 0. 1. ]] SLAMing on 8.737552018 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.22, Z:-0.03 [[ 0.99790626 -0.06467689 0. 9.22494475] [ 0.06467689 0.99790626 0. -0.21582333] [ 0. 0. 1. -0.0275231 ] [ 0. 0. 0. 1. ]] SLAMing on 8.767552018 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.20, Z:-0.03 [[ 0.99747122 -0.0710715 0. 9.24546329] [ 0.0710715 0.99747122 0. -0.20468028] [ 0. 0. 1. -0.02821285] [ 0. 0. 0. 1. ]] SLAMing on 8.797552018 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.20, Z:-0.03 [[ 0.99744897 -0.07138312 0. 9.28199943] [ 0.07138312 0.99744897 0. -0.20492512] [ 0. 0. 1. -0.0287594 ] [ 0. 0. 0. 1. ]] SLAMing on 8.827552018 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.20, Z:-0.03 [[ 0.99746989 -0.07109022 0. 9.31557893] [ 0.07109022 0.99746989 0. -0.20386909] [ 0. 0. 1. -0.0289791 ] [ 0. 0. 0. 1. ]] SLAMing on 8.857552018 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.20, Z:-0.03 [[ 0.99760955 -0.06910272 0. 9.34838565] [ 0.06910272 0.99760955 0. -0.20393859] [ 0. 0. 1. -0.02861112] [ 0. 0. 0. 1. ]] SLAMing on 8.887552018 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.19, Z:-0.03 [[ 0.99728491 -0.07363967 0. 9.36912025] [ 0.07363967 0.99728491 0. -0.19155356] [ 0. 0. 1. -0.02947279] [ 0. 0. 0. 1. ]] SLAMing on 8.917552018 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.20, Z:-0.03 [[ 0.99768676 -0.06797883 0. 9.41177137] [ 0.06797883 0.99768676 0. -0.1979663 ] [ 0. 0. 1. -0.02926831] [ 0. 0. 0. 1. ]] SLAMing on 8.947552018 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.20, Z:-0.03 [[ 0.99763769 -0.0686953 0. 9.44440716] [ 0.0686953 0.99763769 0. -0.19553792] [ 0. 0. 1. -0.02903986] [ 0. 0. 0. 1. ]] SLAMing on 8.977552017999999 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.19, Z:-0.03 [[ 0.99764001 -0.06866158 0. 9.47729834] [ 0.06866158 0.99764001 0. -0.19335154] [ 0. 0. 1. -0.02907216] [ 0. 0. 0. 1. ]] SLAMing on 9.007552018 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.19, Z:-0.03 [[ 0.99777139 -0.06672518 0. 9.50842065] [ 0.06672518 0.99777139 0. -0.19039622] [ 0. 0. 1. -0.02834577] [ 0. 0. 0. 1. ]] SLAMing on 9.037552018 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.19, Z:-0.03 [[ 0.99775897 -0.06691066 0. 9.53748707] [ 0.06691066 0.99775897 0. -0.18737878] [ 0. 0. 1. -0.02943123] [ 0. 0. 0. 1. ]] SLAMing on 9.067552018 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.19, Z:-0.03 [[ 0.99783742 -0.06573034 0. 9.5694394 ] [ 0.06573034 0.99783742 0. -0.18590598] [ 0. 0. 1. -0.02844728] [ 0. 0. 0. 1. ]] SLAMing on 9.097552018 meters Centerline goodness : 0.990416 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.18, Z:-0.03 [[ 0.99807752 -0.06197795 0. 9.59777428] [ 0.06197795 0.99807752 0. -0.18444303] [ 0. 0. 1. -0.0284811 ] [ 0. 0. 0. 1. ]] SLAMing on 9.127552018 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.18, Z:-0.03 [[ 0.99793283 -0.06426561 0. 9.63266738] [ 0.06426561 0.99793283 0. -0.18153757] [ 0. 0. 1. -0.02949902] [ 0. 0. 0. 1. ]] SLAMing on 9.157552018 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.18, Z:-0.03 [[ 0.9981103 -0.06144773 0. 9.66646617] [ 0.06144773 0.9981103 0. -0.18001709] [ 0. 0. 1. -0.02918198] [ 0. 0. 0. 1. ]] SLAMing on 9.187552018 meters Centerline goodness : 0.992219 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.18, Z:-0.03 [[ 0.99823697 -0.05935448 0. 9.69894797] [ 0.05935448 0.99823697 0. -0.17973891] [ 0. 0. 1. -0.02963834] [ 0. 0. 0. 1. ]] SLAMing on 9.217552018 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.18, Z:-0.03 [[ 0.99834873 -0.05744403 0. 9.72915564] [ 0.05744403 0.99834873 0. -0.17957965] [ 0. 0. 1. -0.03058114] [ 0. 0. 0. 1. ]] SLAMing on 9.247552018 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.18, Z:-0.03 [[ 0.99853651 -0.0540818 0. 9.76024255] [ 0.0540818 0.99853651 0. -0.17949669] [ 0. 0. 1. -0.03071183] [ 0. 0. 0. 1. ]] SLAMing on 9.277552018 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.18, Z:-0.03 [[ 0.99851277 -0.05451826 0. 9.79170679] [ 0.05451826 0.99851277 0. -0.17834649] [ 0. 0. 1. -0.03053965] [ 0. 0. 0. 1. ]] SLAMing on 9.307552017999999 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.18, Z:-0.03 [[ 0.99847425 -0.05521926 0. 9.82095647] [ 0.05521926 0.99847425 0. -0.17676632] [ 0. 0. 1. -0.03194341] [ 0. 0. 0. 1. ]] SLAMing on 9.337552018 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.18, Z:-0.03 [[ 0.9986254 -0.05241485 0. 9.85229981] [ 0.05241485 0.9986254 0. -0.17773602] [ 0. 0. 1. -0.02851643] [ 0. 0. 0. 1. ]] SLAMing on 9.367552018 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.18, Z:-0.03 [[ 0.99859982 -0.05289993 0. 9.88658615] [ 0.05289993 0.99859982 0. -0.17733601] [ 0. 0. 1. -0.03109541] [ 0. 0. 0. 1. ]] SLAMing on 9.397552017999999 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.18, Z:-0.03 [[ 0.99858192 -0.05323671 0. 9.91954857] [ 0.05323671 0.99858192 0. -0.1777828 ] [ 0. 0. 1. -0.03147605] [ 0. 0. 0. 1. ]] SLAMing on 9.427552018 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.18, Z:-0.03 [[ 0.99858256 -0.05322466 0. 9.95239653] [ 0.05322466 0.99858256 0. -0.1781697 ] [ 0. 0. 1. -0.03026502] [ 0. 0. 0. 1. ]] SLAMing on 9.457552018 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.18, Z:-0.03 [[ 0.99852187 -0.05435132 0. 9.98454514] [ 0.05435132 0.99852187 0. -0.1788182 ] [ 0. 0. 1. -0.03182861] [ 0. 0. 0. 1. ]] SLAMing on 9.487552018 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.18, Z:-0.03 [[ 0.99842074 -0.05617847 0. 10.01680908] [ 0.05617847 0.99842074 0. -0.17878616] [ 0. 0. 1. -0.03124983] [ 0. 0. 0. 1. ]] SLAMing on 9.517552018 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.18, Z:-0.03 [[ 0.99832018 -0.05793802 0. 10.04740987] [ 0.05793802 0.99832018 0. -0.17875956] [ 0. 0. 1. -0.03073639] [ 0. 0. 0. 1. ]] SLAMing on 9.547552018 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.18, Z:-0.03 [[ 0.99821729 -0.05968454 0. 10.08050719] [ 0.05968454 0.99821729 0. -0.17931443] [ 0. 0. 1. -0.03136942] [ 0. 0. 0. 1. ]] SLAMing on 9.577552018 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.18, Z:-0.03 [[ 0.99798166 -0.06350277 0. 10.11323601] [ 0.06350277 0.99798166 0. -0.17946429] [ 0. 0. 1. -0.03064236] [ 0. 0. 0. 1. ]] SLAMing on 9.607552018 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.18, Z:-0.03 [[ 0.99780584 -0.06620811 0. 10.14464412] [ 0.06620811 0.99780584 0. -0.17886067] [ 0. 0. 1. -0.02915893] [ 0. 0. 0. 1. ]] SLAMing on 9.637552018 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.18, Z:-0.03 [[ 0.9977447 -0.06712306 0. 10.17604959] [ 0.06712306 0.9977447 0. -0.17951964] [ 0. 0. 1. -0.03001271] [ 0. 0. 0. 1. ]] SLAMing on 9.667552018 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.18, Z:-0.03 [[ 0.99757355 -0.06962044 0. 10.20831743] [ 0.06962044 0.99757355 0. -0.17942816] [ 0. 0. 1. -0.02927189] [ 0. 0. 0. 1. ]] SLAMing on 9.697552018 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.18, Z:-0.03 [[ 0.99734101 -0.07287602 0. 10.23924565] [ 0.07287602 0.99734101 0. -0.18089807] [ 0. 0. 1. -0.02912265] [ 0. 0. 0. 1. ]] SLAMing on 9.727552017999999 meters Centerline goodness : 0.991485 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.18, Z:-0.03 [[ 0.99716136 -0.07529424 0. 10.27217505] [ 0.07529424 0.99716136 0. -0.18091912] [ 0. 0. 1. -0.02873597] [ 0. 0. 0. 1. ]] SLAMing on 9.757552018 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.18, Z:-0.03 [[ 0.99694504 -0.07810622 0. 10.30448161] [ 0.07810622 0.99694504 0. -0.18117891] [ 0. 0. 1. -0.02801681] [ 0. 0. 0. 1. ]] SLAMing on 9.787552018 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.18, Z:-0.03 [[ 0.99660375 -0.08234665 0. 10.33320285] [ 0.08234665 0.99660375 0. -0.18232561] [ 0. 0. 1. -0.02778529] [ 0. 0. 0. 1. ]] SLAMing on 9.817552018 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.18, Z:-0.03 [[ 0.99635587 -0.08529352 0. 10.36578468] [ 0.08529352 0.99635587 0. -0.18250256] [ 0. 0. 1. -0.02653149] [ 0. 0. 0. 1. ]] SLAMing on 9.847552018 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.18, Z:-0.03 [[ 0.99609799 -0.08825412 0. 10.39737865] [ 0.08825412 0.99609799 0. -0.18253958] [ 0. 0. 1. -0.02527335] [ 0. 0. 0. 1. ]] SLAMing on 9.877552018 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.18, Z:-0.02 [[ 0.99594002 -0.09001926 0. 10.42952375] [ 0.09001926 0.99594002 0. -0.18285139] [ 0. 0. 1. -0.02467025] [ 0. 0. 0. 1. ]] SLAMing on 9.907552018 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.18, Z:-0.03 [[ 0.99577418 -0.0918356 0. 10.46059082] [ 0.0918356 0.99577418 0. -0.18364662] [ 0. 0. 1. -0.02556133] [ 0. 0. 0. 1. ]] SLAMing on 9.937552018 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.18, Z:-0.03 [[ 0.99573917 -0.09221444 0. 10.49190817] [ 0.09221444 0.99573917 0. -0.18350056] [ 0. 0. 1. -0.02579093] [ 0. 0. 0. 1. ]] SLAMing on 9.967552018 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.18, Z:-0.03 [[ 0.99567623 -0.09289154 0. 10.5252828 ] [ 0.09289154 0.99567623 0. -0.18314544] [ 0. 0. 1. -0.02507531] [ 0. 0. 0. 1. ]] SLAMing on 9.997552018 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.18, Z:-0.03 [[ 0.99561993 -0.09349312 0. 10.55648337] [ 0.09349312 0.99561993 0. -0.183043 ] [ 0. 0. 1. -0.02515864] [ 0. 0. 0. 1. ]] SLAMing on 10.027552018 meters Centerline goodness : 0.992180 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.18, Z:-0.02 [[ 0.99556561 -0.09406979 0. 10.58863688] [ 0.09406979 0.99556561 0. -0.18293811] [ 0. 0. 1. -0.02407049] [ 0. 0. 0. 1. ]] SLAMing on 10.057552017999999 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.18, Z:-0.02 [[ 0.99564422 -0.09323402 0. 10.62023052] [ 0.09323402 0.99564422 0. -0.18292151] [ 0. 0. 1. -0.02399959] [ 0. 0. 0. 1. ]] SLAMing on 10.087552018 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.18, Z:-0.02 [[ 0.99579541 -0.09160516 0. 10.65031615] [ 0.09160516 0.99579541 0. -0.18235522] [ 0. 0. 1. -0.02342957] [ 0. 0. 0. 1. ]] SLAMing on 10.117552018 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.18, Z:-0.02 [[ 0.99584783 -0.0910335 0. 10.68339984] [ 0.0910335 0.99584783 0. -0.18189888] [ 0. 0. 1. -0.02162577] [ 0. 0. 0. 1. ]] SLAMing on 10.147552017999999 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.18, Z:-0.02 [[ 0.99592613 -0.09017283 0. 10.71565249] [ 0.09017283 0.99592613 0. -0.1809376 ] [ 0. 0. 1. -0.02209697] [ 0. 0. 0. 1. ]] SLAMing on 10.177552018 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.18, Z:-0.02 [[ 0.9960518 -0.08877392 0. 10.74910146] [ 0.08877392 0.9960518 0. -0.18097366] [ 0. 0. 1. -0.02087662] [ 0. 0. 0. 1. ]] SLAMing on 10.207552018 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.18, Z:-0.02 [[ 0.99602702 -0.0890515 0. 10.78164318] [ 0.0890515 0.99602702 0. -0.17999715] [ 0. 0. 1. -0.02087662] [ 0. 0. 0. 1. ]] SLAMing on 10.237552018 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.18, Z:-0.02 [[ 0.99624386 -0.08659204 0. 10.81357066] [ 0.08659204 0.99624386 0. -0.18073955] [ 0. 0. 1. -0.02156621] [ 0. 0. 0. 1. ]] SLAMing on 10.267552018 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.18, Z:-0.02 [[ 0.99630829 -0.08584754 0. 10.84489532] [ 0.08584754 0.99630829 0. -0.18083686] [ 0. 0. 1. -0.02236379] [ 0. 0. 0. 1. ]] SLAMing on 10.297552018 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.18, Z:-0.02 [[ 0.99630907 -0.08583841 0. 10.87783572] [ 0.08583841 0.99630907 0. -0.1807442 ] [ 0. 0. 1. -0.02264796] [ 0. 0. 0. 1. ]] SLAMing on 10.327552018 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.18, Z:-0.02 [[ 0.99640567 -0.08470971 0. 10.91082367] [ 0.08470971 0.99640567 0. -0.18131396] [ 0. 0. 1. -0.0228283 ] [ 0. 0. 0. 1. ]] SLAMing on 10.357552018 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.18, Z:-0.02 [[ 0.99662439 -0.08209649 0. 10.94274047] [ 0.08209649 0.99662439 0. -0.1825524 ] [ 0. 0. 1. -0.02416198] [ 0. 0. 0. 1. ]] SLAMing on 10.387552018 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.18, Z:-0.02 [[ 0.99668706 -0.08133207 0. 10.97551641] [ 0.08133207 0.99668706 0. -0.18224935] [ 0. 0. 1. -0.02416575] [ 0. 0. 0. 1. ]] SLAMing on 10.417552018 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.18, Z:-0.02 [[ 0.99680954 -0.07981688 0. 11.00896825] [ 0.07981688 0.99680954 0. -0.18219583] [ 0. 0. 1. -0.0238381 ] [ 0. 0. 0. 1. ]] SLAMing on 10.447552018 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.18, Z:-0.02 [[ 0.99702913 -0.07702541 0. 11.04176885] [ 0.07702541 0.99702913 0. -0.18271139] [ 0. 0. 1. -0.02300642] [ 0. 0. 0. 1. ]] SLAMing on 10.477552017999999 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.18, Z:-0.02 [[ 0.99718492 -0.07498155 0. 11.07233642] [ 0.07498155 0.99718492 0. -0.18258335] [ 0. 0. 1. -0.02304674] [ 0. 0. 0. 1. ]] SLAMing on 10.507552018 meters Centerline goodness : 0.989910 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.18, Z:-0.02 [[ 0.99726018 -0.07397384 0. 11.10479834] [ 0.07397384 0.99726018 0. -0.18227261] [ 0. 0. 1. -0.02171604] [ 0. 0. 0. 1. ]] SLAMing on 10.537552018 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.18, Z:-0.02 [[ 0.99740279 -0.07202548 0. 11.13799094] [ 0.07202548 0.99740279 0. -0.18230566] [ 0. 0. 1. -0.02357113] [ 0. 0. 0. 1. ]] SLAMing on 10.567552017999999 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.18, Z:-0.02 [[ 0.99765716 -0.06841195 0. 11.1696899 ] [ 0.06841195 0.99765716 0. -0.18256179] [ 0. 0. 1. -0.02324052] [ 0. 0. 0. 1. ]] SLAMing on 10.597552018 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.18, Z:-0.02 [[ 0.99775946 -0.06690339 0. 11.20112029] [ 0.06690339 0.99775946 0. -0.18254588] [ 0. 0. 1. -0.02393001] [ 0. 0. 0. 1. ]] SLAMing on 10.627552018 meters Centerline goodness : 0.989527 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.18, Z:-0.02 [[ 0.99784441 -0.06562421 0. 11.23270745] [ 0.06562421 0.99784441 0. -0.18292123] [ 0. 0. 1. -0.02372388] [ 0. 0. 0. 1. ]] SLAMing on 10.657552018 meters Centerline goodness : 0.990516 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.18, Z:-0.02 [[ 0.99784061 -0.06568188 0. 11.26579879] [ 0.06568188 0.99784061 0. -0.18307809] [ 0. 0. 1. -0.0236481 ] [ 0. 0. 0. 1. ]] SLAMing on 10.687552018 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.18, Z:-0.03 [[ 0.99786815 -0.06526228 0. 11.29676504] [ 0.06526228 0.99786815 0. -0.18422995] [ 0. 0. 1. -0.02507218] [ 0. 0. 0. 1. ]] SLAMing on 10.717552018 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.18, Z:-0.02 [[ 0.99770924 -0.06764817 0. 11.3290072 ] [ 0.06764817 0.99770924 0. -0.18418145] [ 0. 0. 1. -0.02297334] [ 0. 0. 0. 1. ]] SLAMing on 10.747552018 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.19, Z:-0.02 [[ 0.9976117 -0.06907168 0. 11.36178056] [ 0.06907168 0.9976117 0. -0.18507595] [ 0. 0. 1. -0.02314715] [ 0. 0. 0. 1. ]] SLAMing on 10.777552018 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.19, Z:-0.02 [[ 0.99732433 -0.07310388 0. 11.39367987] [ 0.07310388 0.99732433 0. -0.18805117] [ 0. 0. 1. -0.02210035] [ 0. 0. 0. 1. ]] SLAMing on 10.807552017999999 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.19, Z:-0.02 [[ 0.99710518 -0.0760346 0. 11.42631258] [ 0.0760346 0.99710518 0. -0.18937113] [ 0. 0. 1. -0.02194359] [ 0. 0. 0. 1. ]] SLAMing on 10.837552018 meters Centerline goodness : 0.990352 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.19, Z:-0.02 [[ 0.99687534 -0.07899088 0. 11.4586432 ] [ 0.07899088 0.99687534 0. -0.19026378] [ 0. 0. 1. -0.02192487] [ 0. 0. 0. 1. ]] SLAMing on 10.867552018 meters Centerline goodness : 0.990426 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.19, Z:-0.02 [[ 0.99645777 -0.08409471 0. 11.49086934] [ 0.08409471 0.99645777 0. -0.1938745 ] [ 0. 0. 1. -0.02142918] [ 0. 0. 0. 1. ]] SLAMing on 10.897552017999999 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.20, Z:-0.02 [[ 0.99626655 -0.08633048 0. 11.52329957] [ 0.08633048 0.99626655 0. -0.19506669] [ 0. 0. 1. -0.02088831] [ 0. 0. 0. 1. ]] SLAMing on 10.927552018 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.20, Z:-0.02 [[ 0.99607209 -0.08854603 0. 11.55681696] [ 0.08854603 0.99607209 0. -0.19618837] [ 0. 0. 1. -0.02159417] [ 0. 0. 0. 1. ]] SLAMing on 10.957552018 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.20, Z:-0.02 [[ 0.99589503 -0.09051571 0. 11.58752467] [ 0.09051571 0.99589503 0. -0.19742237] [ 0. 0. 1. -0.0205693 ] [ 0. 0. 0. 1. ]] SLAMing on 10.987552018 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.20, Z:-0.02 [[ 0.99566427 -0.09301963 0. 11.61971769] [ 0.09301963 0.99566427 0. -0.20148105] [ 0. 0. 1. -0.02025484] [ 0. 0. 0. 1. ]] SLAMing on 11.017552018 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.20, Z:-0.02 [[ 0.9956472 -0.09320221 0. 11.65193281] [ 0.09320221 0.9956472 0. -0.20314552] [ 0. 0. 1. -0.02236617] [ 0. 0. 0. 1. ]] SLAMing on 11.047552018 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.20, Z:-0.02 [[ 0.9955335 -0.09440891 0. 11.68340843] [ 0.09440891 0.9955335 0. -0.20448894] [ 0. 0. 1. -0.02111725] [ 0. 0. 0. 1. ]] SLAMing on 11.077552018 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.21, Z:-0.02 [[ 0.99548386 -0.09493096 0. 11.71579241] [ 0.09493096 0.99548386 0. -0.20536173] [ 0. 0. 1. -0.02145273] [ 0. 0. 0. 1. ]] SLAMing on 11.107552018 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.21, Z:-0.02 [[ 0.99549031 -0.0948633 0. 11.74909527] [ 0.0948633 0.99549031 0. -0.20810606] [ 0. 0. 1. -0.02130911] [ 0. 0. 0. 1. ]] SLAMing on 11.137552018 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.21, Z:-0.02 [[ 0.99551479 -0.09460605 0. 11.78089598] [ 0.09460605 0.99551479 0. -0.20825759] [ 0. 0. 1. -0.02145267] [ 0. 0. 0. 1. ]] SLAMing on 11.167552018 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.21, Z:-0.02 [[ 0.99559941 -0.09371135 0. 11.81296949] [ 0.09371135 0.99559941 0. -0.2090588 ] [ 0. 0. 1. -0.02038359] [ 0. 0. 0. 1. ]] SLAMing on 11.197552018 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.21, Z:-0.02 [[ 0.99574717 -0.09212803 0. 11.84452852] [ 0.09212803 0.99574717 0. -0.21079115] [ 0. 0. 1. -0.02254562] [ 0. 0. 0. 1. ]] SLAMing on 11.227552017999999 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.21, Z:-0.02 [[ 0.99581207 -0.09142381 0. 11.87747214] [ 0.09142381 0.99581207 0. -0.21114986] [ 0. 0. 1. -0.02152371] [ 0. 0. 0. 1. ]] SLAMing on 11.257552018 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.21, Z:-0.02 [[ 0.99598461 -0.08952462 0. 11.90824523] [ 0.08952462 0.99598461 0. -0.21120425] [ 0. 0. 1. -0.020813 ] [ 0. 0. 0. 1. ]] SLAMing on 11.287552018 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.21, Z:-0.02 [[ 0.99600611 -0.08928512 0. 11.9410226 ] [ 0.08928512 0.99600611 0. -0.21057103] [ 0. 0. 1. -0.019237 ] [ 0. 0. 0. 1. ]] SLAMing on 11.317552017999999 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.21, Z:-0.02 [[ 0.99624335 -0.08659784 0. 11.97276945] [ 0.08659784 0.99624335 0. -0.21211957] [ 0. 0. 1. -0.02125796] [ 0. 0. 0. 1. ]] SLAMing on 11.347552018 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.21, Z:-0.02 [[ 0.99615882 -0.08756484 0. 12.00514082] [ 0.08756484 0.99615882 0. -0.21172699] [ 0. 0. 1. -0.02014477] [ 0. 0. 0. 1. ]] SLAMing on 11.377552018 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.21, Z:-0.02 [[ 0.99616252 -0.08752275 0. 12.0374348 ] [ 0.08752275 0.99616252 0. -0.21188898] [ 0. 0. 1. -0.01988466] [ 0. 0. 0. 1. ]] SLAMing on 11.407552018 meters Centerline goodness : 0.991794 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.21, Z:-0.02 [[ 0.99603524 -0.08895949 0. 12.06801731] [ 0.08895949 0.99603524 0. -0.21062504] [ 0. 0. 1. -0.01897601] [ 0. 0. 0. 1. ]] SLAMing on 11.437552018 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.21, Z:-0.02 [[ 0.99574498 -0.09215172 0. 12.10015928] [ 0.09215172 0.99574498 0. -0.21223986] [ 0. 0. 1. -0.0181934 ] [ 0. 0. 0. 1. ]] SLAMing on 11.467552018 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.21, Z:-0.02 [[ 0.99542567 -0.09553921 0. 12.13390812] [ 0.09553921 0.99542567 0. -0.21239512] [ 0. 0. 1. -0.01878603] [ 0. 0. 0. 1. ]] SLAMing on 11.497552018 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.22, Z:-0.02 [[ 0.99508027 -0.09907196 0. 12.16531186] [ 0.09907196 0.99508027 0. -0.21531841] [ 0. 0. 1. -0.02074811] [ 0. 0. 0. 1. ]] SLAMing on 11.527552018 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.21, Z:-0.02 [[ 0.99467838 -0.10302878 0. 12.19906541] [ 0.10302878 0.99467838 0. -0.21496063] [ 0. 0. 1. -0.01990961] [ 0. 0. 0. 1. ]] SLAMing on 11.557552017999999 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.22, Z:-0.02 [[ 0.99443286 -0.10537213 0. 12.22938788] [ 0.10537213 0.99443286 0. -0.21536126] [ 0. 0. 1. -0.02018444] [ 0. 0. 0. 1. ]] SLAMing on 11.587552018 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.22, Z:-0.02 [[ 0.99412334 -0.10825337 0. 12.26173941] [ 0.10825337 0.99412334 0. -0.21523904] [ 0. 0. 1. -0.0189312 ] [ 0. 0. 0. 1. ]] SLAMing on 11.617552018 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.22, Z:-0.02 [[ 0.99385734 -0.11066882 0. 12.29570168] [ 0.11066882 0.99385734 0. -0.21572223] [ 0. 0. 1. -0.02097306] [ 0. 0. 0. 1. ]] SLAMing on 11.647552017999999 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.22, Z:-0.02 [[ 0.99337871 -0.11488577 0. 12.32514779] [ 0.11488577 0.99337871 0. -0.21528078] [ 0. 0. 1. -0.01889568] [ 0. 0. 0. 1. ]] SLAMing on 11.677552018 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.21, Z:-0.02 [[ 0.99318657 -0.11653516 0. 12.35770423] [ 0.11653516 0.99318657 0. -0.21441999] [ 0. 0. 1. -0.01778849] [ 0. 0. 0. 1. ]] SLAMing on 11.707552018 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.21, Z:-0.02 [[ 0.99312746 -0.11703784 0. 12.38769778] [ 0.11703784 0.99312746 0. -0.21368459] [ 0. 0. 1. -0.01841883] [ 0. 0. 0. 1. ]] SLAMing on 11.737552018 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.21, Z:-0.02 [[ 0.99299586 -0.11814918 0. 12.42048838] [ 0.11814918 0.99299586 0. -0.21307364] [ 0. 0. 1. -0.01619883] [ 0. 0. 0. 1. ]] SLAMing on 11.767552018 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.21, Z:-0.02 [[ 0.99288384 -0.11908688 0. 12.45279673] [ 0.11908688 0.99288384 0. -0.21189238] [ 0. 0. 1. -0.01624281] [ 0. 0. 0. 1. ]] SLAMing on 11.797552018 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.21, Z:-0.02 [[ 0.99289324 -0.11900846 0. 12.48305475] [ 0.11900846 0.99289324 0. -0.21090585] [ 0. 0. 1. -0.01728284] [ 0. 0. 0. 1. ]] SLAMing on 11.827552018 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.21, Z:-0.02 [[ 0.99279278 -0.11984363 0. 12.51568001] [ 0.11984363 0.99279278 0. -0.21087092] [ 0. 0. 1. -0.01597477] [ 0. 0. 0. 1. ]] SLAMing on 11.857552018 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.21, Z:-0.02 [[ 0.99280346 -0.11975514 0. 12.54914577] [ 0.11975514 0.99280346 0. -0.210405 ] [ 0. 0. 1. -0.0159921 ] [ 0. 0. 0. 1. ]] SLAMing on 11.887552018 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.21, Z:-0.02 [[ 0.99269234 -0.12067276 0. 12.58141885] [ 0.12067276 0.99269234 0. -0.20902401] [ 0. 0. 1. -0.01569053] [ 0. 0. 0. 1. ]] SLAMing on 11.917552018 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.21, Z:-0.02 [[ 0.9925841 -0.12155987 0. 12.61274085] [ 0.12155987 0.9925841 0. -0.20737985] [ 0. 0. 1. -0.01670418] [ 0. 0. 0. 1. ]] SLAMing on 11.947552018 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.21, Z:-0.02 [[ 0.99250706 -0.12218731 0. 12.64560731] [ 0.12218731 0.99250706 0. -0.20687181] [ 0. 0. 1. -0.01636615] [ 0. 0. 0. 1. ]] SLAMing on 11.977552017999999 meters Centerline goodness : 0.991851 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.21, Z:-0.02 [[ 0.99245377 -0.12261936 0. 12.67735884] [ 0.12261936 0.99245377 0. -0.20534289] [ 0. 0. 1. -0.01716134] [ 0. 0. 0. 1. ]] SLAMing on 12.007552018 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.20, Z:-0.02 [[ 0.99249447 -0.12228954 0. 12.71072213] [ 0.12228954 0.99249447 0. -0.20447445] [ 0. 0. 1. -0.01741331] [ 0. 0. 0. 1. ]] SLAMing on 12.037552018 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.20, Z:-0.02 [[ 0.99259576 -0.12146465 0. 12.74194365] [ 0.12146465 0.99259576 0. -0.20308155] [ 0. 0. 1. -0.01853307] [ 0. 0. 0. 1. ]] SLAMing on 12.067552017999999 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.20, Z:-0.02 [[ 0.99263769 -0.12112146 0. 12.77489539] [ 0.12112146 0.99263769 0. -0.20095717] [ 0. 0. 1. -0.01696768] [ 0. 0. 0. 1. ]] SLAMing on 12.097552018 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.20, Z:-0.02 [[ 0.99260296 -0.12140577 0. 12.80744576] [ 0.12140577 0.99260296 0. -0.19954651] [ 0. 0. 1. -0.01696768] [ 0. 0. 0. 1. ]] SLAMing on 12.127552018 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.20, Z:-0.02 [[ 0.99275449 -0.12016042 0. 12.83986943] [ 0.12016042 0.99275449 0. -0.19838399] [ 0. 0. 1. -0.01823119] [ 0. 0. 0. 1. ]] SLAMing on 12.157552018 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.20, Z:-0.02 [[ 0.9927845 -0.11991223 0. 12.87298734] [ 0.11991223 0.9927845 0. -0.19656826] [ 0. 0. 1. -0.0178415 ] [ 0. 0. 0. 1. ]] SLAMing on 12.187552018 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.19, Z:-0.02 [[ 0.99305298 -0.11766807 0. 12.90077637] [ 0.11766807 0.99305298 0. -0.19465757] [ 0. 0. 1. -0.01859225] [ 0. 0. 0. 1. ]] SLAMing on 12.217552018 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.19, Z:-0.02 [[ 0.99295275 -0.11851093 0. 12.93518831] [ 0.11851093 0.99295275 0. -0.19249658] [ 0. 0. 1. -0.01706929] [ 0. 0. 0. 1. ]] SLAMing on 12.247552018 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.19, Z:-0.02 [[ 0.99305773 -0.11762796 0. 12.96596578] [ 0.11762796 0.99305773 0. -0.19055545] [ 0. 0. 1. -0.01758699] [ 0. 0. 0. 1. ]] SLAMing on 12.277552018 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.19, Z:-0.02 [[ 0.99297299 -0.11834118 0. 12.99845293] [ 0.11834118 0.99297299 0. -0.18826066] [ 0. 0. 1. -0.01683461] [ 0. 0. 0. 1. ]] SLAMing on 12.307552017999999 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.19, Z:-0.02 [[ 0.99307065 -0.11751883 0. 13.03003574] [ 0.11751883 0.99307065 0. -0.18612894] [ 0. 0. 1. -0.01716324] [ 0. 0. 0. 1. ]] SLAMing on 12.337552018 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.18, Z:-0.02 [[ 0.99302656 -0.11789081 0. 13.06200808] [ 0.11789081 0.99302656 0. -0.18353561] [ 0. 0. 1. -0.01770701] [ 0. 0. 0. 1. ]] SLAMing on 12.367552018 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.18, Z:-0.02 [[ 0.99313831 -0.11694572 0. 13.09504972] [ 0.11694572 0.99313831 0. -0.18250904] [ 0. 0. 1. -0.01721717] [ 0. 0. 0. 1. ]] SLAMing on 12.397552017999999 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.18, Z:-0.02 [[ 0.99314775 -0.11686548 0. 13.12784578] [ 0.11686548 0.99314775 0. -0.18052112] [ 0. 0. 1. -0.0171301 ] [ 0. 0. 0. 1. ]] SLAMing on 12.427552018 meters Centerline goodness : 0.991985 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.18, Z:-0.02 [[ 0.99333665 -0.11524884 0. 13.15951491] [ 0.11524884 0.99333665 0. -0.17674036] [ 0. 0. 1. -0.01762639] [ 0. 0. 0. 1. ]] SLAMing on 12.457552018 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.17, Z:-0.02 [[ 0.99336786 -0.11497952 0. 13.19313043] [ 0.11497952 0.99336786 0. -0.17370187] [ 0. 0. 1. -0.01645018] [ 0. 0. 0. 1. ]] SLAMing on 12.487552018 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.17, Z:-0.02 [[ 0.9935687 -0.11323091 0. 13.22437802] [ 0.11323091 0.9935687 0. -0.17095638] [ 0. 0. 1. -0.0161636 ] [ 0. 0. 0. 1. ]] SLAMing on 12.517552018 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.17, Z:-0.02 [[ 0.99410738 -0.10839976 0. 13.25622735] [ 0.10839976 0.99410738 0. -0.16574363] [ 0. 0. 1. -0.01629817] [ 0. 0. 0. 1. ]] SLAMing on 12.547552018 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.16, Z:-0.02 [[ 0.99441202 -0.10556862 0. 13.28929035] [ 0.10556862 0.99441202 0. -0.16206668] [ 0. 0. 1. -0.01677413] [ 0. 0. 0. 1. ]] SLAMing on 12.577552018 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.16, Z:-0.02 [[ 0.99473135 -0.10251604 0. 13.32050702] [ 0.10251604 0.99473135 0. -0.15774844] [ 0. 0. 1. -0.01588305] [ 0. 0. 0. 1. ]] SLAMing on 12.607552018 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.15, Z:-0.02 [[ 0.99547512 -0.09502251 0. 13.35292276] [ 0.09502251 0.99547512 0. -0.15116768] [ 0. 0. 1. -0.01614185] [ 0. 0. 0. 1. ]] SLAMing on 12.637552018 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.15, Z:-0.02 [[ 0.99593465 -0.0900787 0. 13.38461326] [ 0.0900787 0.99593465 0. -0.14730792] [ 0. 0. 1. -0.01655821] [ 0. 0. 0. 1. ]] SLAMing on 12.667552018 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.14, Z:-0.02 [[ 0.99622294 -0.08683229 0. 13.41679638] [ 0.08683229 0.99622294 0. -0.14279001] [ 0. 0. 1. -0.01564267] [ 0. 0. 0. 1. ]] SLAMing on 12.697552018 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.14, Z:-0.02 [[ 0.99653857 -0.08313164 0. 13.44752894] [ 0.08313164 0.99653857 0. -0.13869359] [ 0. 0. 1. -0.01625394] [ 0. 0. 0. 1. ]] SLAMing on 12.727552017999999 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.13, Z:-0.02 [[ 0.99703351 -0.07696868 0. 13.48064227] [ 0.07696868 0.99703351 0. -0.13408657] [ 0. 0. 1. -0.01725387] [ 0. 0. 0. 1. ]] SLAMing on 12.757552018 meters Centerline goodness : 0.992008 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.12, Z:-0.02 [[ 0.99680595 -0.07986171 0. 13.50292606] [ 0.07986171 0.99680595 0. -0.12345582] [ 0. 0. 1. -0.01578963] [ 0. 0. 0. 1. ]] SLAMing on 12.787552018 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.13, Z:-0.02 [[ 0.99742173 -0.0717627 0. 13.5444973 ] [ 0.0717627 0.99742173 0. -0.12802352] [ 0. 0. 1. -0.0169472 ] [ 0. 0. 0. 1. ]] SLAMing on 12.817552017999999 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.13, Z:-0.02 [[ 0.99749328 -0.07076132 0. 13.57842127] [ 0.07076132 0.99749328 0. -0.12559468] [ 0. 0. 1. -0.01726282] [ 0. 0. 0. 1. ]] SLAMing on 12.847552018 meters Centerline goodness : 0.990732 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.12, Z:-0.02 [[ 0.99767402 -0.06816555 0. 13.6111843 ] [ 0.06816555 0.99767402 0. -0.12250178] [ 0. 0. 1. -0.01734072] [ 0. 0. 0. 1. ]] SLAMing on 12.877552018 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.12, Z:-0.02 [[ 0.99772287 -0.06744677 0. 13.64146266] [ 0.06744677 0.99772287 0. -0.11940996] [ 0. 0. 1. -0.01752841] [ 0. 0. 0. 1. ]] SLAMing on 12.907552018 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.12, Z:-0.02 [[ 0.9977854 -0.06651544 0. 13.67335232] [ 0.06651544 0.9977854 0. -0.1173181 ] [ 0. 0. 1. -0.01747885] [ 0. 0. 0. 1. ]] SLAMing on 12.937552018 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.11, Z:-0.01 [[ 0.99749216 -0.07077705 0. 13.6936804 ] [ 0.07077705 0.99749216 0. -0.10672184] [ 0. 0. 1. -0.01425666] [ 0. 0. 0. 1. ]] SLAMing on 12.967552018 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.11, Z:-0.02 [[ 0.99810664 -0.06150717 0. 13.73728784] [ 0.06150717 0.99810664 0. -0.11479851] [ 0. 0. 1. -0.01582415] [ 0. 0. 0. 1. ]] SLAMing on 12.997552018 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.11, Z:-0.01 [[ 0.99812171 -0.06126217 0. 13.76809819] [ 0.06126217 0.99812171 0. -0.11225482] [ 0. 0. 1. -0.01462839] [ 0. 0. 0. 1. ]] SLAMing on 13.027552018 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.11, Z:-0.01 [[ 0.99820808 -0.05983835 0. 13.79938831] [ 0.05983835 0.99820808 0. -0.11105232] [ 0. 0. 1. -0.0141246 ] [ 0. 0. 0. 1. ]] SLAMing on 13.057552017999999 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.11, Z:-0.01 [[ 9.98305951e-01 -5.81827056e-02 0.00000000e+00 1.38314859e+01] [ 5.81827056e-02 9.98305951e-01 0.00000000e+00 -1.10619799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35448098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087552018 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.10, Z:-0.01 [[ 9.97926826e-01 -6.43587568e-02 0.00000000e+00 1.38504022e+01] [ 6.43587568e-02 9.97926826e-01 0.00000000e+00 -1.00622281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21256846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.117552018 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.11, Z:-0.01 [[ 0.99839335 -0.05666315 0. 13.89265843] [ 0.05666315 0.99839335 0. -0.10885279] [ 0. 0. 1. -0.01468398] [ 0. 0. 0. 1. ]] SLAMing on 13.147552017999999 meters Centerline goodness : 0.990031 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.11, Z:-0.02 [[ 0.99847179 -0.05526383 0. 13.92540468] [ 0.05526383 0.99847179 0. -0.11018452] [ 0. 0. 1. -0.01640323] [ 0. 0. 0. 1. ]] SLAMing on 13.177552018 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.11, Z:-0.02 [[ 0.99835538 -0.05732836 0. 13.95787051] [ 0.05732836 0.99835538 0. -0.10904033] [ 0. 0. 1. -0.01661053] [ 0. 0. 0. 1. ]] SLAMing on 13.207552018 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.11, Z:-0.02 [[ 0.99834288 -0.05754554 0. 13.99076413] [ 0.05754554 0.99834288 0. -0.11002406] [ 0. 0. 1. -0.01703735] [ 0. 0. 0. 1. ]] SLAMing on 13.237552017999999 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.11, Z:-0.02 [[ 0.99830664 -0.05817093 0. 14.02494714] [ 0.05817093 0.99830664 0. -0.11299947] [ 0. 0. 1. -0.01764429] [ 0. 0. 0. 1. ]] SLAMing on 13.267552018 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.11, Z:-0.02 [[ 0.99818142 -0.0602814 0. 14.05610032] [ 0.0602814 0.99818142 0. -0.11215337] [ 0. 0. 1. -0.01755452] [ 0. 0. 0. 1. ]] SLAMing on 13.297552018 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.11, Z:-0.02 [[ 0.9981101 -0.06145096 0. 14.08922794] [ 0.06145096 0.9981101 0. -0.11255597] [ 0. 0. 1. -0.01759969] [ 0. 0. 0. 1. ]] SLAMing on 13.327552018 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.11, Z:-0.02 [[ 0.99796275 -0.06379932 0. 14.11787718] [ 0.06379932 0.99796275 0. -0.11299476] [ 0. 0. 1. -0.01768112] [ 0. 0. 0. 1. ]] SLAMing on 13.357552018 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.11, Z:-0.02 [[ 0.99772567 -0.06740536 0. 14.14998444] [ 0.06740536 0.99772567 0. -0.11142716] [ 0. 0. 1. -0.01624134] [ 0. 0. 0. 1. ]] SLAMing on 13.387552018 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.11, Z:-0.02 [[ 0.99759124 -0.06936659 0. 14.17853735] [ 0.06936659 0.99759124 0. -0.1105811 ] [ 0. 0. 1. -0.01571467] [ 0. 0. 0. 1. ]] SLAMing on 13.417552018 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.11, Z:-0.02 [[ 0.99742921 -0.07165878 0. 14.21205327] [ 0.07165878 0.99742921 0. -0.11370393] [ 0. 0. 1. -0.0159812 ] [ 0. 0. 0. 1. ]] SLAMing on 13.447552018 meters Centerline goodness : 0.991057 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.11, Z:-0.01 [[ 0.99718701 -0.07495373 0. 14.24271069] [ 0.07495373 0.99718701 0. -0.11223451] [ 0. 0. 1. -0.01433781] [ 0. 0. 0. 1. ]] SLAMing on 13.477552017999999 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.11, Z:-0.01 [[ 0.99715009 -0.07544336 0. 14.27568099] [ 0.07544336 0.99715009 0. -0.11309033] [ 0. 0. 1. -0.01497004] [ 0. 0. 0. 1. ]] SLAMing on 13.507552018 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.11, Z:-0.01 [[ 0.99706213 -0.0765971 0. 14.30819609] [ 0.0765971 0.99706213 0. -0.11329979] [ 0. 0. 1. -0.0145405 ] [ 0. 0. 0. 1. ]] SLAMing on 13.537552018 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.11, Z:-0.01 [[ 0.99682199 -0.07966131 0. 14.34024047] [ 0.07966131 0.99682199 0. -0.11336391] [ 0. 0. 1. -0.0144334 ] [ 0. 0. 0. 1. ]] SLAMing on 13.567552017999999 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.11, Z:-0.01 [[ 0.99673815 -0.0807035 0. 14.37049889] [ 0.0807035 0.99673815 0. -0.11349524] [ 0. 0. 1. -0.01473511] [ 0. 0. 0. 1. ]] SLAMing on 13.597552018 meters Centerline goodness : 0.992084 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.11, Z:-0.02 [[ 0.99664834 -0.08180512 0. 14.40307942] [ 0.08180512 0.99664834 0. -0.11338054] [ 0. 0. 1. -0.0153443 ] [ 0. 0. 0. 1. ]] SLAMing on 13.627552018 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.11, Z:-0.02 [[ 0.99654586 -0.0830442 0. 14.4350866 ] [ 0.0830442 0.99654586 0. -0.1128519 ] [ 0. 0. 1. -0.01570634] [ 0. 0. 0. 1. ]] SLAMing on 13.657552018 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.11, Z:-0.02 [[ 0.99644544 -0.08424062 0. 14.46808298] [ 0.08424062 0.99644544 0. -0.11328604] [ 0. 0. 1. -0.01737617] [ 0. 0. 0. 1. ]] SLAMing on 13.687552018 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.11, Z:-0.02 [[ 0.99645922 -0.08407753 0. 14.50043061] [ 0.08407753 0.99645922 0. -0.11318615] [ 0. 0. 1. -0.01848695] [ 0. 0. 0. 1. ]] SLAMing on 13.717552018 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.11, Z:-0.02 [[ 0.9963199 -0.08571258 0. 14.53209787] [ 0.08571258 0.9963199 0. -0.11137003] [ 0. 0. 1. -0.01733592] [ 0. 0. 0. 1. ]] SLAMing on 13.747552018 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.11, Z:-0.02 [[ 0.99634074 -0.08547011 0. 14.56398703] [ 0.08547011 0.99634074 0. -0.11007933] [ 0. 0. 1. -0.01735309] [ 0. 0. 0. 1. ]] SLAMing on 13.777552018 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.10, Z:-0.02 [[ 0.99604823 -0.08881397 0. 14.5858027 ] [ 0.08881397 0.99604823 0. -0.10313474] [ 0. 0. 1. -0.01778549] [ 0. 0. 0. 1. ]] SLAMing on 13.807552017999999 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.11, Z:-0.02 [[ 0.99658433 -0.08258136 0. 14.62576245] [ 0.08258136 0.99658433 0. -0.10778668] [ 0. 0. 1. -0.01577023] [ 0. 0. 0. 1. ]] SLAMing on 13.837552018 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.11, Z:-0.02 [[ 0.99676805 -0.08033334 0. 14.65789087] [ 0.08033334 0.99676805 0. -0.10653422] [ 0. 0. 1. -0.0173391 ] [ 0. 0. 0. 1. ]] SLAMing on 13.867552018 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.10, Z:-0.02 [[ 0.99647013 -0.08394809 0. 14.68068237] [ 0.08394809 0.99647013 0. -0.0983974 ] [ 0. 0. 1. -0.01585024] [ 0. 0. 0. 1. ]] SLAMing on 13.897552017999999 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.10, Z:-0.02 [[ 0.99673694 -0.08071845 0. 14.71275218] [ 0.08071845 0.99673694 0. -0.09780097] [ 0. 0. 1. -0.01567006] [ 0. 0. 0. 1. ]] SLAMing on 13.927552018 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.10, Z:-0.01 [[ 9.97309757e-01 -7.33024495e-02 0.00000000e+00 1.47501114e+01] [ 7.33024495e-02 9.97309757e-01 0.00000000e+00 -1.03562900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41267047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.957552018 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.10, Z:-0.01 [[ 9.96884849e-01 -7.88707718e-02 0.00000000e+00 1.47782002e+01] [ 7.88707718e-02 9.96884849e-01 0.00000000e+00 -9.62123561e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41174769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987552017999999 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.10, Z:-0.01 [[ 9.96968022e-01 -7.78123608e-02 0.00000000e+00 1.48103978e+01] [ 7.78123608e-02 9.96968022e-01 0.00000000e+00 -9.65317048e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38524572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.017552018 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.09, Z:-0.01 [[ 9.96976657e-01 -7.77016392e-02 0.00000000e+00 1.48439002e+01] [ 7.77016392e-02 9.96976657e-01 0.00000000e+00 -9.49102460e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38524572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047552018 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.10, Z:-0.01 [[ 9.97411106e-01 -7.19102660e-02 0.00000000e+00 1.48848024e+01] [ 7.19102660e-02 9.97411106e-01 0.00000000e+00 -1.01558157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44939085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.077552018 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.10, Z:-0.01 [[ 9.97389648e-01 -7.22072775e-02 0.00000000e+00 1.49153290e+01] [ 7.22072775e-02 9.97389648e-01 0.00000000e+00 -1.00854609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36620294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107552018 meters Centerline goodness : 0.992361 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.10, Z:-0.01 [[ 9.97031491e-01 -7.69948482e-02 0.00000000e+00 1.49388099e+01] [ 7.69948482e-02 9.97031491e-01 0.00000000e+00 -9.55760919e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48025276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.137552018 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.10, Z:-0.01 [[ 9.97092285e-01 -7.62035054e-02 0.00000000e+00 1.49717741e+01] [ 7.62035054e-02 9.97092285e-01 0.00000000e+00 -9.57482876e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44503460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167552018 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.10, Z:-0.01 [[ 9.97465797e-01 -7.11476209e-02 0.00000000e+00 1.50122903e+01] [ 7.11476209e-02 9.97465797e-01 0.00000000e+00 -1.02403122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35818784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.197552018 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.10, Z:-0.01 [[ 9.97068066e-01 -7.65197413e-02 0.00000000e+00 1.50355439e+01] [ 7.65197413e-02 9.97068066e-01 0.00000000e+00 -9.52807356e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43210484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227552017999999 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.10, Z:-0.01 [[ 9.96986781e-01 -7.75716382e-02 0.00000000e+00 1.50675755e+01] [ 7.75716382e-02 9.96986781e-01 0.00000000e+00 -9.74221045e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40692575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.257552018 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.10, Z:-0.01 [[ 9.96873725e-01 -7.90112481e-02 0.00000000e+00 1.51001850e+01] [ 7.90112481e-02 9.96873725e-01 0.00000000e+00 -9.72623177e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37876427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287552018 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.11, Z:-0.01 [[ 9.97244945e-01 -7.41789706e-02 0.00000000e+00 1.51425374e+01] [ 7.41789706e-02 9.97244945e-01 0.00000000e+00 -1.05601376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41848820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.317552017999999 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.10, Z:-0.01 [[ 9.96368042e-01 -8.51511934e-02 0.00000000e+00 1.51638341e+01] [ 8.51511934e-02 9.96368042e-01 0.00000000e+00 -9.95114579e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31934915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347552018 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.10, Z:-0.01 [[ 9.96248527e-01 -8.65382665e-02 0.00000000e+00 1.51973703e+01] [ 8.65382665e-02 9.96248527e-01 0.00000000e+00 -1.00536589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29947222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.377552018 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.10, Z:-0.01 [[ 9.95980273e-01 -8.95728569e-02 0.00000000e+00 1.52294400e+01] [ 8.95728569e-02 9.95980273e-01 0.00000000e+00 -1.00034247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31020385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407552017999999 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.10, Z:-0.01 [[ 9.95592243e-01 -9.37874458e-02 0.00000000e+00 1.52617578e+01] [ 9.37874458e-02 9.95592243e-01 0.00000000e+00 -1.01874294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28601379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.437552018 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.10, Z:-0.01 [[ 9.95368775e-01 -9.61301326e-02 0.00000000e+00 1.52944021e+01] [ 9.61301326e-02 9.95368775e-01 0.00000000e+00 -1.01003864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28266426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467552018 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.10, Z:-0.01 [[ 9.95271406e-01 -9.71330409e-02 0.00000000e+00 1.53272348e+01] [ 9.71330409e-02 9.95271406e-01 0.00000000e+00 -1.00469086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31475221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.497552018 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.10, Z:-0.01 [[ 9.95341861e-01 -9.64083997e-02 0.00000000e+00 1.53588966e+01] [ 9.64083997e-02 9.95341861e-01 0.00000000e+00 -1.00536124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40464943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527552018 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.10, Z:-0.01 [[ 9.95440302e-01 -9.53866109e-02 0.00000000e+00 1.53915879e+01] [ 9.53866109e-02 9.95440302e-01 0.00000000e+00 -9.91335623e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36746370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.557552017999999 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.10, Z:-0.01 [[ 9.95560337e-01 -9.41255250e-02 0.00000000e+00 1.54241047e+01] [ 9.41255250e-02 9.95560337e-01 0.00000000e+00 -9.73178215e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39399386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587552018 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.10, Z:-0.01 [[ 9.95987993e-01 -8.94869738e-02 0.00000000e+00 1.54570358e+01] [ 8.94869738e-02 9.95987993e-01 0.00000000e+00 -9.53659077e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37280138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.617552018 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.09, Z:-0.01 [[ 9.96309080e-01 -8.58383216e-02 0.00000000e+00 1.54904642e+01] [ 8.58383216e-02 9.96309080e-01 0.00000000e+00 -9.41251148e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35956466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647552017999999 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.09, Z:-0.01 [[ 9.96593920e-01 -8.24654989e-02 0.00000000e+00 1.55223405e+01] [ 8.24654989e-02 9.96593920e-01 0.00000000e+00 -9.16211789e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38124020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.677552018 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.09, Z:-0.01 [[ 9.96924751e-01 -7.83647934e-02 0.00000000e+00 1.55548949e+01] [ 7.83647934e-02 9.96924751e-01 0.00000000e+00 -8.98916425e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34205730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707552018 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.09, Z:-0.01 [[ 9.97274167e-01 -7.37850635e-02 0.00000000e+00 1.55869991e+01] [ 7.37850635e-02 9.97274167e-01 0.00000000e+00 -8.76337120e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36403915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.737552017999999 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.08, Z:-0.01 [[ 9.97839832e-01 -6.56937507e-02 0.00000000e+00 1.56194030e+01] [ 6.56937507e-02 9.97839832e-01 0.00000000e+00 -8.37889444e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18401902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767552018 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.08, Z:-0.01 [[ 9.98053698e-01 -6.23603650e-02 0.00000000e+00 1.56505198e+01] [ 6.23603650e-02 9.98053698e-01 0.00000000e+00 -8.17832052e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07580246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.797552018 meters Centerline goodness : 0.990254 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.09, Z:-0.01 [[ 9.98563060e-01 -5.35893230e-02 0.00000000e+00 1.56901815e+01] [ 5.35893230e-02 9.98563060e-01 0.00000000e+00 -8.68139212e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68870661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827552018 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.08, Z:-0.01 [[ 9.98371087e-01 -5.70541176e-02 0.00000000e+00 1.57148923e+01] [ 5.70541176e-02 9.98371087e-01 0.00000000e+00 -7.90191324e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13765221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.857552018 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.08, Z:-0.01 [[ 9.98437350e-01 -5.58825467e-02 0.00000000e+00 1.57475526e+01] [ 5.58825467e-02 9.98437350e-01 0.00000000e+00 -7.83712521e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44860478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887552018 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.08, Z:-0.01 [[ 9.98469354e-01 -5.53077664e-02 0.00000000e+00 1.57807799e+01] [ 5.53077664e-02 9.98469354e-01 0.00000000e+00 -7.79476777e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87314246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.917552018 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.08, Z:-0.01 [[ 9.98477213e-01 -5.51657083e-02 0.00000000e+00 1.58141177e+01] [ 5.51657083e-02 9.98477213e-01 0.00000000e+00 -7.93439155e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13776191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947552018 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.08, Z:-0.01 [[ 9.98642004e-01 -5.20974890e-02 0.00000000e+00 1.58511042e+01] [ 5.20974890e-02 9.98642004e-01 0.00000000e+00 -8.43545275e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16244300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.977552017999999 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.08, Z:-0.01 [[ 9.98559982e-01 -5.36466368e-02 0.00000000e+00 1.58843864e+01] [ 5.36466368e-02 9.98559982e-01 0.00000000e+00 -8.38546668e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29998056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007552018 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.08, Z:-0.01 [[ 9.98344145e-01 -5.75236275e-02 0.00000000e+00 1.59101684e+01] [ 5.75236275e-02 9.98344145e-01 0.00000000e+00 -7.93613552e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35139243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.037552018 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.08, Z:-0.02 [[ 9.98307691e-01 -5.81528567e-02 0.00000000e+00 1.59423945e+01] [ 5.81528567e-02 9.98307691e-01 0.00000000e+00 -8.14257103e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52721673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067552017999999 meters Centerline goodness : 0.991686 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.08, Z:-0.02 [[ 9.98276754e-01 -5.86815308e-02 0.00000000e+00 1.59758394e+01] [ 5.86815308e-02 9.98276754e-01 0.00000000e+00 -8.18596919e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56733581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.097552018 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.08, Z:-0.02 [[ 0.99826384 -0.05890085 0. 16.00791255] [ 0.05890085 0.99826384 0. -0.08249515] [ 0. 0. 1. -0.01735784] [ 0. 0. 0. 1. ]] SLAMing on 15.127552018 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.09, Z:-0.02 [[ 0.99838146 -0.0568724 0. 16.04431074] [ 0.0568724 0.99838146 0. -0.08850016] [ 0. 0. 1. -0.01606453] [ 0. 0. 0. 1. ]] SLAMing on 15.157552017999999 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.08, Z:-0.02 [[ 9.98168607e-01 -6.04932439e-02 0.00000000e+00 1.60715016e+01] [ 6.04932439e-02 9.98168607e-01 0.00000000e+00 -8.48734525e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57229541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187552018 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.09, Z:-0.01 [[ 9.98201336e-01 -5.99507591e-02 0.00000000e+00 1.61046790e+01] [ 5.99507591e-02 9.98201336e-01 0.00000000e+00 -8.64700852e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48653532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.217552018 meters Centerline goodness : 0.989710 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.09, Z:-0.01 [[ 9.98265735e-01 -5.88686852e-02 0.00000000e+00 1.61421974e+01] [ 5.88686852e-02 9.98265735e-01 0.00000000e+00 -8.94693868e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40128339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247552018 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.09, Z:-0.01 [[ 9.98146270e-01 -6.08606892e-02 0.00000000e+00 1.61750819e+01] [ 6.08606892e-02 9.98146270e-01 0.00000000e+00 -9.21782829e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31474578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.277552018 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.09, Z:-0.01 [[ 9.97958957e-01 -6.38586022e-02 0.00000000e+00 1.62020263e+01] [ 6.38586022e-02 9.97958957e-01 0.00000000e+00 -8.98412017e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28697824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307552017999999 meters Centerline goodness : 0.989501 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.09, Z:-0.01 [[ 9.98058376e-01 -6.22854568e-02 0.00000000e+00 1.62384499e+01] [ 6.22854568e-02 9.98058376e-01 0.00000000e+00 -9.36622197e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21420916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.337552018 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.09, Z:-0.01 [[ 9.97880443e-01 -6.50739620e-02 0.00000000e+00 1.62657384e+01] [ 6.50739620e-02 9.97880443e-01 0.00000000e+00 -9.11203021e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16875013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367552018 meters Centerline goodness : 0.989147 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.10, Z:-0.01 [[ 9.97997234e-01 -6.32575799e-02 0.00000000e+00 1.63040469e+01] [ 6.32575799e-02 9.97997234e-01 0.00000000e+00 -9.76993235e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54469267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.397552017999999 meters Centerline goodness : 0.988978 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.10, Z:-0.01 [[ 9.97939979e-01 -6.41544836e-02 0.00000000e+00 1.63349803e+01] [ 6.41544836e-02 9.97939979e-01 0.00000000e+00 -9.79655256e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74556589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427552018 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.10, Z:-0.01 [[ 9.97895683e-01 -6.48398438e-02 0.00000000e+00 1.63678342e+01] [ 6.48398438e-02 9.97895683e-01 0.00000000e+00 -9.83188110e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.11541701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.457552018 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.10, Z:-0.01 [[ 9.97901553e-01 -6.47494464e-02 0.00000000e+00 1.64019618e+01] [ 6.47494464e-02 9.97901553e-01 0.00000000e+00 -1.02562435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03838504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487552017999999 meters Centerline goodness : 0.988685 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.10, Z:-0.01 [[ 9.97634316e-01 -6.87442408e-02 0.00000000e+00 1.64261911e+01] [ 6.87442408e-02 9.97634316e-01 0.00000000e+00 -9.85564108e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04331417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.517552018 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.10, Z:-0.01 [[ 9.97650514e-01 -6.85087743e-02 0.00000000e+00 1.64589350e+01] [ 6.85087743e-02 9.97650514e-01 0.00000000e+00 -9.93979136e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01844350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547552018 meters Centerline goodness : 0.987594 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.10, Z:-0.01 [[ 9.97938722e-01 -6.41740305e-02 0.00000000e+00 1.64982140e+01] [ 6.41740305e-02 9.97938722e-01 0.00000000e+00 -1.04825937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05017779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.577552018 meters Centerline goodness : 0.987529 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.10, Z:-0.01 [[ 9.97681335e-01 -6.80584574e-02 0.00000000e+00 1.65225260e+01] [ 6.80584574e-02 9.97681335e-01 0.00000000e+00 -1.01558069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04926888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607552018 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.10, Z:-0.01 [[ 9.97677078e-01 -6.81208350e-02 0.00000000e+00 1.65560287e+01] [ 6.81208350e-02 9.97677078e-01 0.00000000e+00 -1.02238168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08212469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.637552018 meters Centerline goodness : 0.986732 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.11, Z:-0.01 [[ 9.97907098e-01 -6.46639357e-02 0.00000000e+00 1.65940520e+01] [ 6.46639357e-02 9.97907098e-01 0.00000000e+00 -1.07794635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16758705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667552018 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.11, Z:-0.01 [[ 9.97508564e-01 -7.05454848e-02 0.00000000e+00 1.66198256e+01] [ 7.05454848e-02 9.97508564e-01 0.00000000e+00 -1.05134383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22305938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.697552018 meters Centerline goodness : 0.986744 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.11, Z:-0.01 [[ 9.97722693e-01 -6.74494474e-02 0.00000000e+00 1.66585276e+01] [ 6.74494474e-02 9.97722693e-01 0.00000000e+00 -1.11270911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26614115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727552017999999 meters Centerline goodness : 0.987303 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.11, Z:-0.01 [[ 9.97339328e-01 -7.28990078e-02 0.00000000e+00 1.66831353e+01] [ 7.28990078e-02 9.97339328e-01 0.00000000e+00 -1.07081619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22401466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.757552018 meters Centerline goodness : 0.986994 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.11, Z:-0.01 [[ 9.97204608e-01 -7.47192755e-02 0.00000000e+00 1.67160867e+01] [ 7.47192755e-02 9.97204608e-01 0.00000000e+00 -1.07740198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23842397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787552018 meters Centerline goodness : 0.987767 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.11, Z:-0.01 [[ 9.96853621e-01 -7.92644877e-02 0.00000000e+00 1.67491619e+01] [ 7.92644877e-02 9.96853621e-01 0.00000000e+00 -1.10590365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21838956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.817552017999999 meters Centerline goodness : 0.985465 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.12, Z:-0.01 [[ 9.97278754e-01 -7.37230447e-02 0.00000000e+00 1.67925272e+01] [ 7.37230447e-02 9.97278754e-01 0.00000000e+00 -1.20920102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33063503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847552018 meters Centerline goodness : 0.985956 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.12, Z:-0.01 [[ 9.96626481e-01 -8.20710535e-02 0.00000000e+00 1.68181787e+01] [ 8.20710535e-02 9.96626481e-01 0.00000000e+00 -1.16527279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20187736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.877552018 meters Centerline goodness : 0.985027 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.12, Z:-0.01 [[ 9.96345678e-01 -8.54124716e-02 0.00000000e+00 1.68498883e+01] [ 8.54124716e-02 9.96345678e-01 0.00000000e+00 -1.20497747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24235741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907552017999999 meters Centerline goodness : 0.985027 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.12, Z:-0.01 [[ 9.96322277e-01 -8.56850015e-02 0.00000000e+00 1.68814616e+01] [ 8.56850015e-02 9.96322277e-01 0.00000000e+00 -1.18678118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24235741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.937552018 meters Centerline goodness : 0.985929 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.12, Z:-0.01 [[ 9.95991694e-01 -8.94457711e-02 0.00000000e+00 1.69150413e+01] [ 8.94457711e-02 9.95991694e-01 0.00000000e+00 -1.18934680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33884972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967552018 meters Centerline goodness : 0.985709 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.12, Z:-0.01 [[ 9.95609362e-01 -9.36055508e-02 0.00000000e+00 1.69457377e+01] [ 9.36055508e-02 9.95609362e-01 0.00000000e+00 -1.17334280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32238900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.997552018 meters Centerline goodness : 0.985454 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.12, Z:-0.01 [[ 9.94882086e-01 -1.01042742e-01 0.00000000e+00 1.69762875e+01] [ 1.01042742e-01 9.94882086e-01 0.00000000e+00 -1.15444759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31484543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027552017999998 meters Centerline goodness : 0.986272 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.11, Z:-0.01 [[ 9.94202288e-01 -1.07525856e-01 0.00000000e+00 1.70009343e+01] [ 1.07525856e-01 9.94202288e-01 0.00000000e+00 -1.09378495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28561224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.057552018 meters Centerline goodness : 0.985213 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.11, Z:-0.01 [[ 9.94327878e-01 -1.06358225e-01 0.00000000e+00 1.70402041e+01] [ 1.06358225e-01 9.94327878e-01 0.00000000e+00 -1.13123267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23944890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087552017999997 meters Centerline goodness : 0.985252 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.11, Z:-0.01 [[ 9.94015342e-01 -1.09240561e-01 0.00000000e+00 1.70727378e+01] [ 1.09240561e-01 9.94015342e-01 0.00000000e+00 -1.11094648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19728774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.117552017999998 meters Centerline goodness : 0.985600 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.10, Z:-0.01 [[ 9.93213738e-01 -1.16303356e-01 0.00000000e+00 1.70967574e+01] [ 1.16303356e-01 9.93213738e-01 0.00000000e+00 -1.02842292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17018468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147552018 meters Centerline goodness : 0.985229 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.10, Z:-0.01 [[ 9.93484908e-01 -1.13963753e-01 0.00000000e+00 1.71346980e+01] [ 1.13963753e-01 9.93484908e-01 0.00000000e+00 -1.04409726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16709295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.177552017999997 meters Centerline goodness : 0.985473 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.10, Z:-0.01 [[ 9.93285082e-01 -1.15692462e-01 0.00000000e+00 1.71617402e+01] [ 1.15692462e-01 9.93285082e-01 0.00000000e+00 -9.83321028e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13748955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207552017999998 meters Centerline goodness : 0.985994 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.10, Z:-0.01 [[ 9.94087739e-01 -1.08579774e-01 0.00000000e+00 1.72013566e+01] [ 1.08579774e-01 9.94087739e-01 0.00000000e+00 -9.84154989e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34717163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.237552018 meters Centerline goodness : 0.984641 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.10, Z:-0.01 [[ 9.94526306e-01 -1.04486488e-01 0.00000000e+00 1.72352381e+01] [ 1.04486488e-01 9.94526306e-01 0.00000000e+00 -9.58453550e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41508615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267552017999996 meters Centerline goodness : 0.985314 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.09, Z:-0.01 [[ 9.94733791e-01 -1.02492370e-01 0.00000000e+00 1.72651342e+01] [ 1.02492370e-01 9.94733791e-01 0.00000000e+00 -8.99151555e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29872477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.297552017999998 meters Centerline goodness : 0.985896 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.08, Z:-0.01 [[ 9.95686324e-01 -9.27833142e-02 0.00000000e+00 1.72979702e+01] [ 9.27833142e-02 9.95686324e-01 0.00000000e+00 -8.33365199e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23823557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327552018 meters Centerline goodness : 0.984681 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.08, Z:-0.01 [[ 9.96261472e-01 -8.63891160e-02 0.00000000e+00 1.73292447e+01] [ 8.63891160e-02 9.96261472e-01 0.00000000e+00 -7.92413677e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21556816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.357552017999996 meters Centerline goodness : 0.985746 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.07, Z:-0.01 [[ 9.96693573e-01 -8.12522083e-02 0.00000000e+00 1.73608374e+01] [ 8.12522083e-02 9.96693573e-01 0.00000000e+00 -7.35517360e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12120016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387552017999997 meters Centerline goodness : 0.986197 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.07, Z:-0.01 [[ 9.97559124e-01 -6.98268913e-02 0.00000000e+00 1.73936561e+01] [ 6.98268913e-02 9.97559124e-01 0.00000000e+00 -6.56521824e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08454074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.417552018 meters Centerline goodness : 0.985786 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.06, Z:-0.01 [[ 9.97905370e-01 -6.46905831e-02 0.00000000e+00 1.74246873e+01] [ 6.46905831e-02 9.97905370e-01 0.00000000e+00 -6.09606678e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47613678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447552017999996 meters Centerline goodness : 0.986788 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.05, Z:-0.01 [[ 9.97932537e-01 -6.42701442e-02 0.00000000e+00 1.74488296e+01] [ 6.42701442e-02 9.97932537e-01 0.00000000e+00 -5.16117959e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27409048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.477552017999997 meters Centerline goodness : 0.985941 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.05, Z:-0.01 [[ 9.98667154e-01 -5.16131377e-02 0.00000000e+00 1.74886546e+01] [ 5.16131377e-02 9.98667154e-01 0.00000000e+00 -5.41277753e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46713629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507552018 meters Centerline goodness : 0.986697 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.05, Z:-0.00 [[ 9.98652247e-01 -5.19007629e-02 0.00000000e+00 1.75170579e+01] [ 5.19007629e-02 9.98652247e-01 0.00000000e+00 -4.89996874e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92291349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.537552018 meters Centerline goodness : 0.987022 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.05, Z:-0.01 [[ 9.98728477e-01 -5.04125852e-02 0.00000000e+00 1.75498460e+01] [ 5.04125852e-02 9.98728477e-01 0.00000000e+00 -4.72726721e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40061915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567552017999997 meters Centerline goodness : 0.986681 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.04, Z:-0.01 [[ 9.98719393e-01 -5.05922400e-02 0.00000000e+00 1.75788778e+01] [ 5.05922400e-02 9.98719393e-01 0.00000000e+00 -4.48636696e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10791445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.597552018 meters Centerline goodness : 0.986300 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.05, Z:-0.01 [[ 9.98880044e-01 -4.73144612e-02 0.00000000e+00 1.76164671e+01] [ 4.73144612e-02 9.98880044e-01 0.00000000e+00 -5.00068809e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41644607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.627552018 meters Centerline goodness : 0.986896 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.05, Z:-0.01 [[ 9.98765011e-01 -4.96835269e-02 0.00000000e+00 1.76487030e+01] [ 4.96835269e-02 9.98765011e-01 0.00000000e+00 -4.93871141e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08226347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.657552017999997 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.04, Z:-0.01 [[ 9.98371907e-01 -5.70397636e-02 0.00000000e+00 1.76702534e+01] [ 5.70397636e-02 9.98371907e-01 0.00000000e+00 -4.33381857e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17928549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687552017999998 meters Centerline goodness : 0.987492 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.05, Z:-0.01 [[ 9.98142034e-01 -6.09301207e-02 0.00000000e+00 1.77037842e+01] [ 6.09301207e-02 9.98142034e-01 0.00000000e+00 -4.66232430e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34638283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.717552018 meters Centerline goodness : 0.986233 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.05, Z:-0.01 [[ 9.98300945e-01 -5.82685414e-02 0.00000000e+00 1.77418834e+01] [ 5.82685414e-02 9.98300945e-01 0.00000000e+00 -5.33138455e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38288367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747552017999997 meters Centerline goodness : 0.985587 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.05, Z:-0.02 [[ 9.98171048e-01 -6.04529504e-02 0.00000000e+00 1.77751515e+01] [ 6.04529504e-02 9.98171048e-01 0.00000000e+00 -5.37772954e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51652842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.777552017999998 meters Centerline goodness : 0.987007 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.05, Z:-0.02 [[ 9.97824665e-01 -6.59237310e-02 0.00000000e+00 1.77995055e+01] [ 6.59237310e-02 9.97824665e-01 0.00000000e+00 -4.90800368e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61002516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807552018 meters Centerline goodness : 0.986227 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.06, Z:-0.02 [[ 0.9981586 -0.06065809 0. 17.84084375] [ 0.06065809 0.9981586 0. -0.06081999] [ 0. 0. 1. -0.01851571] [ 0. 0. 0. 1. ]] SLAMing on 16.837552017999997 meters Centerline goodness : 0.987291 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.05, Z:-0.02 [[ 0.99772025 -0.06748562 0. 17.86178886] [ 0.06748562 0.99772025 0. -0.0532619 ] [ 0. 0. 1. -0.01809266] [ 0. 0. 0. 1. ]] SLAMing on 16.867552017999998 meters Centerline goodness : 0.986664 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.05, Z:-0.02 [[ 0.99777352 -0.06669333 0. 17.8938788 ] [ 0.06669333 0.99777352 0. -0.05380814] [ 0. 0. 1. -0.01917433] [ 0. 0. 0. 1. ]] SLAMing on 16.897552018 meters Centerline goodness : 0.986548 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.05, Z:-0.02 [[ 0.99787241 -0.06519703 0. 17.92510054] [ 0.06519703 0.99787241 0. -0.05493476] [ 0. 0. 1. -0.01931706] [ 0. 0. 0. 1. ]] SLAMing on 16.927552017999997 meters Centerline goodness : 0.987045 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.06, Z:-0.02 [[ 9.97895204e-01 -6.48472261e-02 0.00000000e+00 1.79574460e+01] [ 6.48472261e-02 9.97895204e-01 0.00000000e+00 -5.70899254e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75201356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.957552017999998 meters Centerline goodness : 0.986618 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.06, Z:-0.02 [[ 9.97953812e-01 -6.39389415e-02 0.00000000e+00 1.79907536e+01] [ 6.39389415e-02 9.97953812e-01 0.00000000e+00 -5.90465245e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63160936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987552018 meters Centerline goodness : 0.986820 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.06, Z:-0.02 [[ 9.97869306e-01 -6.52445330e-02 0.00000000e+00 1.80242775e+01] [ 6.52445330e-02 9.97869306e-01 0.00000000e+00 -5.94377700e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51042977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.017552017999996 meters Centerline goodness : 0.986422 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.06, Z:-0.01 [[ 9.97639735e-01 -6.86655666e-02 0.00000000e+00 1.80565830e+01] [ 6.86655666e-02 9.97639735e-01 0.00000000e+00 -6.38602265e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29540433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047552017999998 meters Centerline goodness : 0.985784 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.07, Z:-0.01 [[ 9.97485019e-01 -7.08776211e-02 0.00000000e+00 1.80894456e+01] [ 7.08776211e-02 9.97485019e-01 0.00000000e+00 -6.52923062e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22309091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.077552018 meters Centerline goodness : 0.986245 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.07, Z:-0.01 [[ 9.97273936e-01 -7.37881816e-02 0.00000000e+00 1.81224972e+01] [ 7.37881816e-02 9.97273936e-01 0.00000000e+00 -6.62455549e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14851316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107552017999996 meters Centerline goodness : 0.985980 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.07, Z:-0.01 [[ 9.97073248e-01 -7.64522013e-02 0.00000000e+00 1.81535984e+01] [ 7.64522013e-02 9.97073248e-01 0.00000000e+00 -6.72638590e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11990183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.137552017999997 meters Centerline goodness : 0.986010 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.07, Z:-0.01 [[ 9.96696287e-01 -8.12189111e-02 0.00000000e+00 1.81856752e+01] [ 8.12189111e-02 9.96696287e-01 0.00000000e+00 -7.06223709e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09654812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167552018 meters Centerline goodness : 0.986057 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.07, Z:-0.01 [[ 9.96568699e-01 -8.27697323e-02 0.00000000e+00 1.82172120e+01] [ 8.27697323e-02 9.96568699e-01 0.00000000e+00 -7.14660922e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12283120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.197552017999996 meters Centerline goodness : 0.986529 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.07, Z:-0.01 [[ 9.96648367e-01 -8.18048391e-02 0.00000000e+00 1.82489201e+01] [ 8.18048391e-02 9.96648367e-01 0.00000000e+00 -7.25011431e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20725327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227552017999997 meters Centerline goodness : 0.986307 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.07, Z:-0.01 [[ 9.96480321e-01 -8.38270192e-02 0.00000000e+00 1.82811143e+01] [ 8.38270192e-02 9.96480321e-01 0.00000000e+00 -7.26022678e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06783828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.257552018 meters Centerline goodness : 0.986825 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.07, Z:-0.01 [[ 9.96566194e-01 -8.27998843e-02 0.00000000e+00 1.83120774e+01] [ 8.27998843e-02 9.96566194e-01 0.00000000e+00 -7.41385328e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46170552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287552018 meters Centerline goodness : 0.986383 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.07, Z:-0.01 [[ 9.96647108e-01 -8.18201787e-02 0.00000000e+00 1.83442623e+01] [ 8.18201787e-02 9.96647108e-01 0.00000000e+00 -7.35669067e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02272091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.317552017999997 meters Centerline goodness : 0.987236 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.07, Z:-0.01 [[ 9.96764088e-01 -8.03825358e-02 0.00000000e+00 1.83762079e+01] [ 8.03825358e-02 9.96764088e-01 0.00000000e+00 -7.31562112e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29168629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347552018 meters Centerline goodness : 0.986896 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.07, Z:-0.01 [[ 9.97069372e-01 -7.65027269e-02 0.00000000e+00 1.84075970e+01] [ 7.65027269e-02 9.97069372e-01 0.00000000e+00 -7.39775343e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85641604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.377552018 meters Centerline goodness : 0.987512 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.07, Z:-0.01 [[ 9.97251469e-01 -7.40912164e-02 0.00000000e+00 1.84395589e+01] [ 7.40912164e-02 9.97251469e-01 0.00000000e+00 -7.34645128e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91918269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407552017999997 meters Centerline goodness : 0.987132 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.07, Z:-0.01 [[ 9.97418692e-01 -7.18049602e-02 0.00000000e+00 1.84720374e+01] [ 7.18049602e-02 9.97418692e-01 0.00000000e+00 -7.22726445e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08364695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.437552017999998 meters Centerline goodness : 0.987562 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.07, Z:-0.01 [[ 9.97779251e-01 -6.66075547e-02 0.00000000e+00 1.85037114e+01] [ 6.66075547e-02 9.97779251e-01 0.00000000e+00 -7.23926781e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15958539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467552018 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.07, Z:-0.01 [[ 9.97964600e-01 -6.37703410e-02 0.00000000e+00 1.85357905e+01] [ 6.37703410e-02 9.97964600e-01 0.00000000e+00 -7.15226250e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24619042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.497552017999997 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.07, Z:-0.01 [[ 9.98161361e-01 -6.06126894e-02 0.00000000e+00 1.85676484e+01] [ 6.06126894e-02 9.98161361e-01 0.00000000e+00 -7.07986442e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30062415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527552017999998 meters Centerline goodness : 0.987758 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.07, Z:-0.01 [[ 9.98518031e-01 -5.44218787e-02 0.00000000e+00 1.85991697e+01] [ 5.44218787e-02 9.98518031e-01 0.00000000e+00 -7.05674047e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26886934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.557552018 meters Centerline goodness : 0.987680 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.07, Z:-0.01 [[ 9.98699961e-01 -5.09743815e-02 0.00000000e+00 1.86317022e+01] [ 5.09743815e-02 9.98699961e-01 0.00000000e+00 -7.00167781e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17674115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587552017999997 meters Centerline goodness : 0.988126 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.07, Z:-0.01 [[ 9.98882921e-01 -4.72536822e-02 0.00000000e+00 1.86634972e+01] [ 4.72536822e-02 9.98882921e-01 0.00000000e+00 -6.97978452e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12021638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.617552017999998 meters Centerline goodness : 0.989002 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.07, Z:-0.01 [[ 9.99031430e-01 -4.40022969e-02 0.00000000e+00 1.86944886e+01] [ 4.40022969e-02 9.99031430e-01 0.00000000e+00 -6.96787123e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52383970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647552018 meters Centerline goodness : 0.988275 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.07, Z:-0.01 [[ 9.99265017e-01 -3.83330937e-02 0.00000000e+00 1.87253674e+01] [ 3.83330937e-02 9.99265017e-01 0.00000000e+00 -7.19232791e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32494671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.677552017999997 meters Centerline goodness : 0.988485 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.07, Z:-0.01 [[ 9.99348859e-01 -3.60812793e-02 0.00000000e+00 1.87572616e+01] [ 3.60812793e-02 9.99348859e-01 0.00000000e+00 -7.24620287e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64628750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707552017999998 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.07, Z:-0.01 [[ 9.99419987e-01 -3.40542208e-02 0.00000000e+00 1.87890351e+01] [ 3.40542208e-02 9.99419987e-01 0.00000000e+00 -7.34424519e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69756084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.737552018 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.08, Z:-0.01 [[ 9.99500054e-01 -3.16171148e-02 0.00000000e+00 1.88218196e+01] [ 3.16171148e-02 9.99500054e-01 0.00000000e+00 -7.83886819e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05104017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767552017999996 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.08, Z:-0.01 [[ 9.99475692e-01 -3.23781037e-02 0.00000000e+00 1.88538233e+01] [ 3.23781037e-02 9.99475692e-01 0.00000000e+00 -7.99173497e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06332888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.797552017999998 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.08, Z:-0.01 [[ 9.99454365e-01 -3.30298799e-02 0.00000000e+00 1.88855309e+01] [ 3.30298799e-02 9.99454365e-01 0.00000000e+00 -8.26977266e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03498416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827552018 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.08, Z:-0.01 [[ 9.99457346e-01 -3.29395349e-02 0.00000000e+00 1.89181657e+01] [ 3.29395349e-02 9.99457346e-01 0.00000000e+00 -8.09594541e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03498416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.857552017999996 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.08, Z:-0.01 [[ 9.99398427e-01 -3.46811855e-02 0.00000000e+00 1.89505635e+01] [ 3.46811855e-02 9.99398427e-01 0.00000000e+00 -8.35724202e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02444015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887552017999997 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.09, Z:-0.01 [[ 9.99251975e-01 -3.86715842e-02 0.00000000e+00 1.89834047e+01] [ 3.86715842e-02 9.99251975e-01 0.00000000e+00 -9.11507622e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00651713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.917552018 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.09, Z:-0.01 [[ 9.99145323e-01 -4.13355094e-02 0.00000000e+00 1.90135393e+01] [ 4.13355094e-02 9.99145323e-01 0.00000000e+00 -9.40140595e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01644800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947552017999996 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.10, Z:-0.01 [[ 9.99054058e-01 -4.34855113e-02 0.00000000e+00 1.90451408e+01] [ 4.34855113e-02 9.99054058e-01 0.00000000e+00 -9.72774242e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88306530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.977552017999997 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.10, Z:-0.01 [[ 9.98854198e-01 -4.78569760e-02 0.00000000e+00 1.90767935e+01] [ 4.78569760e-02 9.98854198e-01 0.00000000e+00 -1.03927405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85837722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007552018 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.11, Z:-0.01 [[ 9.98762417e-01 -4.97356452e-02 0.00000000e+00 1.91077673e+01] [ 4.97356452e-02 9.98762417e-01 0.00000000e+00 -1.06250170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20011313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.037552017999996 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.11, Z:-0.01 [[ 9.98662713e-01 -5.16989923e-02 0.00000000e+00 1.91389207e+01] [ 5.16989923e-02 9.98662713e-01 0.00000000e+00 -1.08559566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64713752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067552017999997 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.11, Z:-0.01 [[ 9.98506351e-01 -5.46357672e-02 0.00000000e+00 1.91710951e+01] [ 5.46357672e-02 9.98506351e-01 0.00000000e+00 -1.14528578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01740191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.097552018 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.12, Z:-0.01 [[ 9.98416482e-01 -5.62541401e-02 0.00000000e+00 1.92021196e+01] [ 5.62541401e-02 9.98416482e-01 0.00000000e+00 -1.16382226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00537738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127552018 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.12, Z:-0.01 [[ 9.98292823e-01 -5.84075328e-02 0.00000000e+00 1.92325824e+01] [ 5.84075328e-02 9.98292823e-01 0.00000000e+00 -1.17948022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64546361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.157552017999997 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.12, Z:-0.01 [[ 9.98179658e-01 -6.03106201e-02 0.00000000e+00 1.92638379e+01] [ 6.03106201e-02 9.98179658e-01 0.00000000e+00 -1.20217764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01071623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187552017999998 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.12, Z:-0.01 [[ 9.97735092e-01 -6.72657841e-02 0.00000000e+00 1.92945695e+01] [ 6.72657841e-02 9.97735092e-01 0.00000000e+00 -1.24215288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95944784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.217552018 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.13, Z:-0.01 [[ 9.97475019e-01 -7.10182151e-02 0.00000000e+00 1.93247888e+01] [ 7.10182151e-02 9.97475019e-01 0.00000000e+00 -1.25456845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81156827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247552017999997 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.13, Z:-0.01 [[ 9.97196428e-01 -7.48283617e-02 0.00000000e+00 1.93554053e+01] [ 7.48283617e-02 9.97196428e-01 0.00000000e+00 -1.26664744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17576649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.277552017999998 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.13, Z:-0.00 [[ 9.96891502e-01 -7.87866270e-02 0.00000000e+00 1.93852728e+01] [ 7.87866270e-02 9.96891502e-01 0.00000000e+00 -1.27620500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05287511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307552018 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.13, Z:-0.00 [[ 9.96275442e-01 -8.62278564e-02 0.00000000e+00 1.94149226e+01] [ 8.62278564e-02 9.96275442e-01 0.00000000e+00 -1.30724902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16102496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.337552017999997 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.13, Z:-0.00 [[ 9.95995133e-01 -8.94074654e-02 0.00000000e+00 1.94442739e+01] [ 8.94074654e-02 9.95995133e-01 0.00000000e+00 -1.31395147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99080101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367552017999998 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.13, Z:-0.00 [[ 9.95642084e-01 -9.32568562e-02 0.00000000e+00 1.94726011e+01] [ 9.32568562e-02 9.95642084e-01 0.00000000e+00 -1.30253411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07351708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.397552018 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.13, Z:-0.00 [[ 9.95393588e-01 -9.58728539e-02 0.00000000e+00 1.95008765e+01] [ 9.58728539e-02 9.95393588e-01 0.00000000e+00 -1.29070344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06040295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427552017999997 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.13, Z:-0.00 [[ 9.95223329e-01 -9.76244136e-02 0.00000000e+00 1.95282525e+01] [ 9.76244136e-02 9.95223329e-01 0.00000000e+00 -1.27978889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50239903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.457552017999998 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.13, Z:-0.00 [[ 9.95205448e-01 -9.78065252e-02 0.00000000e+00 1.95563949e+01] [ 9.78065252e-02 9.95205448e-01 0.00000000e+00 -1.25834381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20001306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487552018 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.12, Z:-0.00 [[ 9.95248413e-01 -9.73683520e-02 0.00000000e+00 1.95838726e+01] [ 9.73683520e-02 9.95248413e-01 0.00000000e+00 -1.23622166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66607132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.517552017999996 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.12, Z:-0.00 [[ 9.95333696e-01 -9.64926635e-02 0.00000000e+00 1.96113224e+01] [ 9.64926635e-02 9.95333696e-01 0.00000000e+00 -1.20770819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45397322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547552017999998 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.12, Z:-0.01 [[ 9.95705043e-01 -9.25822186e-02 0.00000000e+00 1.96389923e+01] [ 9.25822186e-02 9.95705043e-01 0.00000000e+00 -1.15871094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48377665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.577552018 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.11, Z:-0.01 [[ 9.95913649e-01 -9.03105979e-02 0.00000000e+00 1.96673914e+01] [ 9.03105979e-02 9.95913649e-01 0.00000000e+00 -1.12127110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02841576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607552017999996 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.11, Z:-0.01 [[ 9.96116469e-01 -8.80453264e-02 0.00000000e+00 1.96960073e+01] [ 8.80453264e-02 9.96116469e-01 0.00000000e+00 -1.08154359e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52762584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.637552017999997 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.10, Z:-0.01 [[ 9.96536131e-01 -8.31609301e-02 0.00000000e+00 1.97249059e+01] [ 8.31609301e-02 9.96536131e-01 0.00000000e+00 -1.01125881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59652394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667552018 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.10, Z:-0.01 [[ 9.96722592e-01 -8.08954544e-02 0.00000000e+00 1.97546022e+01] [ 8.08954544e-02 9.96722592e-01 0.00000000e+00 -9.72726287e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.97906097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.697552017999996 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.09, Z:-0.01 [[ 9.96910832e-01 -7.85416655e-02 0.00000000e+00 1.97841808e+01] [ 7.85416655e-02 9.96910832e-01 0.00000000e+00 -9.36242384e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20629025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727552017999997 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.09, Z:-0.01 [[ 9.97077042e-01 -7.64026955e-02 0.00000000e+00 1.98144868e+01] [ 7.64026955e-02 9.97077042e-01 0.00000000e+00 -9.00237819e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58498910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.757552018 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.08, Z:-0.01 [[ 9.97401758e-01 -7.20398039e-02 0.00000000e+00 1.98432738e+01] [ 7.20398039e-02 9.97401758e-01 0.00000000e+00 -8.43341061e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00186881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787552017999996 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.08, Z:-0.01 [[ 9.97575674e-01 -6.95900464e-02 0.00000000e+00 1.98738851e+01] [ 6.95900464e-02 9.97575674e-01 0.00000000e+00 -8.08145976e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05646499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.817552017999997 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.08, Z:-0.01 [[ 9.97738636e-01 -6.72131959e-02 0.00000000e+00 1.99035345e+01] [ 6.72131959e-02 9.97738636e-01 0.00000000e+00 -7.75291703e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02094868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847552018 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.07, Z:-0.01 [[ 9.98049114e-01 -6.24336940e-02 0.00000000e+00 1.99332057e+01] [ 6.24336940e-02 9.98049114e-01 0.00000000e+00 -7.30495414e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51195342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.877552018 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.07, Z:-0.01 [[ 9.98182167e-01 -6.02690711e-02 0.00000000e+00 1.99640878e+01] [ 6.02690711e-02 9.98182167e-01 0.00000000e+00 -7.04412027e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56303644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907552017999997 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.07, Z:-0.01 [[ 9.98323486e-01 -5.78810652e-02 0.00000000e+00 1.99948647e+01] [ 5.78810652e-02 9.98323486e-01 0.00000000e+00 -6.85374116e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97709603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.937552017999998 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.07, Z:-0.01 [[ 9.98464242e-01 -5.53999681e-02 0.00000000e+00 2.00247733e+01] [ 5.53999681e-02 9.98464242e-01 0.00000000e+00 -6.58542948e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62008426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967552018 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.06, Z:-0.01 [[ 9.98537465e-01 -5.40641359e-02 0.00000000e+00 2.00554571e+01] [ 5.40641359e-02 9.98537465e-01 0.00000000e+00 -6.39418739e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93868465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.997552017999997 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.06, Z:-0.01 [[ 9.98678811e-01 -5.13870751e-02 0.00000000e+00 2.00873203e+01] [ 5.13870751e-02 9.98678811e-01 0.00000000e+00 -6.36535507e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.11719528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027552017999998 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.06, Z:-0.01 [[ 9.98682067e-01 -5.13237661e-02 0.00000000e+00 2.01188453e+01] [ 5.13237661e-02 9.98682067e-01 0.00000000e+00 -6.21737139e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07273986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.057552018 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.06, Z:-0.01 [[ 9.98711437e-01 -5.07490435e-02 0.00000000e+00 2.01491485e+01] [ 5.07490435e-02 9.98711437e-01 0.00000000e+00 -6.14252789e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26548308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087552017999997 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.06, Z:-0.01 [[ 9.98732176e-01 -5.03392513e-02 0.00000000e+00 2.01806521e+01] [ 5.03392513e-02 9.98732176e-01 0.00000000e+00 -6.09838215e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86234637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.117552017999998 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.06, Z:-0.01 [[ 9.98710665e-01 -5.07642369e-02 0.00000000e+00 2.02119761e+01] [ 5.07642369e-02 9.98710665e-01 0.00000000e+00 -6.17848861e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14299370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147552018 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.06, Z:-0.01 [[ 9.98691609e-01 -5.11377506e-02 0.00000000e+00 2.02433793e+01] [ 5.11377506e-02 9.98691609e-01 0.00000000e+00 -6.17028136e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19377452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.177552017999997 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.06, Z:-0.01 [[ 9.98660441e-01 -5.17428590e-02 0.00000000e+00 2.02735958e+01] [ 5.17428590e-02 9.98660441e-01 0.00000000e+00 -6.19735087e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86450045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207552017999998 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.07, Z:-0.01 [[ 9.98588315e-01 -5.31166288e-02 0.00000000e+00 2.03047073e+01] [ 5.31166288e-02 9.98588315e-01 0.00000000e+00 -6.50275289e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04183771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.237552018 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.07, Z:-0.01 [[ 9.98541522e-01 -5.39891472e-02 0.00000000e+00 2.03353170e+01] [ 5.39891472e-02 9.98541522e-01 0.00000000e+00 -6.58351664e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03408599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267552017999996 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.07, Z:-0.01 [[ 9.98497214e-01 -5.48024918e-02 0.00000000e+00 2.03655874e+01] [ 5.48024918e-02 9.98497214e-01 0.00000000e+00 -6.67908483e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06638557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.297552017999998 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.07, Z:-0.01 [[ 9.98440265e-01 -5.58304345e-02 0.00000000e+00 2.03951424e+01] [ 5.58304345e-02 9.98440265e-01 0.00000000e+00 -6.76741026e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11257990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327552018 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.07, Z:-0.01 [[ 9.98291570e-01 -5.84289401e-02 0.00000000e+00 2.04252393e+01] [ 5.84289401e-02 9.98291570e-01 0.00000000e+00 -7.15956508e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17365475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.357552017999996 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.07, Z:-0.01 [[ 9.98226970e-01 -5.95224037e-02 0.00000000e+00 2.04554312e+01] [ 5.95224037e-02 9.98226970e-01 0.00000000e+00 -7.28699409e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11269770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387552017999997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.07, Z:-0.01 [[ 9.98178979e-01 -6.03218598e-02 0.00000000e+00 2.04855994e+01] [ 6.03218598e-02 9.98178979e-01 0.00000000e+00 -7.40266712e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00552060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.417552018 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.08, Z:-0.01 [[ 9.98082854e-01 -6.18919668e-02 0.00000000e+00 2.05160411e+01] [ 6.18919668e-02 9.98082854e-01 0.00000000e+00 -7.80036557e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68418205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447552017999996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.08, Z:-0.01 [[ 9.98031820e-01 -6.27095431e-02 0.00000000e+00 2.05443927e+01] [ 6.27095431e-02 9.98031820e-01 0.00000000e+00 -7.88744456e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22141850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.477552017999997 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.08, Z:-0.01 [[ 9.97976206e-01 -6.35884631e-02 0.00000000e+00 2.05731607e+01] [ 6.35884631e-02 9.97976206e-01 0.00000000e+00 -7.98470825e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17429026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507552018 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.08, Z:-0.01 [[ 9.97922917e-01 -6.44193421e-02 0.00000000e+00 2.06017090e+01] [ 6.44193421e-02 9.97922917e-01 0.00000000e+00 -8.11072485e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62106627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.537552017999996 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.08, Z:-0.01 [[ 9.97689409e-01 -6.79400029e-02 0.00000000e+00 2.06300142e+01] [ 6.79400029e-02 9.97689409e-01 0.00000000e+00 -8.46304312e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72079200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567552017999997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.09, Z:-0.01 [[ 9.97527684e-01 -7.02746019e-02 0.00000000e+00 2.06585592e+01] [ 7.02746019e-02 9.97527684e-01 0.00000000e+00 -8.55319038e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64152360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.597552018 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.09, Z:-0.01 [[ 9.97348806e-01 -7.27692166e-02 0.00000000e+00 2.06859705e+01] [ 7.27692166e-02 9.97348806e-01 0.00000000e+00 -8.60808067e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52111588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627552018 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.09, Z:-0.01 [[ 9.97133245e-01 -7.56656617e-02 0.00000000e+00 2.07143569e+01] [ 7.56656617e-02 9.97133245e-01 0.00000000e+00 -8.62754323e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29179739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.657552017999997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.09, Z:-0.01 [[ 9.96680684e-01 -8.14101588e-02 0.00000000e+00 2.07426507e+01] [ 8.14101588e-02 9.96680684e-01 0.00000000e+00 -8.87033500e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01654298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687552017999998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.09, Z:-0.01 [[ 9.96477318e-01 -8.38627119e-02 0.00000000e+00 2.07704000e+01] [ 8.38627119e-02 9.96477318e-01 0.00000000e+00 -8.91351104e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09516905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.717552018 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.09, Z:-0.01 [[ 9.96446302e-01 -8.42304424e-02 0.00000000e+00 2.07988190e+01] [ 8.42304424e-02 9.96446302e-01 0.00000000e+00 -8.71699620e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09516905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.09, Z:-0.01 [[ 9.96274610e-01 -8.62374711e-02 0.00000000e+00 2.08264189e+01] [ 8.62374711e-02 9.96274610e-01 0.00000000e+00 -8.72164820e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05222806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.777552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.09, Z:-0.01 [[ 9.96138183e-01 -8.77993136e-02 0.00000000e+00 2.08533085e+01] [ 8.77993136e-02 9.96138183e-01 0.00000000e+00 -8.89943656e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09464284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.09, Z:-0.01 [[ 9.96145683e-01 -8.77141829e-02 0.00000000e+00 2.08816367e+01] [ 8.77141829e-02 9.96145683e-01 0.00000000e+00 -8.86195777e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61891355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.837552017999997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.09, Z:-0.01 [[ 9.96230892e-01 -8.67410539e-02 0.00000000e+00 2.09085740e+01] [ 8.67410539e-02 9.96230892e-01 0.00000000e+00 -8.80006206e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76947518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867552017999998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.09, Z:-0.01 [[ 9.96539563e-01 -8.31197866e-02 0.00000000e+00 2.09361256e+01] [ 8.31197866e-02 9.96539563e-01 0.00000000e+00 -8.77293448e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32144230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.897552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.09, Z:-0.01 [[ 9.96716937e-01 -8.09650946e-02 0.00000000e+00 2.09637757e+01] [ 8.09650946e-02 9.96716937e-01 0.00000000e+00 -8.64279579e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47020004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927552017999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.09, Z:-0.01 [[ 9.96899085e-01 -7.86906245e-02 0.00000000e+00 2.09919617e+01] [ 7.86906245e-02 9.96899085e-01 0.00000000e+00 -8.51380170e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75615472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.957552017999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.08, Z:-0.01 [[ 9.97132284e-01 -7.56783239e-02 0.00000000e+00 2.10185535e+01] [ 7.56783239e-02 9.97132284e-01 0.00000000e+00 -8.42275665e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99404221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987552018 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.08, Z:-0.01 [[ 9.97523449e-01 -7.03346840e-02 0.00000000e+00 2.10462482e+01] [ 7.03346840e-02 9.97523449e-01 0.00000000e+00 -8.35267466e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90693557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.017552017999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.08, Z:-0.01 [[ 9.97727240e-01 -6.73821601e-02 0.00000000e+00 2.10743947e+01] [ 6.73821601e-02 9.97727240e-01 0.00000000e+00 -8.24891736e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13170432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.08, Z:-0.01 [[ 9.97845971e-01 -6.56004380e-02 0.00000000e+00 2.11024821e+01] [ 6.56004380e-02 9.97845971e-01 0.00000000e+00 -8.12336199e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47945735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.077552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.08, Z:-0.01 [[ 9.97983126e-01 -6.34797568e-02 0.00000000e+00 2.11307140e+01] [ 6.34797568e-02 9.97983126e-01 0.00000000e+00 -8.02597481e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55571324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107552017999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.08, Z:-0.01 [[ 9.98220786e-01 -5.96260202e-02 0.00000000e+00 2.11591307e+01] [ 5.96260202e-02 9.98220786e-01 0.00000000e+00 -8.02274034e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11074637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.137552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.08, Z:-0.00 [[ 9.98307278e-01 -5.81599459e-02 0.00000000e+00 2.11865593e+01] [ 5.81599459e-02 9.98307278e-01 0.00000000e+00 -7.92065501e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79440196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167552018 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.08, Z:-0.01 [[ 9.98400170e-01 -5.65429036e-02 0.00000000e+00 2.12143075e+01] [ 5.65429036e-02 9.98400170e-01 0.00000000e+00 -7.84631589e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18672210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.197552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.08, Z:-0.00 [[ 9.98537984e-01 -5.40545536e-02 0.00000000e+00 2.12421623e+01] [ 5.40545536e-02 9.98537984e-01 0.00000000e+00 -7.89732514e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89817247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.08, Z:-0.01 [[ 9.98595806e-01 -5.29756156e-02 0.00000000e+00 2.12699843e+01] [ 5.29756156e-02 9.98595806e-01 0.00000000e+00 -7.84281488e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67279590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.08, Z:-0.01 [[ 9.98661419e-01 -5.17239719e-02 0.00000000e+00 2.12983233e+01] [ 5.17239719e-02 9.98661419e-01 0.00000000e+00 -7.81041864e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29570726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.08, Z:-0.01 [[ 9.98726307e-01 -5.04555706e-02 0.00000000e+00 2.13258263e+01] [ 5.04555706e-02 9.98726307e-01 0.00000000e+00 -7.78281063e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29199951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.317552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.08, Z:-0.01 [[ 9.98868108e-01 -4.75657666e-02 0.00000000e+00 2.13538389e+01] [ 4.75657666e-02 9.98868108e-01 0.00000000e+00 -7.94803244e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83855944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.08, Z:-0.01 [[ 9.98938204e-01 -4.60702107e-02 0.00000000e+00 2.13815845e+01] [ 4.60702107e-02 9.98938204e-01 0.00000000e+00 -7.95447879e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04989739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.377552018 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.08, Z:-0.01 [[ 9.99017319e-01 -4.43215052e-02 0.00000000e+00 2.14097940e+01] [ 4.43215052e-02 9.99017319e-01 0.00000000e+00 -7.96575674e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26541347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.08, Z:-0.00 [[ 9.99052318e-01 -4.35254624e-02 0.00000000e+00 2.14380961e+01] [ 4.35254624e-02 9.99052318e-01 0.00000000e+00 -7.98464894e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81017543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.437552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.08, Z:-0.01 [[ 9.99136185e-01 -4.15557936e-02 0.00000000e+00 2.14664474e+01] [ 4.15557936e-02 9.99136185e-01 0.00000000e+00 -8.34829997e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15267341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.08, Z:-0.01 [[ 9.99148343e-01 -4.12624341e-02 0.00000000e+00 2.14942012e+01] [ 4.12624341e-02 9.99148343e-01 0.00000000e+00 -8.44361366e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62250434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.497552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.09, Z:-0.01 [[ 9.99161198e-01 -4.09499768e-02 0.00000000e+00 2.15215146e+01] [ 4.09499768e-02 9.99161198e-01 0.00000000e+00 -8.58745606e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76302125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.09, Z:-0.01 [[ 9.99130878e-01 -4.16832046e-02 0.00000000e+00 2.15486075e+01] [ 4.16832046e-02 9.99130878e-01 0.00000000e+00 -9.16773732e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69326281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.09, Z:-0.00 [[ 9.99101680e-01 -4.23772737e-02 0.00000000e+00 2.15772954e+01] [ 4.23772737e-02 9.99101680e-01 0.00000000e+00 -9.39987606e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90809648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.10, Z:-0.00 [[ 9.99082980e-01 -4.28158740e-02 0.00000000e+00 2.16048512e+01] [ 4.28158740e-02 9.99082980e-01 0.00000000e+00 -9.63415917e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16558317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.617552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.10, Z:-0.00 [[ 9.99097624e-01 -4.24727809e-02 0.00000000e+00 2.16337877e+01] [ 4.24727809e-02 9.99097624e-01 0.00000000e+00 -1.01629777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73043700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.10, Z:-0.00 [[ 9.99124932e-01 -4.18254841e-02 0.00000000e+00 2.16612400e+01] [ 4.18254841e-02 9.99124932e-01 0.00000000e+00 -1.03308421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38750424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.677552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.10, Z:-0.00 [[ 9.99155895e-01 -4.10791551e-02 0.00000000e+00 2.16897717e+01] [ 4.10791551e-02 9.99155895e-01 0.00000000e+00 -1.04990544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14076960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.11, Z:-0.00 [[ 9.99202146e-01 -3.99383401e-02 0.00000000e+00 2.17171559e+01] [ 3.99383401e-02 9.99202146e-01 0.00000000e+00 -1.07169603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27810064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.737552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.11, Z:-0.00 [[ 9.99273471e-01 -3.81120779e-02 0.00000000e+00 2.17461622e+01] [ 3.81120779e-02 9.99273471e-01 0.00000000e+00 -1.13837391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53976582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.12, Z:-0.00 [[ 9.99292107e-01 -3.76202816e-02 0.00000000e+00 2.17744457e+01] [ 3.76202816e-02 9.99292107e-01 0.00000000e+00 -1.16120333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76082794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.797552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.12, Z:-0.00 [[ 9.99307835e-01 -3.72001378e-02 0.00000000e+00 2.18024459e+01] [ 3.72001378e-02 9.99307835e-01 0.00000000e+00 -1.18639355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85367418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.12, Z:-0.00 [[ 9.99300533e-01 -3.73957783e-02 0.00000000e+00 2.18308704e+01] [ 3.73957783e-02 9.99300533e-01 0.00000000e+00 -1.21201283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31207192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.857552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.13, Z:-0.00 [[ 9.99243142e-01 -3.88991351e-02 0.00000000e+00 2.18599073e+01] [ 3.88991351e-02 9.99243142e-01 0.00000000e+00 -1.28658253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81873917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.13, Z:-0.00 [[ 9.99176097e-01 -4.05848133e-02 0.00000000e+00 2.18885237e+01] [ 4.05848133e-02 9.99176097e-01 0.00000000e+00 -1.32255326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05082034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.14, Z:-0.00 [[ 9.99077969e-01 -4.29326320e-02 0.00000000e+00 2.19170352e+01] [ 4.29326320e-02 9.99077969e-01 0.00000000e+00 -1.36037764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56898554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947552017999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.14, Z:-0.01 [[ 9.98949877e-01 -4.58164131e-02 0.00000000e+00 2.19449091e+01] [ 4.58164131e-02 9.98949877e-01 0.00000000e+00 -1.39273559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53246174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.977552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.15, Z:-0.00 [[ 9.98697537e-01 -5.10218547e-02 0.00000000e+00 2.19740350e+01] [ 5.10218547e-02 9.98697537e-01 0.00000000e+00 -1.48269328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62542069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.15, Z:-0.00 [[ 9.98554615e-01 -5.37464510e-02 0.00000000e+00 2.20014106e+01] [ 5.37464510e-02 9.98554615e-01 0.00000000e+00 -1.51584823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57396706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.037552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.15, Z:-0.00 [[ 9.98402599e-01 -5.64999986e-02 0.00000000e+00 2.20301920e+01] [ 5.64999986e-02 9.98402599e-01 0.00000000e+00 -1.54525948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11472746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.16, Z:-0.00 [[ 9.98277622e-01 -5.86667590e-02 0.00000000e+00 2.20572223e+01] [ 5.86667590e-02 9.98277622e-01 0.00000000e+00 -1.57490312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00049957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.16, Z:0.00 [[ 9.98035172e-01 -6.26561714e-02 0.00000000e+00 2.20860917e+01] [ 6.26561714e-02 9.98035172e-01 0.00000000e+00 -1.64546470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98454799e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.17, Z:0.00 [[ 9.97922501e-01 -6.44257900e-02 0.00000000e+00 2.21144296e+01] [ 6.44257900e-02 9.97922501e-01 0.00000000e+00 -1.66970278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22299153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.157552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.17, Z:0.00 [[ 9.97812673e-01 -6.61049897e-02 0.00000000e+00 2.21416550e+01] [ 6.61049897e-02 9.97812673e-01 0.00000000e+00 -1.68946670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55464530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.17, Z:0.00 [[ 9.97687627e-01 -6.79661553e-02 0.00000000e+00 2.21701631e+01] [ 6.79661553e-02 9.97687627e-01 0.00000000e+00 -1.70412624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87221781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.17, Z:0.00 [[ 9.97482354e-01 -7.09151190e-02 0.00000000e+00 2.21989366e+01] [ 7.09151190e-02 9.97482354e-01 0.00000000e+00 -1.74789154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04761686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.18, Z:0.00 [[ 9.97340874e-01 -7.28778495e-02 0.00000000e+00 2.22267433e+01] [ 7.28778495e-02 9.97340874e-01 0.00000000e+00 -1.75725790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50534137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.277552017999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.18, Z:-0.00 [[ 9.97116904e-01 -7.58806909e-02 0.00000000e+00 2.22547479e+01] [ 7.58806909e-02 9.97116904e-01 0.00000000e+00 -1.75950441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.93491206e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.18, Z:0.00 [[ 9.96717214e-01 -8.09616874e-02 0.00000000e+00 2.22841555e+01] [ 8.09616874e-02 9.96717214e-01 0.00000000e+00 -1.79617629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16207856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.337552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.18, Z:0.00 [[ 9.96444226e-01 -8.42549998e-02 0.00000000e+00 2.23108936e+01] [ 8.42549998e-02 9.96444226e-01 0.00000000e+00 -1.80485432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60337249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.18, Z:0.00 [[ 9.96123508e-01 -8.79656563e-02 0.00000000e+00 2.23394100e+01] [ 8.79656563e-02 9.96123508e-01 0.00000000e+00 -1.80778969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24174796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.18, Z:0.00 [[ 9.95791133e-01 -9.16516158e-02 0.00000000e+00 2.23677561e+01] [ 9.16516158e-02 9.95791133e-01 0.00000000e+00 -1.80556928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63335137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.18, Z:0.00 [[ 9.95200008e-01 -9.78618619e-02 0.00000000e+00 2.23952220e+01] [ 9.78618619e-02 9.95200008e-01 0.00000000e+00 -1.81209924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60402647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.457552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.18, Z:0.00 [[ 9.94904647e-01 -1.00820354e-01 0.00000000e+00 2.24234240e+01] [ 1.00820354e-01 9.94904647e-01 0.00000000e+00 -1.80086500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63347397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.18, Z:0.00 [[ 9.94674885e-01 -1.03062476e-01 0.00000000e+00 2.24506360e+01] [ 1.03062476e-01 9.94674885e-01 0.00000000e+00 -1.78607145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53217231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.18, Z:0.00 [[ 9.94433680e-01 -1.05364394e-01 0.00000000e+00 2.24787419e+01] [ 1.05364394e-01 9.94433680e-01 0.00000000e+00 -1.76442317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60740811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.17, Z:0.01 [[ 9.94181363e-01 -1.07719159e-01 0.00000000e+00 2.25068989e+01] [ 1.07719159e-01 9.94181363e-01 0.00000000e+00 -1.74062025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18858257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.577552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.17, Z:0.01 [[ 9.94122303e-01 -1.08262856e-01 0.00000000e+00 2.25344574e+01] [ 1.08262856e-01 9.94122303e-01 0.00000000e+00 -1.71275805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92601108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.17, Z:0.01 [[ 9.94122578e-01 -1.08260331e-01 0.00000000e+00 2.25626004e+01] [ 1.08260331e-01 9.94122578e-01 0.00000000e+00 -1.67822128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83204772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.637552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.17, Z:0.01 [[ 9.94088338e-01 -1.08574285e-01 0.00000000e+00 2.25910555e+01] [ 1.08574285e-01 9.94088338e-01 0.00000000e+00 -1.65448022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83204772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.16, Z:0.01 [[ 9.94242626e-01 -1.07152233e-01 0.00000000e+00 2.26181172e+01] [ 1.07152233e-01 9.94242626e-01 0.00000000e+00 -1.59862735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93860642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.697552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.16, Z:0.01 [[ 9.94285342e-01 -1.06755138e-01 0.00000000e+00 2.26460714e+01] [ 1.06755138e-01 9.94285342e-01 0.00000000e+00 -1.55973285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46456154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.15, Z:0.01 [[ 9.94332895e-01 -1.06311302e-01 0.00000000e+00 2.26737267e+01] [ 1.06311302e-01 9.94332895e-01 0.00000000e+00 -1.52058150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27324320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.15, Z:0.01 [[ 9.94388919e-01 -1.05785995e-01 0.00000000e+00 2.27009157e+01] [ 1.05785995e-01 9.94388919e-01 0.00000000e+00 -1.47801595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96823191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.14, Z:0.01 [[ 9.94563941e-01 -1.04127653e-01 0.00000000e+00 2.27275120e+01] [ 1.04127653e-01 9.94563941e-01 0.00000000e+00 -1.41162556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56140376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.817552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.14, Z:0.01 [[ 9.94627481e-01 -1.03518951e-01 0.00000000e+00 2.27549458e+01] [ 1.03518951e-01 9.94627481e-01 0.00000000e+00 -1.36621266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11933201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.13, Z:0.01 [[ 9.94748377e-01 -1.02350703e-01 0.00000000e+00 2.27815840e+01] [ 1.02350703e-01 9.94748377e-01 0.00000000e+00 -1.31925620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14361549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.877552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.13, Z:0.01 [[ 9.94833159e-01 -1.01523324e-01 0.00000000e+00 2.28094117e+01] [ 1.01523324e-01 9.94833159e-01 0.00000000e+00 -1.26644246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58441197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.12, Z:0.01 [[ 9.95157243e-01 -9.82957827e-02 0.00000000e+00 2.28358993e+01] [ 9.82957827e-02 9.95157243e-01 0.00000000e+00 -1.19872517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09772789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.937552017999998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.12, Z:0.00 [[ 9.95239146e-01 -9.74630276e-02 0.00000000e+00 2.28632218e+01] [ 9.74630276e-02 9.95239146e-01 0.00000000e+00 -1.15264982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39283378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.11, Z:0.01 [[ 9.95494136e-01 -9.48231275e-02 0.00000000e+00 2.28909422e+01] [ 9.48231275e-02 9.95494136e-01 0.00000000e+00 -1.11644946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57371649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.997552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.10, Z:0.01 [[ 9.95931969e-01 -9.01083357e-02 0.00000000e+00 2.29181267e+01] [ 9.01083357e-02 9.95931969e-01 0.00000000e+00 -1.04263327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83283674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.10, Z:0.01 [[ 9.96154662e-01 -8.76121514e-02 0.00000000e+00 2.29458873e+01] [ 8.76121514e-02 9.96154662e-01 0.00000000e+00 -9.93189317e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30957034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.09, Z:0.00 [[ 9.96374845e-01 -8.50715527e-02 0.00000000e+00 2.29733601e+01] [ 8.50715527e-02 9.96374845e-01 0.00000000e+00 -9.49108453e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98156395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.09, Z:0.01 [[ 9.96734148e-01 -8.07529459e-02 0.00000000e+00 2.29999156e+01] [ 8.07529459e-02 9.96734148e-01 0.00000000e+00 -8.95480073e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02654500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.117552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.09, Z:0.00 [[ 9.96858934e-01 -7.91976393e-02 0.00000000e+00 2.30271598e+01] [ 7.91976393e-02 9.96858934e-01 0.00000000e+00 -8.61851087e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86750479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.08, Z:0.01 [[ 9.96947322e-01 -7.80771263e-02 0.00000000e+00 2.30552817e+01] [ 7.80771263e-02 9.96947322e-01 0.00000000e+00 -8.33520446e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81920571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.177552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.08, Z:0.01 [[ 9.97012708e-01 -7.72376863e-02 0.00000000e+00 2.30818057e+01] [ 7.72376863e-02 9.97012708e-01 0.00000000e+00 -8.06010399e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09736726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.08, Z:0.01 [[ 9.97086796e-01 -7.62752997e-02 0.00000000e+00 2.31082441e+01] [ 7.62752997e-02 9.97086796e-01 0.00000000e+00 -7.69667707e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65067650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.237552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.07, Z:0.01 [[ 9.97068853e-01 -7.65094865e-02 0.00000000e+00 2.31363014e+01] [ 7.65094865e-02 9.97068853e-01 0.00000000e+00 -7.39248167e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83456603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.07, Z:0.01 [[ 9.97018061e-01 -7.71685563e-02 0.00000000e+00 2.31645938e+01] [ 7.71685563e-02 9.97018061e-01 0.00000000e+00 -7.12498786e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88144842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.297552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.07, Z:0.01 [[ 9.96945204e-01 -7.81041617e-02 0.00000000e+00 2.31912990e+01] [ 7.81041617e-02 9.96945204e-01 0.00000000e+00 -6.87655628e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93602511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.07, Z:0.01 [[ 9.96727698e-01 -8.08325170e-02 0.00000000e+00 2.32193744e+01] [ 8.08325170e-02 9.96727698e-01 0.00000000e+00 -6.69439905e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75367447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.357552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.07, Z:0.01 [[ 9.96562279e-01 -8.28469928e-02 0.00000000e+00 2.32477534e+01] [ 8.28469928e-02 9.96562279e-01 0.00000000e+00 -6.50342907e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68531561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.06, Z:0.01 [[ 9.96406250e-01 -8.47029216e-02 0.00000000e+00 2.32742938e+01] [ 8.47029216e-02 9.96406250e-01 0.00000000e+00 -6.32094415e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21497667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.06, Z:0.01 [[ 9.95987351e-01 -8.94941104e-02 0.00000000e+00 2.33024742e+01] [ 8.94941104e-02 9.95987351e-01 0.00000000e+00 -6.19042533e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70426588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.06, Z:0.00 [[ 9.95735514e-01 -9.22539234e-02 0.00000000e+00 2.33306043e+01] [ 9.22539234e-02 9.95735514e-01 0.00000000e+00 -6.00913606e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86545534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.477552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.06, Z:0.00 [[ 9.95462688e-01 -9.51526999e-02 0.00000000e+00 2.33575896e+01] [ 9.51526999e-02 9.95462688e-01 0.00000000e+00 -5.80833528e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47367391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.06, Z:0.00 [[ 9.95165508e-01 -9.82120749e-02 0.00000000e+00 2.33856236e+01] [ 9.82120749e-02 9.95165508e-01 0.00000000e+00 -5.58626591e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41301044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.537552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.05, Z:0.00 [[ 9.94579060e-01 -1.03983142e-01 0.00000000e+00 2.34133111e+01] [ 1.03983142e-01 9.94579060e-01 0.00000000e+00 -5.44991006e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65275715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.05, Z:0.00 [[ 9.94278481e-01 -1.06819017e-01 0.00000000e+00 2.34417226e+01] [ 1.06819017e-01 9.94278481e-01 0.00000000e+00 -5.25392388e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52239320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.05, Z:0.01 [[ 9.93954877e-01 -1.09789357e-01 0.00000000e+00 2.34697789e+01] [ 1.09789357e-01 9.93954877e-01 0.00000000e+00 -5.01549992e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15631260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.05, Z:0.00 [[ 9.93658228e-01 -1.12442542e-01 0.00000000e+00 2.34963083e+01] [ 1.12442542e-01 9.93658228e-01 0.00000000e+00 -4.72660593e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79850550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.657552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.04, Z:0.00 [[ 9.93229562e-01 -1.16168146e-01 0.00000000e+00 2.35235262e+01] [ 1.16168146e-01 9.93229562e-01 0.00000000e+00 -4.34300878e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60498066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.04, Z:0.00 [[ 9.93021679e-01 -1.17931953e-01 0.00000000e+00 2.35513031e+01] [ 1.17931953e-01 9.93021679e-01 0.00000000e+00 -3.99768454e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82172329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.03, Z:0.01 [[ 9.92687889e-01 -1.20709384e-01 0.00000000e+00 2.35789551e+01] [ 1.20709384e-01 9.92687889e-01 0.00000000e+00 -3.48783644e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27793259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.03, Z:0.01 [[ 9.92579556e-01 -1.21596974e-01 0.00000000e+00 2.36057005e+01] [ 1.21596974e-01 9.92579556e-01 0.00000000e+00 -3.09031515e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20122832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.777552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.03, Z:0.01 [[ 9.92442313e-01 -1.22712085e-01 0.00000000e+00 2.36330121e+01] [ 1.22712085e-01 9.92442313e-01 0.00000000e+00 -2.68597772e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31253958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.02, Z:0.01 [[ 9.92339344e-01 -1.23542000e-01 0.00000000e+00 2.36610804e+01] [ 1.23542000e-01 9.92339344e-01 0.00000000e+00 -2.20164681e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99114489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.837552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.02, Z:0.01 [[ 9.92266446e-01 -1.24126144e-01 0.00000000e+00 2.36883672e+01] [ 1.24126144e-01 9.92266446e-01 0.00000000e+00 -1.67688921e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20857534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.01, Z:0.01 [[ 9.92229112e-01 -1.24424229e-01 0.00000000e+00 2.37151277e+01] [ 1.24424229e-01 9.92229112e-01 0.00000000e+00 -8.04903874e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98461856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.00, Z:0.01 [[ 9.92227011e-01 -1.24440986e-01 0.00000000e+00 2.37430971e+01] [ 1.24440986e-01 9.92227011e-01 0.00000000e+00 -2.48041854e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00693840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:0.00, Z:0.01 [[ 9.92269710e-01 -1.24100048e-01 0.00000000e+00 2.37701164e+01] [ 1.24100048e-01 9.92269710e-01 0.00000000e+00 2.91190630e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02325218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.957552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:0.01, Z:0.01 [[ 9.92438670e-01 -1.22741540e-01 0.00000000e+00 2.37966090e+01] [ 1.22741540e-01 9.92438670e-01 0.00000000e+00 1.22420636e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51430627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:0.02, Z:0.01 [[ 9.92526449e-01 -1.22029705e-01 0.00000000e+00 2.38237424e+01] [ 1.22029705e-01 9.92526449e-01 0.00000000e+00 1.87751340e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22230720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:0.03, Z:0.01 [[ 9.92652625e-01 -1.20999033e-01 0.00000000e+00 2.38513586e+01] [ 1.20999033e-01 9.92652625e-01 0.00000000e+00 2.53046591e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98724679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:0.03, Z:0.01 [[ 9.92794608e-01 -1.19828488e-01 0.00000000e+00 2.38782384e+01] [ 1.19828488e-01 9.92794608e-01 0.00000000e+00 3.20793118e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00373405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:0.04, Z:0.01 [[ 9.93090657e-01 -1.17349675e-01 0.00000000e+00 2.39039449e+01] [ 1.17349675e-01 9.93090657e-01 0.00000000e+00 4.30503824e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36702136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:0.05, Z:0.01 [[ 9.93176634e-01 -1.16619786e-01 0.00000000e+00 2.39312119e+01] [ 1.16619786e-01 9.93176634e-01 0.00000000e+00 4.93609504e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48528766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.137552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:0.06, Z:0.01 [[ 9.93243371e-01 -1.16050014e-01 0.00000000e+00 2.39583613e+01] [ 1.16050014e-01 9.93243371e-01 0.00000000e+00 5.54549665e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66831743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:0.06, Z:0.01 [[ 9.93311879e-01 -1.15462160e-01 0.00000000e+00 2.39860566e+01] [ 1.15462160e-01 9.93311879e-01 0.00000000e+00 6.14202620e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50378355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.197552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:0.07, Z:0.01 [[ 9.93429917e-01 -1.14442125e-01 0.00000000e+00 2.40118729e+01] [ 1.14442125e-01 9.93429917e-01 0.00000000e+00 7.09797479e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35499485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:0.08, Z:0.01 [[ 9.93492199e-01 -1.13900182e-01 0.00000000e+00 2.40394481e+01] [ 1.13900182e-01 9.93492199e-01 0.00000000e+00 7.73445035e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13328624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:0.08, Z:0.01 [[ 9.93575744e-01 -1.13169081e-01 0.00000000e+00 2.40661181e+01] [ 1.13169081e-01 9.93575744e-01 0.00000000e+00 8.36462185e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55254728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:0.09, Z:0.01 [[ 9.93666204e-01 -1.12372039e-01 0.00000000e+00 2.40939640e+01] [ 1.12372039e-01 9.93666204e-01 0.00000000e+00 9.02317836e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75931679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.317552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:0.10, Z:0.01 [[ 9.94098458e-01 -1.08481588e-01 0.00000000e+00 2.41203772e+01] [ 1.08481588e-01 9.94098458e-01 0.00000000e+00 9.95420344e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12297592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:0.11, Z:0.01 [[ 9.94337885e-01 -1.06264625e-01 0.00000000e+00 2.41464970e+01] [ 1.06264625e-01 9.94337885e-01 0.00000000e+00 1.05150519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47328023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:0.11, Z:0.01 [[ 9.94621345e-01 -1.03577894e-01 0.00000000e+00 2.41732531e+01] [ 1.03577894e-01 9.94621345e-01 0.00000000e+00 1.10564855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76824991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:0.12, Z:0.01 [[ 9.95126338e-01 -9.86081741e-02 0.00000000e+00 2.42005179e+01] [ 9.86081741e-02 9.95126338e-01 0.00000000e+00 1.19150298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46720521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.437552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:0.12, Z:0.01 [[ 9.95344021e-01 -9.63860935e-02 0.00000000e+00 2.42282572e+01] [ 9.63860935e-02 9.95344021e-01 0.00000000e+00 1.24819707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07100176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:0.13, Z:0.01 [[ 9.95506929e-01 -9.46887260e-02 0.00000000e+00 2.42559261e+01] [ 9.46887260e-02 9.95506929e-01 0.00000000e+00 1.30413336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60743463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.497552017999997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:24.28, Y:0.14, Z:0.01 [[ 9.95632266e-01 -9.33616123e-02 0.00000000e+00 2.42838222e+01] [ 9.33616123e-02 9.95632266e-01 0.00000000e+00 1.35570940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72027629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527552017999998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:24.31, Y:0.14, Z:0.01 [[ 9.95597639e-01 -9.37301553e-02 0.00000000e+00 2.43121821e+01] [ 9.37301553e-02 9.95597639e-01 0.00000000e+00 1.38538544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72027629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:0.14, Z:0.01 [[ 9.95831049e-01 -9.12168903e-02 0.00000000e+00 2.43388402e+01] [ 9.12168903e-02 9.95831049e-01 0.00000000e+00 1.43027298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41848468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:0.15, Z:0.01 [[ 9.95818121e-01 -9.13579257e-02 0.00000000e+00 2.43668303e+01] [ 9.13579257e-02 9.95818121e-01 0.00000000e+00 1.46528466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35711549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.617552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:0.15, Z:0.01 [[ 9.95753025e-01 -9.20647241e-02 0.00000000e+00 2.43949164e+01] [ 9.20647241e-02 9.95753025e-01 0.00000000e+00 1.49915181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12440877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:0.15, Z:0.01 [[ 9.95485140e-01 -9.49175172e-02 0.00000000e+00 2.44228684e+01] [ 9.49175172e-02 9.95485140e-01 0.00000000e+00 1.53135278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04545303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.677552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:0.16, Z:0.00 [[ 9.95275910e-01 -9.70868841e-02 0.00000000e+00 2.44507762e+01] [ 9.70868841e-02 9.95275910e-01 0.00000000e+00 1.55855504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87629867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:0.16, Z:0.00 [[ 9.95053874e-01 -9.93367368e-02 0.00000000e+00 2.44781632e+01] [ 9.93367368e-02 9.95053874e-01 0.00000000e+00 1.58168719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65127282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.737552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:0.16, Z:0.00 [[ 9.94805334e-01 -1.01795612e-01 0.00000000e+00 2.45055767e+01] [ 1.01795612e-01 9.94805334e-01 0.00000000e+00 1.60224336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59773038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:0.16, Z:0.01 [[ 9.94525588e-01 -1.04493325e-01 0.00000000e+00 2.45333125e+01] [ 1.04493325e-01 9.94525588e-01 0.00000000e+00 1.62027453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19956355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.797552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:0.16, Z:0.00 [[ 9.93957355e-01 -1.09766916e-01 0.00000000e+00 2.45600843e+01] [ 1.09766916e-01 9.93957355e-01 0.00000000e+00 1.62464749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80867195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:0.16, Z:0.00 [[ 9.93632854e-01 -1.12666550e-01 0.00000000e+00 2.45875773e+01] [ 1.12666550e-01 9.93632854e-01 0.00000000e+00 1.64421483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01951017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.857552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:0.17, Z:0.00 [[ 9.93275818e-01 -1.15771970e-01 0.00000000e+00 2.46158558e+01] [ 1.15771970e-01 9.93275818e-01 0.00000000e+00 1.66485092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46430629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887552017999997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:24.64, Y:0.17, Z:-0.00 [[ 9.92884770e-01 -1.19079106e-01 0.00000000e+00 2.46439936e+01] [ 1.19079106e-01 9.92884770e-01 0.00000000e+00 1.68764216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47079064e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:0.17, Z:0.00 [[ 9.92262500e-01 -1.24157689e-01 0.00000000e+00 2.46725812e+01] [ 1.24157689e-01 9.92262500e-01 0.00000000e+00 1.68899421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40459965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:0.17, Z:0.00 [[ 9.91953823e-01 -1.26600207e-01 0.00000000e+00 2.46997328e+01] [ 1.26600207e-01 9.91953823e-01 0.00000000e+00 1.71188874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11623936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.977552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:0.17, Z:0.00 [[ 9.91632467e-01 -1.29093182e-01 0.00000000e+00 2.47279905e+01] [ 1.29093182e-01 9.91632467e-01 0.00000000e+00 1.73804544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25643453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:0.18, Z:0.00 [[ 9.91140865e-01 -1.32814852e-01 0.00000000e+00 2.47557682e+01] [ 1.32814852e-01 9.91140865e-01 0.00000000e+00 1.76522599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52250134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.037552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:0.18, Z:0.00 [[ 9.90826310e-01 -1.35141496e-01 0.00000000e+00 2.47840187e+01] [ 1.35141496e-01 9.90826310e-01 0.00000000e+00 1.79702910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42317137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:0.18, Z:0.00 [[ 9.90522513e-01 -1.37350467e-01 0.00000000e+00 2.48119725e+01] [ 1.37350467e-01 9.90522513e-01 0.00000000e+00 1.83132677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70002383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:0.19, Z:0.01 [[ 9.90081909e-01 -1.40491331e-01 0.00000000e+00 2.48388303e+01] [ 1.40491331e-01 9.90081909e-01 0.00000000e+00 1.86952296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74482703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:0.19, Z:0.01 [[ 9.89834949e-01 -1.42220865e-01 0.00000000e+00 2.48661658e+01] [ 1.42220865e-01 9.89834949e-01 0.00000000e+00 1.91082633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72035988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.157552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:0.20, Z:0.01 [[ 9.89586579e-01 -1.43938887e-01 0.00000000e+00 2.48932760e+01] [ 1.43938887e-01 9.89586579e-01 0.00000000e+00 1.95609025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44010397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:0.20, Z:0.00 [[ 9.89319507e-01 -1.45763211e-01 0.00000000e+00 2.49208051e+01] [ 1.45763211e-01 9.89319507e-01 0.00000000e+00 2.00385314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95194500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:0.21, Z:0.00 [[ 9.89085031e-01 -1.47345858e-01 0.00000000e+00 2.49478231e+01] [ 1.47345858e-01 9.89085031e-01 0.00000000e+00 2.05105388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58701925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:0.21, Z:0.00 [[ 9.88567271e-01 -1.50780472e-01 0.00000000e+00 2.49738679e+01] [ 1.50780472e-01 9.88567271e-01 0.00000000e+00 2.11872189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22814141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.277552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:0.22, Z:0.00 [[ 9.88244296e-01 -1.52882999e-01 0.00000000e+00 2.50017468e+01] [ 1.52882999e-01 9.88244296e-01 0.00000000e+00 2.17361019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19802287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:0.22, Z:0.00 [[ 9.87949656e-01 -1.54775573e-01 0.00000000e+00 2.50294437e+01] [ 1.54775573e-01 9.87949656e-01 0.00000000e+00 2.23470055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13767684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.337552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.06, Y:0.23, Z:0.00 [[ 9.87566678e-01 -1.57200686e-01 0.00000000e+00 2.50568724e+01] [ 1.57200686e-01 9.87566678e-01 0.00000000e+00 2.33454884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39425289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:0.24, Z:0.00 [[ 9.87340332e-01 -1.58616103e-01 0.00000000e+00 2.50842217e+01] [ 1.58616103e-01 9.87340332e-01 0.00000000e+00 2.40303805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55266277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:0.25, Z:0.00 [[ 9.87076532e-01 -1.60249558e-01 0.00000000e+00 2.51119840e+01] [ 1.60249558e-01 9.87076532e-01 0.00000000e+00 2.47219720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40096559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:0.26, Z:0.00 [[ 9.86642331e-01 -1.62901539e-01 0.00000000e+00 2.51384644e+01] [ 1.62901539e-01 9.86642331e-01 0.00000000e+00 2.58610008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91257548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.457552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.16, Y:0.27, Z:0.00 [[ 9.86451363e-01 -1.64053980e-01 0.00000000e+00 2.51643561e+01] [ 1.64053980e-01 9.86451363e-01 0.00000000e+00 2.66232409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53588102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.19, Y:0.27, Z:0.00 [[ 9.86289754e-01 -1.65022788e-01 0.00000000e+00 2.51914289e+01] [ 1.65022788e-01 9.86289754e-01 0.00000000e+00 2.73794842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17445694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:0.28, Z:0.00 [[ 9.86168867e-01 -1.65743674e-01 0.00000000e+00 2.52186137e+01] [ 1.65743674e-01 9.86168867e-01 0.00000000e+00 2.81777488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52790790e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:0.29, Z:0.00 [[ 9.86239916e-01 -1.65320381e-01 0.00000000e+00 2.52439152e+01] [ 1.65320381e-01 9.86239916e-01 0.00000000e+00 2.94702626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63706133e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.577552018 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:25.27, Y:0.30, Z:0.00 [[ 9.86277424e-01 -1.65096464e-01 0.00000000e+00 2.52711654e+01] [ 1.65096464e-01 9.86277424e-01 0.00000000e+00 3.03124748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50028267e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:0.31, Z:0.00 [[ 9.86431097e-01 -1.64175790e-01 0.00000000e+00 2.52982546e+01] [ 1.64175790e-01 9.86431097e-01 0.00000000e+00 3.11220263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63765852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.637552017999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:25.32, Y:0.32, Z:0.00 [[ 9.86935443e-01 -1.61116204e-01 0.00000000e+00 2.53245336e+01] [ 1.61116204e-01 9.86935443e-01 0.00000000e+00 3.24336080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52796734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667552018 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:25.35, Y:0.33, Z:0.00 [[ 9.87186571e-01 -1.59570280e-01 0.00000000e+00 2.53518487e+01] [ 1.59570280e-01 9.87186571e-01 0.00000000e+00 3.32780287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75712179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.697552017999996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:25.38, Y:0.34, Z:0.00 [[ 9.87491711e-01 -1.57670924e-01 0.00000000e+00 2.53779843e+01] [ 1.57670924e-01 9.87491711e-01 0.00000000e+00 3.40972641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57445835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727552017999997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:25.41, Y:0.35, Z:0.00 [[ 9.87855617e-01 -1.55374646e-01 0.00000000e+00 2.54052312e+01] [ 1.55374646e-01 9.87855617e-01 0.00000000e+00 3.49004665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43907559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.757552018 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:25.43, Y:0.36, Z:0.00 [[ 9.88654386e-01 -1.50208205e-01 0.00000000e+00 2.54315376e+01] [ 1.50208205e-01 9.88654386e-01 0.00000000e+00 3.61736247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01742491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787552017999996 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:25.46, Y:0.37, Z:0.00 [[ 9.89050991e-01 -1.47574173e-01 0.00000000e+00 2.54583801e+01] [ 1.47574173e-01 9.89050991e-01 0.00000000e+00 3.69392717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94990304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.817552017999997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:25.49, Y:0.38, Z:0.00 [[ 9.89442211e-01 -1.44927949e-01 0.00000000e+00 2.54855114e+01] [ 1.44927949e-01 9.89442211e-01 0.00000000e+00 3.76848413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17434651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847552018 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:25.51, Y:0.39, Z:0.00 [[ 9.90227025e-01 -1.39464833e-01 0.00000000e+00 2.55120423e+01] [ 1.39464833e-01 9.90227025e-01 0.00000000e+00 3.88598622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43353585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877552017999996 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:25.54, Y:0.40, Z:0.00 [[ 9.90630718e-01 -1.36567862e-01 0.00000000e+00 2.55394844e+01] [ 1.36567862e-01 9.90630718e-01 0.00000000e+00 3.96008928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48182114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907552017999997 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:25.57, Y:0.40, Z:0.00 [[ 9.91023630e-01 -1.33686814e-01 0.00000000e+00 2.55658691e+01] [ 1.33686814e-01 9.91023630e-01 0.00000000e+00 4.03265845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81475410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.937552017999998 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:25.59, Y:0.41, Z:0.00 [[ 9.91429725e-01 -1.30641111e-01 0.00000000e+00 2.55933818e+01] [ 1.30641111e-01 9.91429725e-01 0.00000000e+00 4.09700178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31965457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967552018 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:25.62, Y:0.42, Z:-0.00 [[ 9.92080194e-01 -1.25606088e-01 0.00000000e+00 2.56208836e+01] [ 1.25606088e-01 9.92080194e-01 0.00000000e+00 4.18357555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15745379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.997552017999997 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:25.65, Y:0.42, Z:-0.00 [[ 9.92340876e-01 -1.23529697e-01 0.00000000e+00 2.56481862e+01] [ 1.23529697e-01 9.92340876e-01 0.00000000e+00 4.23964744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17163979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027552017999998 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:25.68, Y:0.43, Z:-0.00 [[ 9.92617737e-01 -1.21284904e-01 0.00000000e+00 2.56750878e+01] [ 1.21284904e-01 9.92617737e-01 0.00000000e+00 4.29298033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74392764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.057552018 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:25.70, Y:0.43, Z:-0.00 [[ 9.92864839e-01 -1.19245172e-01 0.00000000e+00 2.57025985e+01] [ 1.19245172e-01 9.92864839e-01 0.00000000e+00 4.34315350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70136020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087552017999997 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:25.73, Y:0.44, Z:-0.00 [[ 9.93237525e-01 -1.16100042e-01 0.00000000e+00 2.57307911e+01] [ 1.16100042e-01 9.93237525e-01 0.00000000e+00 4.39617707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61062436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.117552017999998 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:25.76, Y:0.44, Z:-0.00 [[ 9.93378366e-01 -1.14888735e-01 0.00000000e+00 2.57588801e+01] [ 1.14888735e-01 9.93378366e-01 0.00000000e+00 4.43471589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08139202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147552018 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:25.79, Y:0.45, Z:-0.00 [[ 9.93664641e-01 -1.12385861e-01 0.00000000e+00 2.57869572e+01] [ 1.12385861e-01 9.93664641e-01 0.00000000e+00 4.46957334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56435732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.177552017999997 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:25.82, Y:0.45, Z:-0.00 [[ 9.93764555e-01 -1.11498924e-01 0.00000000e+00 2.58154256e+01] [ 1.11498924e-01 9.93764555e-01 0.00000000e+00 4.50126003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22525307e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207552017999998 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:25.84, Y:0.45, Z:0.00 [[ 9.93857094e-01 -1.10671031e-01 0.00000000e+00 2.58442489e+01] [ 1.10671031e-01 9.93857094e-01 0.00000000e+00 4.52595325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42632013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.237552018 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:25.87, Y:0.45, Z:0.00 [[ 9.93900511e-01 -1.10280431e-01 0.00000000e+00 2.58724210e+01] [ 1.10280431e-01 9.93900511e-01 0.00000000e+00 4.54822984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23273806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267552017999996 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:25.90, Y:0.46, Z:0.00 [[ 9.93889665e-01 -1.10378139e-01 0.00000000e+00 2.59014797e+01] [ 1.10378139e-01 9.93889665e-01 0.00000000e+00 4.57011660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99911859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.297552017999998 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:25.93, Y:0.46, Z:0.00 [[ 9.93800486e-01 -1.11178210e-01 0.00000000e+00 2.59292256e+01] [ 1.11178210e-01 9.93800486e-01 0.00000000e+00 4.57458503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60682684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327552018 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:25.96, Y:0.46, Z:0.00 [[ 9.93678565e-01 -1.12262681e-01 0.00000000e+00 2.59573585e+01] [ 1.12262681e-01 9.93678565e-01 0.00000000e+00 4.59166558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13985116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.357552017999996 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:25.98, Y:0.46, Z:0.00 [[ 9.93547415e-01 -1.13417523e-01 0.00000000e+00 2.59843910e+01] [ 1.13417523e-01 9.93547415e-01 0.00000000e+00 4.60512217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58560723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387552017999997 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:26.01, Y:0.46, Z:0.00 [[ 9.93223321e-01 -1.16221486e-01 0.00000000e+00 2.60118778e+01] [ 1.16221486e-01 9.93223321e-01 0.00000000e+00 4.59515565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05322633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.417552018 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:26.04, Y:0.46, Z:0.00 [[ 9.93070944e-01 -1.17516386e-01 0.00000000e+00 2.60400856e+01] [ 1.17516386e-01 9.93070944e-01 0.00000000e+00 4.60178199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73043444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447552017999996 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:26.07, Y:0.46, Z:0.00 [[ 9.93032661e-01 -1.17839442e-01 0.00000000e+00 2.60683403e+01] [ 1.17839442e-01 9.93032661e-01 0.00000000e+00 4.63675314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73043444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.477552017999997 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:26.10, Y:0.46, Z:0.00 [[ 9.92856871e-01 -1.19311495e-01 0.00000000e+00 2.60963934e+01] [ 1.19311495e-01 9.92856871e-01 0.00000000e+00 4.64058866e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17469052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507552018 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:26.12, Y:0.46, Z:0.00 [[ 9.92549000e-01 -1.21846147e-01 0.00000000e+00 2.61239257e+01] [ 1.21846147e-01 9.92549000e-01 0.00000000e+00 4.61629160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32404199e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.537552017999996 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:26.15, Y:0.46, Z:-0.00 [[ 9.92422242e-01 -1.22874303e-01 0.00000000e+00 2.61507811e+01] [ 1.22874303e-01 9.92422242e-01 0.00000000e+00 4.62401618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80262494e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567552017999997 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:26.18, Y:0.46, Z:-0.00 [[ 9.92314207e-01 -1.23743748e-01 0.00000000e+00 2.61790743e+01] [ 1.23743748e-01 9.92314207e-01 0.00000000e+00 4.63206425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72929732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.597552018 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:26.21, Y:0.46, Z:-0.00 [[ 9.92110854e-01 -1.25363688e-01 0.00000000e+00 2.62070857e+01] [ 1.25363688e-01 9.92110854e-01 0.00000000e+00 4.64548141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58104897e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627552017999996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:26.24, Y:0.47, Z:-0.00 [[ 9.91962430e-01 -1.26532754e-01 0.00000000e+00 2.62354519e+01] [ 1.26532754e-01 9.91962430e-01 0.00000000e+00 4.65181546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74516076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.657552017999997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:26.26, Y:0.46, Z:-0.00 [[ 9.91683539e-01 -1.28700270e-01 0.00000000e+00 2.62630748e+01] [ 1.28700270e-01 9.91683539e-01 0.00000000e+00 4.62773157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99824587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687552017999998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:26.29, Y:0.46, Z:-0.00 [[ 9.91497728e-01 -1.30123998e-01 0.00000000e+00 2.62898934e+01] [ 1.30123998e-01 9.91497728e-01 0.00000000e+00 4.63405132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72970236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717552017999996 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:26.32, Y:0.46, Z:-0.00 [[ 9.91254748e-01 -1.31962211e-01 0.00000000e+00 2.63175628e+01] [ 1.31962211e-01 9.91254748e-01 0.00000000e+00 4.64403188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12081289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747552017999997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:26.35, Y:0.46, Z:-0.00 [[ 9.90720570e-01 -1.35914502e-01 0.00000000e+00 2.63455823e+01] [ 1.35914502e-01 9.90720570e-01 0.00000000e+00 4.63096258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59299952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.777552017999998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:26.37, Y:0.46, Z:0.00 [[ 9.90326945e-01 -1.38753531e-01 0.00000000e+00 2.63736887e+01] [ 1.38753531e-01 9.90326945e-01 0.00000000e+00 4.64603083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63047719e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807552018 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:26.40, Y:0.47, Z:-0.00 [[ 9.89996275e-01 -1.41093497e-01 0.00000000e+00 2.64003857e+01] [ 1.41093497e-01 9.89996275e-01 0.00000000e+00 4.65284100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29744039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.837552017999997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:26.43, Y:0.47, Z:0.00 [[ 9.89139740e-01 -1.46978141e-01 0.00000000e+00 2.64281033e+01] [ 1.46978141e-01 9.89139740e-01 0.00000000e+00 4.65104019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06834113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:26.46, Y:0.47, Z:0.00 [[ 9.88632914e-01 -1.50349461e-01 0.00000000e+00 2.64555645e+01] [ 1.50349461e-01 9.88632914e-01 0.00000000e+00 4.67316742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86673920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.897552018 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:26.48, Y:0.47, Z:-0.00 [[ 9.88261525e-01 -1.52771587e-01 0.00000000e+00 2.64833661e+01] [ 1.52771587e-01 9.88261525e-01 0.00000000e+00 4.69244710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63371952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927552017999997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:26.51, Y:0.47, Z:0.00 [[ 9.87858635e-01 -1.55355456e-01 0.00000000e+00 2.65116856e+01] [ 1.55355456e-01 9.87858635e-01 0.00000000e+00 4.72051892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96011334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.957552017999998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:26.54, Y:0.47, Z:0.00 [[ 9.87424324e-01 -1.58092392e-01 0.00000000e+00 2.65389716e+01] [ 1.58092392e-01 9.87424324e-01 0.00000000e+00 4.74272863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16775988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:0.48, Z:0.00 [[ 9.87341852e-01 -1.58606645e-01 0.00000000e+00 2.65661799e+01] [ 1.58606645e-01 9.87341852e-01 0.00000000e+00 4.77282483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09152814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.017552017999996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:26.59, Y:0.48, Z:0.00 [[ 9.87249072e-01 -1.59183130e-01 0.00000000e+00 2.65936445e+01] [ 1.59183130e-01 9.87249072e-01 0.00000000e+00 4.80794167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13555212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:26.62, Y:0.48, Z:0.00 [[ 9.87252203e-01 -1.59163712e-01 0.00000000e+00 2.66210819e+01] [ 1.59163712e-01 9.87252203e-01 0.00000000e+00 4.84858083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39435169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.077552018 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:26.65, Y:0.49, Z:0.00 [[ 9.87264585e-01 -1.59086890e-01 0.00000000e+00 2.66491217e+01] [ 1.59086890e-01 9.87264585e-01 0.00000000e+00 4.89127423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84873972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107552017999996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:26.68, Y:0.49, Z:0.00 [[ 9.87321431e-01 -1.58733713e-01 0.00000000e+00 2.66765656e+01] [ 1.58733713e-01 9.87321431e-01 0.00000000e+00 4.93094856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50051829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.137552017999997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:26.70, Y:0.50, Z:0.00 [[ 9.87429397e-01 -1.58060704e-01 0.00000000e+00 2.67043022e+01] [ 1.58060704e-01 9.87429397e-01 0.00000000e+00 4.97118177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31429205e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:26.73, Y:0.50, Z:-0.00 [[ 9.87955082e-01 -1.54740935e-01 0.00000000e+00 2.67315990e+01] [ 1.54740935e-01 9.87955082e-01 0.00000000e+00 5.02305177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29211402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.197552017999996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:26.76, Y:0.51, Z:-0.00 [[ 9.88251082e-01 -1.52839126e-01 0.00000000e+00 2.67591154e+01] [ 1.52839126e-01 9.88251082e-01 0.00000000e+00 5.07612949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60186521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227552017999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:26.79, Y:0.51, Z:-0.00 [[ 9.88630724e-01 -1.50363862e-01 0.00000000e+00 2.67854502e+01] [ 1.50363862e-01 9.88630724e-01 0.00000000e+00 5.12743981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17797629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.257552018 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:26.81, Y:0.52, Z:-0.01 [[ 9.89370358e-01 -1.45417655e-01 0.00000000e+00 2.68130042e+01] [ 1.45417655e-01 9.89370358e-01 0.00000000e+00 5.19073156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76405648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287552017999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:26.84, Y:0.52, Z:-0.00 [[ 9.89541961e-01 -1.44245302e-01 0.00000000e+00 2.68405571e+01] [ 1.44245302e-01 9.89541961e-01 0.00000000e+00 5.23999618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90594077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.317552017999997 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:26.87, Y:0.53, Z:-0.00 [[ 9.89673206e-01 -1.43342056e-01 0.00000000e+00 2.68678657e+01] [ 1.43342056e-01 9.89673206e-01 0.00000000e+00 5.28337337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42032806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347552018 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:26.90, Y:0.53, Z:0.00 [[ 9.89709253e-01 -1.43092958e-01 0.00000000e+00 2.68952079e+01] [ 1.43092958e-01 9.89709253e-01 0.00000000e+00 5.33052194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13141267e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.377552017999996 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:26.92, Y:0.54, Z:0.00 [[ 9.89709616e-01 -1.43090446e-01 0.00000000e+00 2.69219000e+01] [ 1.43090446e-01 9.89709616e-01 0.00000000e+00 5.38902533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16161923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407552017999997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:26.95, Y:0.54, Z:0.00 [[ 9.89642476e-01 -1.43554065e-01 0.00000000e+00 2.69493786e+01] [ 1.43554065e-01 9.89642476e-01 0.00000000e+00 5.43295917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06508197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.437552017999998 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:26.98, Y:0.55, Z:0.00 [[ 9.89517748e-01 -1.44411312e-01 0.00000000e+00 2.69772292e+01] [ 1.44411312e-01 9.89517748e-01 0.00000000e+00 5.47679933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52747618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467552017999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:27.00, Y:0.55, Z:-0.00 [[ 9.89375825e-01 -1.45380455e-01 0.00000000e+00 2.70039892e+01] [ 1.45380455e-01 9.89375825e-01 0.00000000e+00 5.51867284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06356690e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.497552017999997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:27.03, Y:0.56, Z:-0.00 [[ 9.89010864e-01 -1.47842858e-01 0.00000000e+00 2.70317811e+01] [ 1.47842858e-01 9.89010864e-01 0.00000000e+00 5.56405580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55465701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527552017999998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:27.06, Y:0.56, Z:-0.00 [[ 9.88733538e-01 -1.49686307e-01 0.00000000e+00 2.70590957e+01] [ 1.49686307e-01 9.88733538e-01 0.00000000e+00 5.60751864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15061711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.557552018 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:27.09, Y:0.56, Z:-0.00 [[ 9.88483413e-01 -1.51329248e-01 0.00000000e+00 2.70869198e+01] [ 1.51329248e-01 9.88483413e-01 0.00000000e+00 5.64993741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39478214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587552017999997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:27.11, Y:0.57, Z:-0.00 [[ 9.88019147e-01 -1.54331352e-01 0.00000000e+00 2.71148771e+01] [ 1.54331352e-01 9.88019147e-01 0.00000000e+00 5.69880206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78773027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.617552017999998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:27.14, Y:0.57, Z:-0.00 [[ 9.87763845e-01 -1.55957005e-01 0.00000000e+00 2.71428564e+01] [ 1.55957005e-01 9.87763845e-01 0.00000000e+00 5.74174147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.65717653e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647552018 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:27.17, Y:0.58, Z:-0.00 [[ 9.87508953e-01 -1.57562900e-01 0.00000000e+00 2.71702714e+01] [ 1.57562900e-01 9.87508953e-01 0.00000000e+00 5.78784721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48635001e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.677552017999997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:27.20, Y:0.58, Z:-0.00 [[ 9.87259815e-01 -1.59116493e-01 0.00000000e+00 2.71970622e+01] [ 1.59116493e-01 9.87259815e-01 0.00000000e+00 5.83429056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25696920e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707552017999998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:27.22, Y:0.59, Z:-0.00 [[ 9.86695295e-01 -1.62580428e-01 0.00000000e+00 2.72240748e+01] [ 1.62580428e-01 9.86695295e-01 0.00000000e+00 5.89183413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66104406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.737552018 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:27.25, Y:0.59, Z:-0.00 [[ 9.86324775e-01 -1.64813346e-01 0.00000000e+00 2.72514347e+01] [ 1.64813346e-01 9.86324775e-01 0.00000000e+00 5.94137707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32610918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767552017999996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:27.28, Y:0.60, Z:-0.00 [[ 9.85925553e-01 -1.67184941e-01 0.00000000e+00 2.72794518e+01] [ 1.67184941e-01 9.85925553e-01 0.00000000e+00 5.99412403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18757427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.797552017999998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:27.31, Y:0.60, Z:-0.00 [[ 9.85533859e-01 -1.69478650e-01 0.00000000e+00 2.73057749e+01] [ 1.69478650e-01 9.85533859e-01 0.00000000e+00 6.04286639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46231677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827552018 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:27.33, Y:0.61, Z:-0.00 [[ 9.84607395e-01 -1.74780657e-01 0.00000000e+00 2.73327815e+01] [ 1.74780657e-01 9.84607395e-01 0.00000000e+00 6.10716797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11052746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.857552017999996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:27.36, Y:0.62, Z:-0.00 [[ 9.84087712e-01 -1.77683356e-01 0.00000000e+00 2.73588772e+01] [ 1.77683356e-01 9.84087712e-01 0.00000000e+00 6.15777736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62560503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887552017999997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:27.38, Y:0.62, Z:-0.00 [[ 9.83017240e-01 -1.83513230e-01 0.00000000e+00 2.73846599e+01] [ 1.83513230e-01 9.83017240e-01 0.00000000e+00 6.23689091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72288162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.917552018 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:27.41, Y:0.63, Z:-0.00 [[ 9.82392349e-01 -1.86829526e-01 0.00000000e+00 2.74119224e+01] [ 1.86829526e-01 9.82392349e-01 0.00000000e+00 6.30016430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67785381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947552017999996 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:27.44, Y:0.64, Z:-0.00 [[ 9.81854954e-01 -1.89633463e-01 0.00000000e+00 2.74388144e+01] [ 1.89633463e-01 9.81854954e-01 0.00000000e+00 6.36362787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21681434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.977552017999997 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:27.47, Y:0.64, Z:-0.00 [[ 9.81289607e-01 -1.92537548e-01 0.00000000e+00 2.74656963e+01] [ 1.92537548e-01 9.81289607e-01 0.00000000e+00 6.42970352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85495656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007552018 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:27.49, Y:0.65, Z:-0.00 [[ 9.80787748e-01 -1.95077916e-01 0.00000000e+00 2.74927848e+01] [ 1.95077916e-01 9.80787748e-01 0.00000000e+00 6.49778027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73878429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.037552017999996 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:27.52, Y:0.66, Z:-0.00 [[ 9.79881062e-01 -1.99582325e-01 0.00000000e+00 2.75191685e+01] [ 1.99582325e-01 9.79881062e-01 0.00000000e+00 6.60839477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61285691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067552017999997 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:27.55, Y:0.67, Z:-0.01 [[ 9.79524920e-01 -2.01322953e-01 0.00000000e+00 2.75457029e+01] [ 2.01322953e-01 9.79524920e-01 0.00000000e+00 6.68536706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90630866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.097552018 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:27.57, Y:0.68, Z:-0.01 [[ 9.79065275e-01 -2.03546523e-01 0.00000000e+00 2.75727758e+01] [ 2.03546523e-01 9.79065275e-01 0.00000000e+00 6.76554141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99515422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127552017999996 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:27.60, Y:0.69, Z:-0.01 [[ 9.78389022e-01 -2.06772631e-01 0.00000000e+00 2.75983648e+01] [ 2.06772631e-01 9.78389022e-01 0.00000000e+00 6.89639888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22087732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.157552017999997 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:27.63, Y:0.70, Z:-0.01 [[ 9.78078350e-01 -2.08237224e-01 0.00000000e+00 2.76255259e+01] [ 2.08237224e-01 9.78078350e-01 0.00000000e+00 6.98929388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61345561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187552017999998 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:27.65, Y:0.71, Z:-0.01 [[ 9.77794895e-01 -2.09564173e-01 0.00000000e+00 2.76525551e+01] [ 2.09564173e-01 9.77794895e-01 0.00000000e+00 7.08451047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24370205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.217552017999996 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:27.68, Y:0.72, Z:-0.01 [[ 9.77621030e-01 -2.10373766e-01 0.00000000e+00 2.76779911e+01] [ 2.10373766e-01 9.77621030e-01 0.00000000e+00 7.24006447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06434583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247552017999997 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:27.71, Y:0.73, Z:-0.01 [[ 9.77555747e-01 -2.10676912e-01 0.00000000e+00 2.77052786e+01] [ 2.10676912e-01 9.77555747e-01 0.00000000e+00 7.34445594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.27353041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.277552017999998 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:27.73, Y:0.75, Z:-0.01 [[ 9.77479045e-01 -2.11032502e-01 0.00000000e+00 2.77323853e+01] [ 2.11032502e-01 9.77479045e-01 0.00000000e+00 7.45759356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02174430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307552018 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:27.76, Y:0.76, Z:-0.01 [[ 9.77491974e-01 -2.10972608e-01 0.00000000e+00 2.77621987e+01] [ 2.10972608e-01 9.77491974e-01 0.00000000e+00 7.57105591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04744895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.337552017999997 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:27.79, Y:0.76, Z:-0.01 [[ 9.77500451e-01 -2.10933326e-01 0.00000000e+00 2.77937631e+01] [ 2.10933326e-01 9.77500451e-01 0.00000000e+00 7.61280891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04744895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367552017999998 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:27.82, Y:0.78, Z:-0.01 [[ 9.77544781e-01 -2.10727790e-01 0.00000000e+00 2.78232852e+01] [ 2.10727790e-01 9.77544781e-01 0.00000000e+00 7.79703263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16525376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.397552018 meters Centerline goodness : 0.988116 Centerline is valid? [True, True] Translation: X:27.86, Y:0.79, Z:-0.01 [[ 9.78238063e-01 -2.07485645e-01 0.00000000e+00 2.78592540e+01] [ 2.07485645e-01 9.78238063e-01 0.00000000e+00 7.85900689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06319428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427552017999997 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:27.89, Y:0.80, Z:-0.01 [[ 9.77635821e-01 -2.10305019e-01 0.00000000e+00 2.78891611e+01] [ 2.10305019e-01 9.77635821e-01 0.00000000e+00 7.98850048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37949339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.457552017999998 meters Centerline goodness : 0.987740 Centerline is valid? [True, True] Translation: X:27.92, Y:0.81, Z:-0.01 [[ 9.77627877e-01 -2.10341948e-01 0.00000000e+00 2.79199036e+01] [ 2.10341948e-01 9.77627877e-01 0.00000000e+00 8.09195521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43891127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487552018 meters Centerline goodness : 0.986639 Centerline is valid? [True, True] Translation: X:27.95, Y:0.83, Z:-0.02 [[ 9.77196521e-01 -2.12336899e-01 0.00000000e+00 2.79521151e+01] [ 2.12336899e-01 9.77196521e-01 0.00000000e+00 8.26316366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74230540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.517552017999996 meters Centerline goodness : 0.986437 Centerline is valid? [True, True] Translation: X:27.98, Y:0.84, Z:-0.02 [[ 9.76122008e-01 -2.17222985e-01 0.00000000e+00 2.79756941e+01] [ 2.17222985e-01 9.76122008e-01 0.00000000e+00 8.41449759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73196238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547552017999998 meters Centerline goodness : 0.985540 Centerline is valid? [True, True] Translation: X:28.01, Y:0.85, Z:-0.02 [[ 9.76569951e-01 -2.15200213e-01 0.00000000e+00 2.80130855e+01] [ 2.15200213e-01 9.76569951e-01 0.00000000e+00 8.48365861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74953534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.577552018 meters Centerline goodness : 0.987066 Centerline is valid? [True, True] Translation: X:28.04, Y:0.87, Z:-0.02 [[ 9.76315500e-01 -2.16351669e-01 0.00000000e+00 2.80430965e+01] [ 2.16351669e-01 9.76315500e-01 0.00000000e+00 8.65559201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68706459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607552017999996 meters Centerline goodness : 0.986411 Centerline is valid? [True, True] Translation: X:28.08, Y:0.88, Z:-0.02 [[ 9.76124087e-01 -2.17213644e-01 0.00000000e+00 2.80751122e+01] [ 2.17213644e-01 9.76124087e-01 0.00000000e+00 8.76897774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60177457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.637552017999997 meters Centerline goodness : 0.986736 Centerline is valid? [True, True] Translation: X:28.11, Y:0.89, Z:-0.02 [[ 9.76180002e-01 -2.16962217e-01 0.00000000e+00 2.81072051e+01] [ 2.16962217e-01 9.76180002e-01 0.00000000e+00 8.88314526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57562447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667552018 meters Centerline goodness : 0.987328 Centerline is valid? [True, True] Translation: X:28.14, Y:0.91, Z:-0.01 [[ 9.76539832e-01 -2.15336844e-01 0.00000000e+00 2.81377131e+01] [ 2.15336844e-01 9.76539832e-01 0.00000000e+00 9.05807937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46296322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.697552017999996 meters Centerline goodness : 0.988714 Centerline is valid? [True, True] Translation: X:28.17, Y:0.92, Z:-0.01 [[ 9.76588134e-01 -2.15117679e-01 0.00000000e+00 2.81694889e+01] [ 2.15117679e-01 9.76588134e-01 0.00000000e+00 9.16479726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31559372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727552017999997 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:28.19, Y:0.93, Z:-0.01 [[ 9.75772125e-01 -2.18789307e-01 0.00000000e+00 2.81913714e+01] [ 2.18789307e-01 9.75772125e-01 0.00000000e+00 9.32301828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37644166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.757552018 meters Centerline goodness : 0.988478 Centerline is valid? [True, True] Translation: X:28.23, Y:0.94, Z:-0.01 [[ 9.76779151e-01 -2.14248663e-01 0.00000000e+00 2.82303066e+01] [ 2.14248663e-01 9.76779151e-01 0.00000000e+00 9.37616773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21948735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787552017999996 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:28.25, Y:0.96, Z:-0.01 [[ 9.76253445e-01 -2.16631511e-01 0.00000000e+00 2.82519464e+01] [ 2.16631511e-01 9.76253445e-01 0.00000000e+00 9.59021390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30008741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.817552017999997 meters Centerline goodness : 0.989833 Centerline is valid? [True, True] Translation: X:28.29, Y:0.96, Z:-0.01 [[ 9.77403501e-01 -2.11382110e-01 0.00000000e+00 2.82926607e+01] [ 2.11382110e-01 9.77403501e-01 0.00000000e+00 9.63012933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20015696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847552018 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:28.31, Y:0.98, Z:-0.01 [[ 9.76208570e-01 -2.16833639e-01 0.00000000e+00 2.83131707e+01] [ 2.16833639e-01 9.76208570e-01 0.00000000e+00 9.79681864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32981253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.877552017999996 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:28.34, Y:0.99, Z:-0.01 [[ 9.76680732e-01 -2.14696876e-01 0.00000000e+00 2.83443675e+01] [ 2.14696876e-01 9.76680732e-01 0.00000000e+00 9.89295990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38378840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907552017999997 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:28.38, Y:1.00, Z:-0.01 [[ 9.77155324e-01 -2.12526403e-01 0.00000000e+00 2.83836630e+01] [ 2.12526403e-01 9.77155324e-01 0.00000000e+00 1.00017537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35967735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.937552017999998 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:28.41, Y:1.02, Z:-0.01 [[ 9.76110641e-01 -2.17274059e-01 0.00000000e+00 2.84054066e+01] [ 2.17274059e-01 9.76110641e-01 0.00000000e+00 1.01593286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44726351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967552017999996 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:28.45, Y:1.02, Z:-0.01 [[ 9.77012954e-01 -2.13179942e-01 0.00000000e+00 2.84452392e+01] [ 2.13179942e-01 9.77012954e-01 0.00000000e+00 1.02054543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38007072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.997552017999997 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:28.48, Y:1.03, Z:-0.02 [[ 9.77281521e-01 -2.11945345e-01 0.00000000e+00 2.84760436e+01] [ 2.11945345e-01 9.77281521e-01 0.00000000e+00 1.02938100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50126976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027552017999998 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:28.51, Y:1.04, Z:-0.02 [[ 9.77259740e-01 -2.12045749e-01 0.00000000e+00 2.85064163e+01] [ 2.12045749e-01 9.77259740e-01 0.00000000e+00 1.04412611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54791805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.057552018 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:28.54, Y:1.05, Z:-0.02 [[ 9.77300646e-01 -2.11857141e-01 0.00000000e+00 2.85388474e+01] [ 2.11857141e-01 9.77300646e-01 0.00000000e+00 1.05390547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53575033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087552017999997 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:28.57, Y:1.07, Z:-0.01 [[ 9.77169574e-01 -2.12460875e-01 0.00000000e+00 2.85690108e+01] [ 2.12460875e-01 9.77169574e-01 0.00000000e+00 1.06530592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37969521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.117552017999998 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:28.60, Y:1.08, Z:-0.01 [[ 9.77134298e-01 -2.12623054e-01 0.00000000e+00 2.86010462e+01] [ 2.12623054e-01 9.77134298e-01 0.00000000e+00 1.07563890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33650374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147552018 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:28.63, Y:1.09, Z:-0.01 [[ 9.77207432e-01 -2.12286679e-01 0.00000000e+00 2.86320514e+01] [ 2.12286679e-01 9.77207432e-01 0.00000000e+00 1.08594058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26365271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.177552017999997 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:28.66, Y:1.10, Z:-0.01 [[ 9.77358765e-01 -2.11588855e-01 0.00000000e+00 2.86605595e+01] [ 2.11588855e-01 9.77358765e-01 0.00000000e+00 1.10037448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31119717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207552017999998 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:28.69, Y:1.11, Z:-0.01 [[ 9.77171720e-01 -2.12451003e-01 0.00000000e+00 2.86928966e+01] [ 2.12451003e-01 9.77171720e-01 0.00000000e+00 1.10923227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19067045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.237552018 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:28.72, Y:1.12, Z:-0.01 [[ 9.77115968e-01 -2.12707274e-01 0.00000000e+00 2.87237623e+01] [ 2.12707274e-01 9.77115968e-01 0.00000000e+00 1.11785001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17230080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267552017999996 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:28.76, Y:1.13, Z:-0.01 [[ 9.76741645e-01 -2.14419584e-01 0.00000000e+00 2.87555889e+01] [ 2.14419584e-01 9.76741645e-01 0.00000000e+00 1.12763029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13093354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.297552017999998 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:28.79, Y:1.14, Z:-0.01 [[ 9.76388137e-01 -2.16023624e-01 0.00000000e+00 2.87856575e+01] [ 2.16023624e-01 9.76388137e-01 0.00000000e+00 1.14208889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07173551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327552018 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:28.82, Y:1.15, Z:-0.01 [[ 9.76401577e-01 -2.15962868e-01 0.00000000e+00 2.88177701e+01] [ 2.15962868e-01 9.76401577e-01 0.00000000e+00 1.15106687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06147198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.357552017999996 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:28.85, Y:1.16, Z:-0.01 [[ 9.76595355e-01 -2.15084894e-01 0.00000000e+00 2.88478413e+01] [ 2.15084894e-01 9.76595355e-01 0.00000000e+00 1.15997074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06615925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387552017999997 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:28.88, Y:1.17, Z:-0.01 [[ 9.76759540e-01 -2.14338053e-01 0.00000000e+00 2.88794043e+01] [ 2.14338053e-01 9.76759540e-01 0.00000000e+00 1.16900923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05386200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.417552018 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:28.91, Y:1.18, Z:-0.01 [[ 9.77887423e-01 -2.09131986e-01 0.00000000e+00 2.89119782e+01] [ 2.09131986e-01 9.77887423e-01 0.00000000e+00 1.18256197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15791740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447552017999996 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:28.94, Y:1.19, Z:-0.01 [[ 9.78419099e-01 -2.06630266e-01 0.00000000e+00 2.89417844e+01] [ 2.06630266e-01 9.78419099e-01 0.00000000e+00 1.19265223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08489711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.477552017999997 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:28.97, Y:1.20, Z:-0.01 [[ 9.79141988e-01 -2.03177183e-01 0.00000000e+00 2.89715115e+01] [ 2.03177183e-01 9.79141988e-01 0.00000000e+00 1.20230649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10807750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507552018 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:29.00, Y:1.22, Z:-0.01 [[ 9.80575818e-01 -1.96140420e-01 0.00000000e+00 2.90034823e+01] [ 1.96140420e-01 9.80575818e-01 0.00000000e+00 1.21635166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17213917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.537552017999996 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:29.04, Y:1.23, Z:-0.01 [[ 9.81290245e-01 -1.92534294e-01 0.00000000e+00 2.90360766e+01] [ 1.92534294e-01 9.81290245e-01 0.00000000e+00 1.22513631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22845836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567552017999997 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:29.07, Y:1.23, Z:-0.01 [[ 9.81877703e-01 -1.89515637e-01 0.00000000e+00 2.90679831e+01] [ 1.89515637e-01 9.81877703e-01 0.00000000e+00 1.23377729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19710917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.597552018 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:29.10, Y:1.24, Z:-0.01 [[ 9.82417154e-01 -1.86699052e-01 0.00000000e+00 2.90977178e+01] [ 1.86699052e-01 9.82417154e-01 0.00000000e+00 1.24216428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22211509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627552017999996 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:29.13, Y:1.25, Z:-0.01 [[ 9.82694544e-01 -1.85233455e-01 0.00000000e+00 2.91297361e+01] [ 1.85233455e-01 9.82694544e-01 0.00000000e+00 1.25116003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13230970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.657552017999997 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:29.16, Y:1.26, Z:-0.01 [[ 9.82964636e-01 -1.83794787e-01 0.00000000e+00 2.91610110e+01] [ 1.83794787e-01 9.82964636e-01 0.00000000e+00 1.26285423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07619159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687552017999998 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:29.19, Y:1.27, Z:-0.01 [[ 9.82859455e-01 -1.84356426e-01 0.00000000e+00 2.91916756e+01] [ 1.84356426e-01 9.82859455e-01 0.00000000e+00 1.27066210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06011344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717552017999996 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:29.22, Y:1.28, Z:-0.01 [[ 9.82896376e-01 -1.84159483e-01 0.00000000e+00 2.92225615e+01] [ 1.84159483e-01 9.82896376e-01 0.00000000e+00 1.27749370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16073392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747552017999997 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:29.25, Y:1.28, Z:-0.01 [[ 9.82821994e-01 -1.84556028e-01 0.00000000e+00 2.92545326e+01] [ 1.84556028e-01 9.82821994e-01 0.00000000e+00 1.28390670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34134594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.777552017999998 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:29.29, Y:1.29, Z:-0.02 [[ 9.83243903e-01 -1.82294892e-01 0.00000000e+00 2.92856075e+01] [ 1.82294892e-01 9.83243903e-01 0.00000000e+00 1.29093555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57628133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807552017999996 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:29.32, Y:1.30, Z:-0.02 [[ 9.83301140e-01 -1.81985900e-01 0.00000000e+00 2.93170926e+01] [ 1.81985900e-01 9.83301140e-01 0.00000000e+00 1.29801129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55315662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.837552017999997 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:29.35, Y:1.31, Z:-0.01 [[ 9.83292959e-01 -1.82030098e-01 0.00000000e+00 2.93471770e+01] [ 1.82030098e-01 9.83292959e-01 0.00000000e+00 1.30578919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23924715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867552017999998 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:29.38, Y:1.31, Z:-0.01 [[ 9.83572788e-01 -1.80511970e-01 0.00000000e+00 2.93795389e+01] [ 1.80511970e-01 9.83572788e-01 0.00000000e+00 1.31193910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31442111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.897552018 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:29.41, Y:1.32, Z:-0.01 [[ 9.83897196e-01 -1.78735303e-01 0.00000000e+00 2.94101335e+01] [ 1.78735303e-01 9.83897196e-01 0.00000000e+00 1.32073785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12275823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927552017999997 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:29.44, Y:1.33, Z:-0.01 [[ 9.84324373e-01 -1.76367593e-01 0.00000000e+00 2.94419178e+01] [ 1.76367593e-01 9.84324373e-01 0.00000000e+00 1.32562124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14183400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.957552017999998 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:29.47, Y:1.33, Z:-0.01 [[ 9.84299438e-01 -1.76506704e-01 0.00000000e+00 2.94703744e+01] [ 1.76506704e-01 9.84299438e-01 0.00000000e+00 1.33268538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13602554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987552018 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:29.50, Y:1.34, Z:-0.01 [[ 9.84864457e-01 -1.73326289e-01 0.00000000e+00 2.95036549e+01] [ 1.73326289e-01 9.84864457e-01 0.00000000e+00 1.33765200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05669613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.017552017999996 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:29.54, Y:1.34, Z:-0.01 [[ 9.84880240e-01 -1.73236581e-01 0.00000000e+00 2.95357913e+01] [ 1.73236581e-01 9.84880240e-01 0.00000000e+00 1.34325269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40816259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047552017999998 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:29.56, Y:1.35, Z:-0.01 [[ 9.84756830e-01 -1.73936728e-01 0.00000000e+00 2.95649134e+01] [ 1.73936728e-01 9.84756830e-01 0.00000000e+00 1.34948361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75425856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.077552018 meters Centerline goodness : 0.992028 Centerline is valid? [True, True] Translation: X:29.60, Y:1.35, Z:-0.01 [[ 9.84973720e-01 -1.72704286e-01 0.00000000e+00 2.95970118e+01] [ 1.72704286e-01 9.84973720e-01 0.00000000e+00 1.35304337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.82662497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107552017999996 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:29.63, Y:1.36, Z:-0.01 [[ 9.84725444e-01 -1.74114329e-01 0.00000000e+00 2.96304789e+01] [ 1.74114329e-01 9.84725444e-01 0.00000000e+00 1.35767706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37825150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.137552017999997 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:29.66, Y:1.36, Z:-0.01 [[ 9.84443199e-01 -1.75703124e-01 0.00000000e+00 2.96615937e+01] [ 1.75703124e-01 9.84443199e-01 0.00000000e+00 1.36263084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65253117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167552018 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:29.69, Y:1.37, Z:-0.01 [[ 9.84238926e-01 -1.76843818e-01 0.00000000e+00 2.96943437e+01] [ 1.76843818e-01 9.84238926e-01 0.00000000e+00 1.36678378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86842054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.197552017999996 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:29.73, Y:1.37, Z:-0.01 [[ 9.84027429e-01 -1.78016908e-01 0.00000000e+00 2.97266832e+01] [ 1.78016908e-01 9.84027429e-01 0.00000000e+00 1.37072274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32049201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227552017999997 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:29.76, Y:1.37, Z:-0.01 [[ 9.83459149e-01 -1.81130067e-01 0.00000000e+00 2.97587169e+01] [ 1.81130067e-01 9.83459149e-01 0.00000000e+00 1.37322430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50429854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.257552018 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:29.79, Y:1.38, Z:-0.01 [[ 9.83388046e-01 -1.81515706e-01 0.00000000e+00 2.97908400e+01] [ 1.81515706e-01 9.83388046e-01 0.00000000e+00 1.37815401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50429854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287552017999996 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:29.82, Y:1.38, Z:-0.01 [[ 9.83158078e-01 -1.82757197e-01 0.00000000e+00 2.98217488e+01] [ 1.82757197e-01 9.83158078e-01 0.00000000e+00 1.38156684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97248144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.317552017999997 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:29.85, Y:1.39, Z:-0.01 [[ 9.82654207e-01 -1.85447324e-01 0.00000000e+00 2.98536615e+01] [ 1.85447324e-01 9.82654207e-01 0.00000000e+00 1.38591766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.01616210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347552018 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:29.89, Y:1.39, Z:-0.01 [[ 9.82386912e-01 -1.86858113e-01 0.00000000e+00 2.98860349e+01] [ 1.86858113e-01 9.82386912e-01 0.00000000e+00 1.39063532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46964119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.377552017999996 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:29.92, Y:1.40, Z:-0.00 [[ 9.81819804e-01 -1.89815362e-01 0.00000000e+00 2.99167344e+01] [ 1.89815362e-01 9.81819804e-01 0.00000000e+00 1.39654578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76439699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407552017999997 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:29.95, Y:1.40, Z:-0.01 [[ 9.81674096e-01 -1.90567492e-01 0.00000000e+00 2.99479638e+01] [ 1.90567492e-01 9.81674096e-01 0.00000000e+00 1.40142797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79718049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.437552017999998 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:29.98, Y:1.41, Z:-0.00 [[ 9.81475209e-01 -1.91589180e-01 0.00000000e+00 2.99798285e+01] [ 1.91589180e-01 9.81475209e-01 0.00000000e+00 1.40669950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97926295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467552017999996 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:30.01, Y:1.41, Z:-0.00 [[ 9.81288479e-01 -1.92543298e-01 0.00000000e+00 3.00118812e+01] [ 1.92543298e-01 9.81288479e-01 0.00000000e+00 1.41212090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48270420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.497552017999997 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:30.04, Y:1.42, Z:-0.01 [[ 9.81727645e-01 -1.90291436e-01 0.00000000e+00 3.00389078e+01] [ 1.90291436e-01 9.81727645e-01 0.00000000e+00 1.41606267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41143264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527552017999998 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:30.07, Y:1.42, Z:-0.00 [[ 9.81130450e-01 -1.93346942e-01 0.00000000e+00 3.00741829e+01] [ 1.93346942e-01 9.81130450e-01 0.00000000e+00 1.42407020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48477801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.557552017999996 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:30.11, Y:1.43, Z:-0.00 [[ 9.81298567e-01 -1.92491875e-01 0.00000000e+00 3.01056133e+01] [ 1.92491875e-01 9.81298567e-01 0.00000000e+00 1.42933920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43164274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587552017999997 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:30.14, Y:1.44, Z:-0.00 [[ 9.81229926e-01 -1.92841469e-01 0.00000000e+00 3.01375208e+01] [ 1.92841469e-01 9.81229926e-01 0.00000000e+00 1.43578481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16079458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.617552017999998 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:30.17, Y:1.44, Z:-0.00 [[ 9.81270372e-01 -1.92635556e-01 0.00000000e+00 3.01675937e+01] [ 1.92635556e-01 9.81270372e-01 0.00000000e+00 1.44304010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93784787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647552018 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:30.20, Y:1.45, Z:-0.00 [[ 9.81341102e-01 -1.92274914e-01 0.00000000e+00 3.01993476e+01] [ 1.92274914e-01 9.81341102e-01 0.00000000e+00 1.44876351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59155202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.677552017999997 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:30.23, Y:1.45, Z:-0.01 [[ 9.81628685e-01 -1.90801273e-01 0.00000000e+00 3.02309745e+01] [ 1.90801273e-01 9.81628685e-01 0.00000000e+00 1.45385303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93008742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707552017999998 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:30.26, Y:1.46, Z:-0.01 [[ 9.81962092e-01 -1.89077894e-01 0.00000000e+00 3.02620744e+01] [ 1.89077894e-01 9.81962092e-01 0.00000000e+00 1.45996286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20582499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.737552018 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:30.29, Y:1.47, Z:-0.01 [[ 9.82507395e-01 -1.86223570e-01 0.00000000e+00 3.02935297e+01] [ 1.86223570e-01 9.82507395e-01 0.00000000e+00 1.46826563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88516906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767552017999996 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:30.33, Y:1.47, Z:-0.01 [[ 9.82717121e-01 -1.85113639e-01 0.00000000e+00 3.03270593e+01] [ 1.85113639e-01 9.82717121e-01 0.00000000e+00 1.47296521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34466967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.797552017999998 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:30.36, Y:1.48, Z:-0.01 [[ 9.82749575e-01 -1.84941270e-01 0.00000000e+00 3.03560493e+01] [ 1.84941270e-01 9.82749575e-01 0.00000000e+00 1.47896496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36558012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827552018 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:30.39, Y:1.49, Z:-0.01 [[ 9.82722758e-01 -1.85083714e-01 0.00000000e+00 3.03875558e+01] [ 1.85083714e-01 9.82722758e-01 0.00000000e+00 1.48537104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08935615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.857552017999996 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:30.42, Y:1.49, Z:-0.00 [[ 9.83030735e-01 -1.83440930e-01 0.00000000e+00 3.04193606e+01] [ 1.83440930e-01 9.83030735e-01 0.00000000e+00 1.49274377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76289748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887552017999997 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:30.45, Y:1.50, Z:-0.01 [[ 9.83298380e-01 -1.82000811e-01 0.00000000e+00 3.04521415e+01] [ 1.82000811e-01 9.83298380e-01 0.00000000e+00 1.49898997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01046804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.917552018 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:30.48, Y:1.50, Z:-0.01 [[ 9.83841480e-01 -1.79041731e-01 0.00000000e+00 3.04829995e+01] [ 1.79041731e-01 9.83841480e-01 0.00000000e+00 1.50473580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53422788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947552017999996 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:30.51, Y:1.51, Z:-0.00 [[ 9.83806540e-01 -1.79233622e-01 0.00000000e+00 3.05145964e+01] [ 1.79233622e-01 9.83806540e-01 0.00000000e+00 1.51208380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06537942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.977552017999997 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:30.54, Y:1.52, Z:-0.00 [[ 9.84156228e-01 -1.77303468e-01 0.00000000e+00 3.05442046e+01] [ 1.77303468e-01 9.84156228e-01 0.00000000e+00 1.51809520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44272079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007552018 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:30.58, Y:1.52, Z:-0.00 [[ 9.85068823e-01 -1.72161009e-01 0.00000000e+00 3.05761041e+01] [ 1.72161009e-01 9.85068823e-01 0.00000000e+00 1.52453638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89109556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.037552017999996 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:30.61, Y:1.53, Z:-0.00 [[ 9.85501881e-01 -1.69664499e-01 0.00000000e+00 3.06054236e+01] [ 1.69664499e-01 9.85501881e-01 0.00000000e+00 1.53108061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94045058e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067552017999997 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:30.64, Y:1.54, Z:0.00 [[ 9.85982547e-01 -1.66848486e-01 0.00000000e+00 3.06378014e+01] [ 1.66848486e-01 9.85982547e-01 0.00000000e+00 1.53729694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35521592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.097552018 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:30.67, Y:1.54, Z:0.00 [[ 9.86996440e-01 -1.60742112e-01 0.00000000e+00 3.06695356e+01] [ 1.60742112e-01 9.86996440e-01 0.00000000e+00 1.54303504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29761611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127552017999996 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:30.70, Y:1.55, Z:0.00 [[ 9.87189997e-01 -1.59549081e-01 0.00000000e+00 3.07007386e+01] [ 1.59549081e-01 9.87189997e-01 0.00000000e+00 1.54914082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81395367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.157552017999997 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:30.73, Y:1.55, Z:0.00 [[ 9.87601633e-01 -1.56980937e-01 0.00000000e+00 3.07325155e+01] [ 1.56980937e-01 9.87601633e-01 0.00000000e+00 1.55352292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79448118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187552017999998 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:30.76, Y:1.56, Z:0.00 [[ 9.88018443e-01 -1.54335856e-01 0.00000000e+00 3.07631656e+01] [ 1.54335856e-01 9.88018443e-01 0.00000000e+00 1.55810179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04496175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217552017999996 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:30.79, Y:1.56, Z:0.00 [[ 9.88226671e-01 -1.52996886e-01 0.00000000e+00 3.07948306e+01] [ 1.52996886e-01 9.88226671e-01 0.00000000e+00 1.56267779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87183324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247552017999997 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:30.83, Y:1.57, Z:0.01 [[ 9.88361763e-01 -1.52121743e-01 0.00000000e+00 3.08278196e+01] [ 1.52121743e-01 9.88361763e-01 0.00000000e+00 1.56705841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15697951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.277552017999998 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:30.86, Y:1.57, Z:0.01 [[ 9.88369397e-01 -1.52072136e-01 0.00000000e+00 3.08607488e+01] [ 1.52072136e-01 9.88369397e-01 0.00000000e+00 1.57148737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63090249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307552017999996 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:30.89, Y:1.58, Z:0.01 [[ 9.88289393e-01 -1.52591204e-01 0.00000000e+00 3.08914158e+01] [ 1.52591204e-01 9.88289393e-01 0.00000000e+00 1.57533532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35314946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.337552017999997 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:30.92, Y:1.58, Z:0.01 [[ 9.87780226e-01 -1.55853216e-01 0.00000000e+00 3.09204987e+01] [ 1.55853216e-01 9.87780226e-01 0.00000000e+00 1.58111442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33534874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367552017999998 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:30.95, Y:1.58, Z:0.01 [[ 9.87317069e-01 -1.58760841e-01 0.00000000e+00 3.09534758e+01] [ 1.58760841e-01 9.87317069e-01 0.00000000e+00 1.58127115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25492109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.397552018 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:30.99, Y:1.59, Z:0.01 [[ 9.86815916e-01 -1.61846682e-01 0.00000000e+00 3.09855817e+01] [ 1.61846682e-01 9.86815916e-01 0.00000000e+00 1.58532032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23989794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427552017999997 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:31.00, Y:1.59, Z:0.01 [[ 9.85073318e-01 -1.72135291e-01 0.00000000e+00 3.10048335e+01] [ 1.72135291e-01 9.85073318e-01 0.00000000e+00 1.59485557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11887828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.457552017999998 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:31.05, Y:1.59, Z:0.01 [[ 9.86144919e-01 -1.65886104e-01 0.00000000e+00 3.10481768e+01] [ 1.65886104e-01 9.86144919e-01 0.00000000e+00 1.58998688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16151432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487552018 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:31.08, Y:1.59, Z:0.01 [[ 9.86194678e-01 -1.65590028e-01 0.00000000e+00 3.10785852e+01] [ 1.65590028e-01 9.86194678e-01 0.00000000e+00 1.59314065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30971019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.517552017999996 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:31.11, Y:1.60, Z:0.01 [[ 9.85737881e-01 -1.68287939e-01 0.00000000e+00 3.11103601e+01] [ 1.68287939e-01 9.85737881e-01 0.00000000e+00 1.59765156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17146366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547552017999998 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:31.14, Y:1.60, Z:0.01 [[ 9.85542070e-01 -1.69430897e-01 0.00000000e+00 3.11408567e+01] [ 1.69430897e-01 9.85542070e-01 0.00000000e+00 1.60125871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23922349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.577552018 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:31.17, Y:1.61, Z:0.01 [[ 9.85043653e-01 -1.72304969e-01 0.00000000e+00 3.11721809e+01] [ 1.72304969e-01 9.85043653e-01 0.00000000e+00 1.60699524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11992802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607552017999996 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:31.20, Y:1.61, Z:0.01 [[ 9.84799174e-01 -1.73696826e-01 0.00000000e+00 3.12033172e+01] [ 1.73696826e-01 9.84799174e-01 0.00000000e+00 1.61166895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10394271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.637552017999997 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:31.24, Y:1.61, Z:0.01 [[ 9.84789696e-01 -1.73750550e-01 0.00000000e+00 3.12350053e+01] [ 1.73750550e-01 9.84789696e-01 0.00000000e+00 1.61484450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28448815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667552018 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:31.26, Y:1.62, Z:0.01 [[ 9.84659735e-01 -1.74485545e-01 0.00000000e+00 3.12632510e+01] [ 1.74485545e-01 9.84659735e-01 0.00000000e+00 1.61772251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08190344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.697552017999996 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:31.30, Y:1.62, Z:0.01 [[ 9.84053656e-01 -1.77871871e-01 0.00000000e+00 3.12955059e+01] [ 1.77871871e-01 9.84053656e-01 0.00000000e+00 1.62314324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06716328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727552017999997 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:31.33, Y:1.63, Z:0.01 [[ 9.84039084e-01 -1.77952470e-01 0.00000000e+00 3.13288505e+01] [ 1.77952470e-01 9.84039084e-01 0.00000000e+00 1.62708015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03900390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.757552018 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:31.36, Y:1.63, Z:0.01 [[ 9.83688315e-01 -1.79881346e-01 0.00000000e+00 3.13577945e+01] [ 1.79881346e-01 9.83688315e-01 0.00000000e+00 1.63172415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42046890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787552017999996 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:31.39, Y:1.64, Z:0.01 [[ 9.83504956e-01 -1.80881178e-01 0.00000000e+00 3.13889161e+01] [ 1.80881178e-01 9.83504956e-01 0.00000000e+00 1.63655233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65143356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.817552017999997 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:31.42, Y:1.64, Z:0.01 [[ 9.83493399e-01 -1.80944006e-01 0.00000000e+00 3.14198833e+01] [ 1.80944006e-01 9.83493399e-01 0.00000000e+00 1.63979106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47838307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847552018 meters Centerline goodness : 0.991737 Centerline is valid? [True, True] Translation: X:31.45, Y:1.65, Z:0.01 [[ 9.83013999e-01 -1.83530589e-01 0.00000000e+00 3.14507648e+01] [ 1.83530589e-01 9.83013999e-01 0.00000000e+00 1.64503857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90358824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877552017999996 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:31.48, Y:1.65, Z:0.01 [[ 9.82593784e-01 -1.85767211e-01 0.00000000e+00 3.14806075e+01] [ 1.85767211e-01 9.82593784e-01 0.00000000e+00 1.64853633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29166453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907552017999997 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:31.51, Y:1.65, Z:0.00 [[ 9.82283041e-01 -1.87403379e-01 0.00000000e+00 3.15131272e+01] [ 1.87403379e-01 9.82283041e-01 0.00000000e+00 1.65236554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94218805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.937552017999998 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:31.54, Y:1.66, Z:-0.00 [[ 9.81733980e-01 -1.90258753e-01 0.00000000e+00 3.15379920e+01] [ 1.90258753e-01 9.81733980e-01 0.00000000e+00 1.65837673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29218166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967552017999996 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:31.57, Y:1.66, Z:-0.00 [[ 9.81209663e-01 -1.92944542e-01 0.00000000e+00 3.15692141e+01] [ 1.92944542e-01 9.81209663e-01 0.00000000e+00 1.66276611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32094238e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.997552017999997 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:31.60, Y:1.67, Z:-0.00 [[ 9.81172263e-01 -1.93134645e-01 0.00000000e+00 3.15968691e+01] [ 1.93134645e-01 9.81172263e-01 0.00000000e+00 1.66561537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14997820e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027552017999998 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:31.63, Y:1.67, Z:-0.00 [[ 9.80653671e-01 -1.95750805e-01 0.00000000e+00 3.16312707e+01] [ 1.95750805e-01 9.80653671e-01 0.00000000e+00 1.66992957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61151226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.057552017999996 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:31.66, Y:1.67, Z:-0.00 [[ 9.80784597e-01 -1.95093757e-01 0.00000000e+00 3.16632930e+01] [ 1.95093757e-01 9.80784597e-01 0.00000000e+00 1.67246356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87002675e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087552017999997 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:31.70, Y:1.67, Z:-0.00 [[ 9.80280942e-01 -1.97608891e-01 0.00000000e+00 3.16958030e+01] [ 1.97608891e-01 9.80280942e-01 0.00000000e+00 1.67451638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90743846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.117552017999998 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:31.73, Y:1.68, Z:-0.00 [[ 9.80185370e-01 -1.98082409e-01 0.00000000e+00 3.17274086e+01] [ 1.98082409e-01 9.80185370e-01 0.00000000e+00 1.67703056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30677224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147552018 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:31.76, Y:1.68, Z:-0.00 [[ 9.80146155e-01 -1.98276360e-01 0.00000000e+00 3.17585498e+01] [ 1.98276360e-01 9.80146155e-01 0.00000000e+00 1.68238783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30677224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.177552017999997 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:31.79, Y:1.69, Z:-0.00 [[ 9.80001708e-01 -1.98989078e-01 0.00000000e+00 3.17905229e+01] [ 1.98989078e-01 9.80001708e-01 0.00000000e+00 1.68504147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62847365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207552017999998 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:31.82, Y:1.69, Z:-0.00 [[ 9.79863116e-01 -1.99670411e-01 0.00000000e+00 3.18241376e+01] [ 1.99670411e-01 9.79863116e-01 0.00000000e+00 1.68599397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86756375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.237552018 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:31.86, Y:1.69, Z:-0.00 [[ 9.80040495e-01 -1.98797957e-01 0.00000000e+00 3.18552470e+01] [ 1.98797957e-01 9.80040495e-01 0.00000000e+00 1.68867600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28270511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267552017999996 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:31.89, Y:1.69, Z:-0.01 [[ 9.80020527e-01 -1.98896374e-01 0.00000000e+00 3.18880212e+01] [ 1.98896374e-01 9.80020527e-01 0.00000000e+00 1.69153857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68635885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.297552017999998 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:31.92, Y:1.69, Z:-0.01 [[ 9.80176182e-01 -1.98127869e-01 0.00000000e+00 3.19209787e+01] [ 1.98127869e-01 9.80176182e-01 0.00000000e+00 1.69365627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91587793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327552018 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:31.95, Y:1.69, Z:-0.01 [[ 9.80642070e-01 -1.95808912e-01 0.00000000e+00 3.19534363e+01] [ 1.95808912e-01 9.80642070e-01 0.00000000e+00 1.69195330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91569278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.357552017999996 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:31.99, Y:1.69, Z:-0.01 [[ 9.80989598e-01 -1.94060322e-01 0.00000000e+00 3.19865616e+01] [ 1.94060322e-01 9.80989598e-01 0.00000000e+00 1.69385813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02699668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387552017999997 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:32.02, Y:1.70, Z:-0.01 [[ 9.81298976e-01 -1.92489792e-01 0.00000000e+00 3.20199966e+01] [ 1.92489792e-01 9.81298976e-01 0.00000000e+00 1.69609003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.37948857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.417552018 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:32.05, Y:1.70, Z:-0.01 [[ 9.81696796e-01 -1.90450521e-01 0.00000000e+00 3.20509737e+01] [ 1.90450521e-01 9.81696796e-01 0.00000000e+00 1.69808404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20116933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447552017999996 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:32.08, Y:1.70, Z:-0.01 [[ 9.82455346e-01 -1.86497971e-01 0.00000000e+00 3.20836099e+01] [ 1.86497971e-01 9.82455346e-01 0.00000000e+00 1.69571493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18050662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.477552017999997 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:32.11, Y:1.70, Z:-0.02 [[ 9.81843637e-01 -1.89692049e-01 0.00000000e+00 3.21053177e+01] [ 1.89692049e-01 9.81843637e-01 0.00000000e+00 1.70281689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52986069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507552018 meters Centerline goodness : 0.991371 Centerline is valid? [True, True] Translation: X:32.15, Y:1.70, Z:-0.02 [[ 9.83635429e-01 -1.80170315e-01 0.00000000e+00 3.21492108e+01] [ 1.80170315e-01 9.83635429e-01 0.00000000e+00 1.69628863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57798107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.537552017999996 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:32.18, Y:1.70, Z:-0.02 [[ 9.83951166e-01 -1.78437953e-01 0.00000000e+00 3.21797602e+01] [ 1.78437953e-01 9.83951166e-01 0.00000000e+00 1.69775570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71351175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567552017999997 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:32.21, Y:1.70, Z:-0.02 [[ 9.84279335e-01 -1.76618771e-01 0.00000000e+00 3.22122703e+01] [ 1.76618771e-01 9.84279335e-01 0.00000000e+00 1.69924238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83093862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.597552018 meters Centerline goodness : 0.991629 Centerline is valid? [True, True] Translation: X:32.24, Y:1.70, Z:-0.02 [[ 9.84679257e-01 -1.74375345e-01 0.00000000e+00 3.22442193e+01] [ 1.74375345e-01 9.84679257e-01 0.00000000e+00 1.69602313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01617070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627552017999996 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:32.28, Y:1.70, Z:-0.02 [[ 9.85078596e-01 -1.72105082e-01 0.00000000e+00 3.22769202e+01] [ 1.72105082e-01 9.85078596e-01 0.00000000e+00 1.69535307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07179792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.657552017999997 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:32.31, Y:1.69, Z:-0.02 [[ 9.85116220e-01 -1.71889598e-01 0.00000000e+00 3.23097147e+01] [ 1.71889598e-01 9.85116220e-01 0.00000000e+00 1.69450938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27124101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687552017999998 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:32.34, Y:1.69, Z:-0.03 [[ 9.84889952e-01 -1.73181357e-01 0.00000000e+00 3.23445211e+01] [ 1.73181357e-01 9.84889952e-01 0.00000000e+00 1.68541260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61003224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717552017999996 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:32.37, Y:1.69, Z:-0.03 [[ 9.83503754e-01 -1.80887716e-01 0.00000000e+00 3.23674172e+01] [ 1.80887716e-01 9.83503754e-01 0.00000000e+00 1.68992267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65884728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747552017999997 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:32.41, Y:1.68, Z:-0.03 [[ 9.84212583e-01 -1.76990369e-01 0.00000000e+00 3.24099613e+01] [ 1.76990369e-01 9.84212583e-01 0.00000000e+00 1.68154583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86827773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.777552017999998 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:32.44, Y:1.68, Z:-0.03 [[ 9.83554936e-01 -1.80609214e-01 0.00000000e+00 3.24426407e+01] [ 1.80609214e-01 9.83554936e-01 0.00000000e+00 1.68039625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98359455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807552017999996 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:32.47, Y:1.68, Z:-0.03 [[ 9.81448825e-01 -1.91724291e-01 0.00000000e+00 3.24668964e+01] [ 1.91724291e-01 9.81448825e-01 0.00000000e+00 1.67719807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00479931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.837552017999997 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:32.50, Y:1.67, Z:-0.03 [[ 9.80956385e-01 -1.94228140e-01 0.00000000e+00 3.25000635e+01] [ 1.94228140e-01 9.80956385e-01 0.00000000e+00 1.67484051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05488521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867552017999998 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:32.53, Y:1.67, Z:-0.03 [[ 9.80499707e-01 -1.96520543e-01 0.00000000e+00 3.25338169e+01] [ 1.96520543e-01 9.80499707e-01 0.00000000e+00 1.67256897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10209915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.897552018 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:32.57, Y:1.67, Z:-0.03 [[ 9.80020348e-01 -1.98897253e-01 0.00000000e+00 3.25667878e+01] [ 1.98897253e-01 9.80020348e-01 0.00000000e+00 1.67015383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17038616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927552017999997 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:32.61, Y:1.66, Z:-0.03 [[ 9.80130183e-01 -1.98355300e-01 0.00000000e+00 3.26112184e+01] [ 1.98355300e-01 9.80130183e-01 0.00000000e+00 1.65584655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24801248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.957552017999998 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:32.65, Y:1.65, Z:-0.03 [[ 0.98021554 -0.19793306 0. 32.64642919] [ 0.19793306 0.98021554 0. 1.65253178] [ 0. 0. 1. -0.03382169] [ 0. 0. 0. 1. ]] SLAMing on 31.987552018 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:32.66, Y:1.66, Z:-0.03 [[ 0.97832858 -0.20705844 0. 32.6647683 ] [ 0.20705844 0.97832858 0. 1.65887417] [ 0. 0. 1. -0.0326724 ] [ 0. 0. 0. 1. ]] SLAMing on 32.017552017999996 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:32.70, Y:1.65, Z:-0.03 [[ 0.97773048 -0.20986448 0. 32.70010443] [ 0.20986448 0.97773048 0. 1.65081101] [ 0. 0. 1. -0.03493886] [ 0. 0. 0. 1. ]] SLAMing on 32.047552018 meters Centerline goodness : 0.989619 Centerline is valid? [True, True] Translation: X:32.73, Y:1.65, Z:-0.04 [[ 0.97740267 -0.21138596 0. 32.73391625] [ 0.21138596 0.97740267 0. 1.64952642] [ 0. 0. 1. -0.03648524] [ 0. 0. 0. 1. ]] SLAMing on 32.077552018 meters Centerline goodness : 0.988968 Centerline is valid? [True, True] Translation: X:32.77, Y:1.65, Z:-0.04 [[ 0.97701539 -0.21316877 0. 32.76692579] [ 0.21316877 0.97701539 0. 1.64800176] [ 0. 0. 1. -0.03797582] [ 0. 0. 0. 1. ]] SLAMing on 32.107552018 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:32.80, Y:1.65, Z:-0.04 [[ 0.9766223 -0.21496253 0. 32.80018271] [ 0.21496253 0.9766223 0. 1.64663617] [ 0. 0. 1. -0.03914136] [ 0. 0. 0. 1. ]] SLAMing on 32.137552017999994 meters Centerline goodness : 0.987651 Centerline is valid? [True, True] Translation: X:32.83, Y:1.64, Z:-0.04 [[ 0.97588522 -0.21828432 0. 32.83376507] [ 0.21828432 0.97588522 0. 1.63907363] [ 0. 0. 1. -0.04035899] [ 0. 0. 0. 1. ]] SLAMing on 32.167552017999995 meters Centerline goodness : 0.986561 Centerline is valid? [True, True] Translation: X:32.88, Y:1.63, Z:-0.04 [[ 0.97712879 -0.21264834 0. 32.87678832] [ 0.21264834 0.97712879 0. 1.63085189] [ 0. 0. 1. -0.04316075] [ 0. 0. 0. 1. ]] SLAMing on 32.197552017999996 meters Centerline goodness : 0.987107 Centerline is valid? [True, True] Translation: X:32.90, Y:1.63, Z:-0.04 [[ 0.97506824 -0.2219052 0. 32.897678 ] [ 0.2219052 0.97506824 0. 1.6338181 ] [ 0. 0. 1. -0.04091589] [ 0. 0. 0. 1. ]] SLAMing on 32.227552018 meters Centerline goodness : 0.986253 Centerline is valid? [True, True] Translation: X:32.93, Y:1.63, Z:-0.04 [[ 0.97489541 -0.22266327 0. 32.93154863] [ 0.22266327 0.97489541 0. 1.63439734] [ 0. 0. 1. -0.04084508] [ 0. 0. 0. 1. ]] SLAMing on 32.257552018 meters Centerline goodness : 0.987051 Centerline is valid? [True, True] Translation: X:32.96, Y:1.64, Z:-0.04 [[ 0.9747424 -0.22333218 0. 32.96396401] [ 0.22333218 0.9747424 0. 1.63525304] [ 0. 0. 1. -0.04196046] [ 0. 0. 0. 1. ]] SLAMing on 32.287552018 meters Centerline goodness : 0.987483 Centerline is valid? [True, True] Translation: X:33.00, Y:1.63, Z:-0.04 [[ 0.97449025 -0.22442984 0. 32.99673117] [ 0.22442984 0.97449025 0. 1.63313949] [ 0. 0. 1. -0.04230647] [ 0. 0. 0. 1. ]] SLAMing on 32.317552018 meters Centerline goodness : 0.986923 Centerline is valid? [True, True] Translation: X:33.03, Y:1.63, Z:-0.04 [[ 0.97459335 -0.22398168 0. 33.02804785] [ 0.22398168 0.97459335 0. 1.63494581] [ 0. 0. 1. -0.04271537] [ 0. 0. 0. 1. ]] SLAMing on 32.347552017999995 meters Centerline goodness : 0.986994 Centerline is valid? [True, True] Translation: X:33.06, Y:1.64, Z:-0.04 [[ 0.97450331 -0.22437313 0. 33.06053732] [ 0.22437313 0.97450331 0. 1.63828483] [ 0. 0. 1. -0.04350562] [ 0. 0. 0. 1. ]] SLAMing on 32.377552017999996 meters Centerline goodness : 0.987817 Centerline is valid? [True, True] Translation: X:33.09, Y:1.64, Z:-0.04 [[ 0.97453204 -0.22424829 0. 33.09290192] [ 0.22424829 0.97453204 0. 1.64183665] [ 0. 0. 1. -0.0428691 ] [ 0. 0. 0. 1. ]] SLAMing on 32.407552018 meters Centerline goodness : 0.988543 Centerline is valid? [True, True] Translation: X:33.12, Y:1.64, Z:-0.04 [[ 0.97459905 -0.22395688 0. 33.12454337] [ 0.22395688 0.97459905 0. 1.6438841 ] [ 0. 0. 1. -0.04381241] [ 0. 0. 0. 1. ]] SLAMing on 32.437552018 meters Centerline goodness : 0.988905 Centerline is valid? [True, True] Translation: X:33.16, Y:1.65, Z:-0.04 [[ 0.97461491 -0.22388785 0. 33.15670602] [ 0.22388785 0.97461491 0. 1.64809317] [ 0. 0. 1. -0.04276912] [ 0. 0. 0. 1. ]] SLAMing on 32.467552018 meters Centerline goodness : 0.988841 Centerline is valid? [True, True] Translation: X:33.19, Y:1.65, Z:-0.04 [[ 0.9747257 -0.22340506 0. 33.18766344] [ 0.22340506 0.9747257 0. 1.65223334] [ 0. 0. 1. -0.04321194] [ 0. 0. 0. 1. ]] SLAMing on 32.497552018 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:33.22, Y:1.66, Z:-0.04 [[ 0.97462944 -0.22382462 0. 33.21975965] [ 0.22382462 0.97462944 0. 1.65739067] [ 0. 0. 1. -0.04047467] [ 0. 0. 0. 1. ]] SLAMing on 32.527552017999994 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:33.25, Y:1.66, Z:-0.04 [[ 0.9749312 -0.22250655 0. 33.25499248] [ 0.22250655 0.9749312 0. 1.66065415] [ 0. 0. 1. -0.03924002] [ 0. 0. 0. 1. ]] SLAMing on 32.557552017999996 meters Centerline goodness : 0.988540 Centerline is valid? [True, True] Translation: X:33.29, Y:1.67, Z:-0.04 [[ 0.97454871 -0.22417585 0. 33.28587643] [ 0.22417585 0.97454871 0. 1.66635677] [ 0. 0. 1. -0.03862076] [ 0. 0. 0. 1. ]] SLAMing on 32.587552018 meters Centerline goodness : 0.988616 Centerline is valid? [True, True] Translation: X:33.31, Y:1.67, Z:-0.04 [[ 0.97331382 -0.22947812 0. 33.31309343] [ 0.22947812 0.97331382 0. 1.67325594] [ 0. 0. 1. -0.0355382 ] [ 0. 0. 0. 1. ]] SLAMing on 32.617552018 meters Centerline goodness : 0.989034 Centerline is valid? [True, True] Translation: X:33.34, Y:1.68, Z:-0.04 [[ 0.97275713 -0.23182657 0. 33.3447367 ] [ 0.23182657 0.97275713 0. 1.67849548] [ 0. 0. 1. -0.03511676] [ 0. 0. 0. 1. ]] SLAMing on 32.647552018 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:33.38, Y:1.68, Z:-0.04 [[ 0.97232637 -0.2336267 0. 33.37617944] [ 0.2336267 0.97232637 0. 1.68350489] [ 0. 0. 1. -0.03521514] [ 0. 0. 0. 1. ]] SLAMing on 32.677552018 meters Centerline goodness : 0.988046 Centerline is valid? [True, True] Translation: X:33.41, Y:1.69, Z:-0.04 [[ 0.97193876 -0.23523401 0. 33.40799857] [ 0.23523401 0.97193876 0. 1.68907255] [ 0. 0. 1. -0.03533728] [ 0. 0. 0. 1. ]] SLAMing on 32.707552017999994 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:33.44, Y:1.69, Z:-0.03 [[ 9.72136088e-01 -2.34417207e-01 0.00000000e+00 3.34444878e+01] [ 2.34417207e-01 9.72136088e-01 0.00000000e+00 1.69280406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33532768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737552017999995 meters Centerline goodness : 0.987675 Centerline is valid? [True, True] Translation: X:33.47, Y:1.70, Z:-0.03 [[ 0.97143985 -0.23728594 0. 33.4729111 ] [ 0.23728594 0.97143985 0. 1.7023446 ] [ 0. 0. 1. -0.03418799] [ 0. 0. 0. 1. ]] SLAMing on 32.767552017999996 meters Centerline goodness : 0.987571 Centerline is valid? [True, True] Translation: X:33.50, Y:1.71, Z:-0.03 [[ 0.97093708 -0.2393349 0. 33.50044818] [ 0.2393349 0.97093708 0. 1.7119888 ] [ 0. 0. 1. -0.03359831] [ 0. 0. 0. 1. ]] SLAMing on 32.797552018 meters Centerline goodness : 0.986279 Centerline is valid? [True, True] Translation: X:33.54, Y:1.72, Z:-0.03 [[ 9.71559782e-01 -2.36794404e-01 0.00000000e+00 3.35368179e+01] [ 2.36794404e-01 9.71559782e-01 0.00000000e+00 1.71562847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25648411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.827552018 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:33.56, Y:1.73, Z:-0.03 [[ 0.97060197 -0.24069029 0. 33.56210654] [ 0.24069029 0.97060197 0. 1.72990862] [ 0. 0. 1. -0.03447174] [ 0. 0. 0. 1. ]] SLAMing on 32.857552018 meters Centerline goodness : 0.984778 Centerline is valid? [True, True] Translation: X:33.60, Y:1.73, Z:-0.03 [[ 9.71618924e-01 -2.36551613e-01 0.00000000e+00 3.36007187e+01] [ 2.36551613e-01 9.71618924e-01 0.00000000e+00 1.73221921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29419284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887552017999994 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:33.63, Y:1.74, Z:-0.03 [[ 9.70911412e-01 -2.39438989e-01 0.00000000e+00 3.36284537e+01] [ 2.39438989e-01 9.70911412e-01 0.00000000e+00 1.74161307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35934931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.917552017999995 meters Centerline goodness : 0.986460 Centerline is valid? [True, True] Translation: X:33.66, Y:1.75, Z:-0.03 [[ 9.71502227e-01 -2.37030425e-01 0.00000000e+00 3.36620109e+01] [ 2.37030425e-01 9.71502227e-01 0.00000000e+00 1.74684935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95650614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947552017999996 meters Centerline goodness : 0.987255 Centerline is valid? [True, True] Translation: X:33.68, Y:1.76, Z:-0.03 [[ 9.70774050e-01 -2.39995301e-01 0.00000000e+00 3.36847662e+01] [ 2.39995301e-01 9.70774050e-01 0.00000000e+00 1.76365788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87363330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.977552018 meters Centerline goodness : 0.986678 Centerline is valid? [True, True] Translation: X:33.72, Y:1.77, Z:-0.02 [[ 9.72226951e-01 -2.34040073e-01 0.00000000e+00 3.37234263e+01] [ 2.34040073e-01 9.72226951e-01 0.00000000e+00 1.76712141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47996434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.007552018 meters Centerline goodness : 0.987287 Centerline is valid? [True, True] Translation: X:33.75, Y:1.78, Z:-0.03 [[ 9.71545612e-01 -2.36852538e-01 0.00000000e+00 3.37462655e+01] [ 2.36852538e-01 9.71545612e-01 0.00000000e+00 1.77943061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74777685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.037552018 meters Centerline goodness : 0.987752 Centerline is valid? [True, True] Translation: X:33.78, Y:1.79, Z:-0.03 [[ 9.71947764e-01 -2.35196820e-01 0.00000000e+00 3.37766897e+01] [ 2.35196820e-01 9.71947764e-01 0.00000000e+00 1.78672832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76894712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.067552018 meters Centerline goodness : 0.987354 Centerline is valid? [True, True] Translation: X:33.81, Y:1.79, Z:-0.02 [[ 9.73472871e-01 -2.28802468e-01 0.00000000e+00 3.38144197e+01] [ 2.28802468e-01 9.73472871e-01 0.00000000e+00 1.79288618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49810889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.097552017999995 meters Centerline goodness : 0.987354 Centerline is valid? [True, True] Translation: X:33.85, Y:1.80, Z:-0.02 [[ 9.73424158e-01 -2.29009627e-01 0.00000000e+00 3.38473933e+01] [ 2.29009627e-01 9.73424158e-01 0.00000000e+00 1.79858873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49810889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127552017999996 meters Centerline goodness : 0.986882 Centerline is valid? [True, True] Translation: X:33.88, Y:1.81, Z:-0.02 [[ 9.73688482e-01 -2.27883173e-01 0.00000000e+00 3.38795683e+01] [ 2.27883173e-01 9.73688482e-01 0.00000000e+00 1.80563583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38149565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.157552018 meters Centerline goodness : 0.986796 Centerline is valid? [True, True] Translation: X:33.91, Y:1.81, Z:-0.03 [[ 9.73414217e-01 -2.29051876e-01 0.00000000e+00 3.39072813e+01] [ 2.29051876e-01 9.73414217e-01 0.00000000e+00 1.81391632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59366770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.187552018 meters Centerline goodness : 0.987613 Centerline is valid? [True, True] Translation: X:33.94, Y:1.82, Z:-0.02 [[ 9.73079864e-01 -2.30468174e-01 0.00000000e+00 3.39380842e+01] [ 2.30468174e-01 9.73079864e-01 0.00000000e+00 1.82171311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49536060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.217552018 meters Centerline goodness : 0.988135 Centerline is valid? [True, True] Translation: X:33.96, Y:1.83, Z:-0.02 [[ 9.72242083e-01 -2.33977205e-01 0.00000000e+00 3.39642060e+01] [ 2.33977205e-01 9.72242083e-01 0.00000000e+00 1.83103887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42095221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.247552018 meters Centerline goodness : 0.986726 Centerline is valid? [True, True] Translation: X:34.00, Y:1.83, Z:-0.02 [[ 9.72777064e-01 -2.31742924e-01 0.00000000e+00 3.40016469e+01] [ 2.31742924e-01 9.72777064e-01 0.00000000e+00 1.83291329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24870986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.277552017999994 meters Centerline goodness : 0.986883 Centerline is valid? [True, True] Translation: X:34.03, Y:1.84, Z:-0.02 [[ 9.71938059e-01 -2.35236924e-01 0.00000000e+00 3.40306890e+01] [ 2.35236924e-01 9.71938059e-01 0.00000000e+00 1.84068552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27737991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307552017999996 meters Centerline goodness : 0.985815 Centerline is valid? [True, True] Translation: X:34.06, Y:1.85, Z:-0.02 [[ 9.71682101e-01 -2.36291968e-01 0.00000000e+00 3.40641774e+01] [ 2.36291968e-01 9.71682101e-01 0.00000000e+00 1.84569384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86036662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.337552018 meters Centerline goodness : 0.985734 Centerline is valid? [True, True] Translation: X:34.10, Y:1.85, Z:-0.02 [[ 9.71659347e-01 -2.36385520e-01 0.00000000e+00 3.40978075e+01] [ 2.36385520e-01 9.71659347e-01 0.00000000e+00 1.85167041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61326992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.367552018 meters Centerline goodness : 0.986134 Centerline is valid? [True, True] Translation: X:34.13, Y:1.86, Z:-0.02 [[ 9.71491790e-01 -2.37073201e-01 0.00000000e+00 3.41275497e+01] [ 2.37073201e-01 9.71491790e-01 0.00000000e+00 1.85879863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60221988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.397552018 meters Centerline goodness : 0.985787 Centerline is valid? [True, True] Translation: X:34.16, Y:1.87, Z:-0.01 [[ 9.71614557e-01 -2.36569550e-01 0.00000000e+00 3.41590913e+01] [ 2.36569550e-01 9.71614557e-01 0.00000000e+00 1.86585757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48656197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.427552018 meters Centerline goodness : 0.985423 Centerline is valid? [True, True] Translation: X:34.19, Y:1.87, Z:-0.01 [[ 9.71788823e-01 -2.35852674e-01 0.00000000e+00 3.41903615e+01] [ 2.35852674e-01 9.71788823e-01 0.00000000e+00 1.87474568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37848463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.457552017999994 meters Centerline goodness : 0.985806 Centerline is valid? [True, True] Translation: X:34.22, Y:1.88, Z:-0.01 [[ 9.71735504e-01 -2.36072258e-01 0.00000000e+00 3.42211026e+01] [ 2.36072258e-01 9.71735504e-01 0.00000000e+00 1.88248091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34639860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487552017999995 meters Centerline goodness : 0.985600 Centerline is valid? [True, True] Translation: X:34.25, Y:1.89, Z:-0.01 [[ 9.71998498e-01 -2.34987063e-01 0.00000000e+00 3.42512404e+01] [ 2.34987063e-01 9.71998498e-01 0.00000000e+00 1.88864176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32197671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.517552017999996 meters Centerline goodness : 0.986645 Centerline is valid? [True, True] Translation: X:34.28, Y:1.90, Z:-0.01 [[ 9.72100410e-01 -2.34565115e-01 0.00000000e+00 3.42829171e+01] [ 2.34565115e-01 9.72100410e-01 0.00000000e+00 1.89554968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30410701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.547552018 meters Centerline goodness : 0.986086 Centerline is valid? [True, True] Translation: X:34.31, Y:1.91, Z:-0.01 [[ 9.71650679e-01 -2.36421145e-01 0.00000000e+00 3.43083746e+01] [ 2.36421145e-01 9.71650679e-01 0.00000000e+00 1.90562904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35919565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.577552018 meters Centerline goodness : 0.987054 Centerline is valid? [True, True] Translation: X:34.34, Y:1.91, Z:-0.01 [[ 9.72314989e-01 -2.33674050e-01 0.00000000e+00 3.43445093e+01] [ 2.33674050e-01 9.72314989e-01 0.00000000e+00 1.90878543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34200831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.607552018 meters Centerline goodness : 0.987376 Centerline is valid? [True, True] Translation: X:34.37, Y:1.91, Z:-0.01 [[ 9.72422916e-01 -2.33224510e-01 0.00000000e+00 3.43749286e+01] [ 2.33224510e-01 9.72422916e-01 0.00000000e+00 1.91433784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33726311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.637552017999994 meters Centerline goodness : 0.987285 Centerline is valid? [True, True] Translation: X:34.40, Y:1.92, Z:-0.01 [[ 9.71841171e-01 -2.35636879e-01 0.00000000e+00 3.44021413e+01] [ 2.35636879e-01 9.71841171e-01 0.00000000e+00 1.92292658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23457958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667552017999995 meters Centerline goodness : 0.986533 Centerline is valid? [True, True] Translation: X:34.43, Y:1.93, Z:-0.01 [[ 9.72844098e-01 -2.31461358e-01 0.00000000e+00 3.44333493e+01] [ 2.31461358e-01 9.72844098e-01 0.00000000e+00 1.92531592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10609777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.697552017999996 meters Centerline goodness : 0.986131 Centerline is valid? [True, True] Translation: X:34.47, Y:1.93, Z:-0.01 [[ 9.72323113e-01 -2.33640244e-01 0.00000000e+00 3.44716224e+01] [ 2.33640244e-01 9.72323113e-01 0.00000000e+00 1.93029619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00975695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727552018 meters Centerline goodness : 0.986372 Centerline is valid? [True, True] Translation: X:34.50, Y:1.94, Z:-0.01 [[ 9.72310125e-01 -2.33694289e-01 0.00000000e+00 3.45027273e+01] [ 2.33694289e-01 9.72310125e-01 0.00000000e+00 1.93501154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05995555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.757552018 meters Centerline goodness : 0.986987 Centerline is valid? [True, True] Translation: X:34.53, Y:1.94, Z:-0.01 [[ 9.72261750e-01 -2.33895468e-01 0.00000000e+00 3.45332897e+01] [ 2.33895468e-01 9.72261750e-01 0.00000000e+00 1.94127570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00726880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.787552018 meters Centerline goodness : 0.986832 Centerline is valid? [True, True] Translation: X:34.57, Y:1.95, Z:-0.01 [[ 9.72806925e-01 -2.31617542e-01 0.00000000e+00 3.45662436e+01] [ 2.31617542e-01 9.72806925e-01 0.00000000e+00 1.94620089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13556018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.817552018 meters Centerline goodness : 0.986432 Centerline is valid? [True, True] Translation: X:34.60, Y:1.95, Z:-0.01 [[ 9.73035275e-01 -2.30656353e-01 0.00000000e+00 3.45996772e+01] [ 2.30656353e-01 9.73035275e-01 0.00000000e+00 1.95144584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.77114270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847552017999995 meters Centerline goodness : 0.986999 Centerline is valid? [True, True] Translation: X:34.63, Y:1.96, Z:-0.01 [[ 9.73300811e-01 -2.29533290e-01 0.00000000e+00 3.46312511e+01] [ 2.29533290e-01 9.73300811e-01 0.00000000e+00 1.95680926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51324809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.877552017999996 meters Centerline goodness : 0.986531 Centerline is valid? [True, True] Translation: X:34.66, Y:1.96, Z:-0.01 [[ 9.73864562e-01 -2.27129511e-01 0.00000000e+00 3.46624654e+01] [ 2.27129511e-01 9.73864562e-01 0.00000000e+00 1.96188616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00868343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.907552018 meters Centerline goodness : 0.987072 Centerline is valid? [True, True] Translation: X:34.69, Y:1.97, Z:-0.01 [[ 9.73163100e-01 -2.30116451e-01 0.00000000e+00 3.46862867e+01] [ 2.30116451e-01 9.73163100e-01 0.00000000e+00 1.97151224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36636401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.937552018 meters Centerline goodness : 0.986759 Centerline is valid? [True, True] Translation: X:34.73, Y:1.97, Z:-0.01 [[ 9.74415541e-01 -2.24753983e-01 0.00000000e+00 3.47251344e+01] [ 2.24753983e-01 9.74415541e-01 0.00000000e+00 1.97203103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60398547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.967552018 meters Centerline goodness : 0.986035 Centerline is valid? [True, True] Translation: X:34.76, Y:1.98, Z:-0.01 [[ 9.74380343e-01 -2.24906528e-01 0.00000000e+00 3.47550158e+01] [ 2.24906528e-01 9.74380343e-01 0.00000000e+00 1.97877625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77994811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.997552018 meters Centerline goodness : 0.985733 Centerline is valid? [True, True] Translation: X:34.78, Y:1.98, Z:-0.00 [[ 9.75730796e-01 -2.18973547e-01 0.00000000e+00 3.47836540e+01] [ 2.18973547e-01 9.75730796e-01 0.00000000e+00 1.98406440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92474088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027552017999994 meters Centerline goodness : 0.986049 Centerline is valid? [True, True] Translation: X:34.82, Y:1.99, Z:-0.00 [[ 9.75373127e-01 -2.20561245e-01 0.00000000e+00 3.48198248e+01] [ 2.20561245e-01 9.75373127e-01 0.00000000e+00 1.99141395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30781148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.057552017999996 meters Centerline goodness : 0.987206 Centerline is valid? [True, True] Translation: X:34.85, Y:2.00, Z:-0.00 [[ 9.75537353e-01 -2.19833739e-01 0.00000000e+00 3.48492187e+01] [ 2.19833739e-01 9.75537353e-01 0.00000000e+00 1.99788490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98795486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087552018 meters Centerline goodness : 0.986895 Centerline is valid? [True, True] Translation: X:34.88, Y:2.00, Z:-0.00 [[ 9.75864013e-01 -2.18379092e-01 0.00000000e+00 3.48822650e+01] [ 2.18379092e-01 9.75864013e-01 0.00000000e+00 2.00287211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73944391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.117552018 meters Centerline goodness : 0.987094 Centerline is valid? [True, True] Translation: X:34.91, Y:2.01, Z:-0.01 [[ 9.76291117e-01 -2.16461670e-01 0.00000000e+00 3.49116366e+01] [ 2.16461670e-01 9.76291117e-01 0.00000000e+00 2.00764297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14510268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.147552018 meters Centerline goodness : 0.986669 Centerline is valid? [True, True] Translation: X:34.94, Y:2.01, Z:-0.01 [[ 9.76333242e-01 -2.16271589e-01 0.00000000e+00 3.49441872e+01] [ 2.16271589e-01 9.76333242e-01 0.00000000e+00 2.01339288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08391065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.177552018 meters Centerline goodness : 0.987283 Centerline is valid? [True, True] Translation: X:34.98, Y:2.02, Z:-0.01 [[ 9.76456775e-01 -2.15713159e-01 0.00000000e+00 3.49761439e+01] [ 2.15713159e-01 9.76456775e-01 0.00000000e+00 2.01916203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70610431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207552017999994 meters Centerline goodness : 0.986617 Centerline is valid? [True, True] Translation: X:35.01, Y:2.03, Z:-0.01 [[ 9.76280830e-01 -2.16508060e-01 0.00000000e+00 3.50056240e+01] [ 2.16508060e-01 9.76280830e-01 0.00000000e+00 2.02519282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86314063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.237552017999995 meters Centerline goodness : 0.987353 Centerline is valid? [True, True] Translation: X:35.04, Y:2.03, Z:-0.00 [[ 9.76103926e-01 -2.17304223e-01 0.00000000e+00 3.50383846e+01] [ 2.17304223e-01 9.76103926e-01 0.00000000e+00 2.02997079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33165999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267552017999996 meters Centerline goodness : 0.986786 Centerline is valid? [True, True] Translation: X:35.07, Y:2.03, Z:-0.00 [[ 9.75901619e-01 -2.18210976e-01 0.00000000e+00 3.50689415e+01] [ 2.18210976e-01 9.75901619e-01 0.00000000e+00 2.03484242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37569488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.297552018 meters Centerline goodness : 0.987339 Centerline is valid? [True, True] Translation: X:35.10, Y:2.04, Z:-0.00 [[ 9.75797550e-01 -2.18675881e-01 0.00000000e+00 3.51022466e+01] [ 2.18675881e-01 9.75797550e-01 0.00000000e+00 2.03912927e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87126982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.327552018 meters Centerline goodness : 0.986523 Centerline is valid? [True, True] Translation: X:35.13, Y:2.04, Z:-0.01 [[ 9.75421835e-01 -2.20345738e-01 0.00000000e+00 3.51334145e+01] [ 2.20345738e-01 9.75421835e-01 0.00000000e+00 2.04375424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17271794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.357552018 meters Centerline goodness : 0.987628 Centerline is valid? [True, True] Translation: X:35.17, Y:2.05, Z:-0.01 [[ 9.74462177e-01 -2.24551700e-01 0.00000000e+00 3.51655416e+01] [ 2.24551700e-01 9.74462177e-01 0.00000000e+00 2.04847829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10565813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387552017999994 meters Centerline goodness : 0.987983 Centerline is valid? [True, True] Translation: X:35.19, Y:2.06, Z:-0.01 [[ 9.73296784e-01 -2.29550366e-01 0.00000000e+00 3.51923903e+01] [ 2.29550366e-01 9.73296784e-01 0.00000000e+00 2.05659891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26336290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.417552017999995 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:35.23, Y:2.06, Z:-0.01 [[ 9.73108012e-01 -2.30349294e-01 0.00000000e+00 3.52281768e+01] [ 2.30349294e-01 9.73108012e-01 0.00000000e+00 2.05856814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71643012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447552017999996 meters Centerline goodness : 0.985894 Centerline is valid? [True, True] Translation: X:35.26, Y:2.06, Z:-0.01 [[ 9.71936412e-01 -2.35243726e-01 0.00000000e+00 3.52611742e+01] [ 2.35243726e-01 9.71936412e-01 0.00000000e+00 2.06222521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52754772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.477552018 meters Centerline goodness : 0.986447 Centerline is valid? [True, True] Translation: X:35.29, Y:2.07, Z:-0.01 [[ 9.71493840e-01 -2.37064800e-01 0.00000000e+00 3.52930751e+01] [ 2.37064800e-01 9.71493840e-01 0.00000000e+00 2.06806473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86698615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.507552018 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:35.33, Y:2.07, Z:-0.00 [[ 9.71301922e-01 -2.37849904e-01 0.00000000e+00 3.53261016e+01] [ 2.37849904e-01 9.71301922e-01 0.00000000e+00 2.07359709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22878287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.537552018 meters Centerline goodness : 0.986996 Centerline is valid? [True, True] Translation: X:35.36, Y:2.08, Z:-0.00 [[ 9.71362498e-01 -2.37602395e-01 0.00000000e+00 3.53576996e+01] [ 2.37602395e-01 9.71362498e-01 0.00000000e+00 2.07962857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32773513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.567552018 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:35.39, Y:2.09, Z:-0.00 [[ 9.72030541e-01 -2.34854480e-01 0.00000000e+00 3.53886367e+01] [ 2.34854480e-01 9.72030541e-01 0.00000000e+00 2.08652329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24526279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.597552017999995 meters Centerline goodness : 0.987166 Centerline is valid? [True, True] Translation: X:35.42, Y:2.09, Z:-0.00 [[ 9.72416221e-01 -2.33252422e-01 0.00000000e+00 3.54164692e+01] [ 2.33252422e-01 9.72416221e-01 0.00000000e+00 2.09388340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23204057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627552017999996 meters Centerline goodness : 0.986698 Centerline is valid? [True, True] Translation: X:35.45, Y:2.10, Z:-0.00 [[ 9.73214848e-01 -2.29897496e-01 0.00000000e+00 3.54518565e+01] [ 2.29897496e-01 9.73214848e-01 0.00000000e+00 2.09894236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78584626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.657552018 meters Centerline goodness : 0.986584 Centerline is valid? [True, True] Translation: X:35.48, Y:2.11, Z:-0.00 [[ 9.73770150e-01 -2.27533941e-01 0.00000000e+00 3.54841503e+01] [ 2.27533941e-01 9.73770150e-01 0.00000000e+00 2.10573374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49168228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.687552018 meters Centerline goodness : 0.987073 Centerline is valid? [True, True] Translation: X:35.51, Y:2.11, Z:-0.00 [[ 9.74812232e-01 -2.23027155e-01 0.00000000e+00 3.55142499e+01] [ 2.23027155e-01 9.74812232e-01 0.00000000e+00 2.11353789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13812601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.717552018 meters Centerline goodness : 0.986421 Centerline is valid? [True, True] Translation: X:35.55, Y:2.12, Z:-0.00 [[ 9.75366295e-01 -2.20591455e-01 0.00000000e+00 3.55476466e+01] [ 2.20591455e-01 9.75366295e-01 0.00000000e+00 2.11908902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43756971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.747552018 meters Centerline goodness : 0.985670 Centerline is valid? [True, True] Translation: X:35.58, Y:2.13, Z:-0.00 [[ 9.75315883e-01 -2.20814238e-01 0.00000000e+00 3.55770639e+01] [ 2.20814238e-01 9.75315883e-01 0.00000000e+00 2.12632704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29655239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.777552017999994 meters Centerline goodness : 0.985964 Centerline is valid? [True, True] Translation: X:35.61, Y:2.13, Z:-0.00 [[ 9.75511067e-01 -2.19950354e-01 0.00000000e+00 3.56112298e+01] [ 2.19950354e-01 9.75511067e-01 0.00000000e+00 2.13160718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62160519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807552017999996 meters Centerline goodness : 0.986544 Centerline is valid? [True, True] Translation: X:35.64, Y:2.14, Z:-0.00 [[ 9.75318775e-01 -2.20801468e-01 0.00000000e+00 3.56422915e+01] [ 2.20801468e-01 9.75318775e-01 0.00000000e+00 2.13811623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88050696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.837552018 meters Centerline goodness : 0.986921 Centerline is valid? [True, True] Translation: X:35.67, Y:2.14, Z:-0.00 [[ 9.74840869e-01 -2.22901954e-01 0.00000000e+00 3.56744902e+01] [ 2.22901954e-01 9.74840869e-01 0.00000000e+00 2.14312753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86125822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.867552018 meters Centerline goodness : 0.986395 Centerline is valid? [True, True] Translation: X:35.71, Y:2.15, Z:-0.00 [[ 9.74240935e-01 -2.25509645e-01 0.00000000e+00 3.57072368e+01] [ 2.25509645e-01 9.74240935e-01 0.00000000e+00 2.14870742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70808270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.897552018 meters Centerline goodness : 0.986235 Centerline is valid? [True, True] Translation: X:35.74, Y:2.15, Z:-0.00 [[ 9.73930792e-01 -2.26845347e-01 0.00000000e+00 3.57391879e+01] [ 2.26845347e-01 9.73930792e-01 0.00000000e+00 2.15379286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02702486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.927552018 meters Centerline goodness : 0.986633 Centerline is valid? [True, True] Translation: X:35.77, Y:2.16, Z:-0.00 [[ 9.72737769e-01 -2.31907810e-01 0.00000000e+00 3.57701752e+01] [ 2.31907810e-01 9.72737769e-01 0.00000000e+00 2.16077091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55165453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.957552017999994 meters Centerline goodness : 0.986633 Centerline is valid? [True, True] Translation: X:35.80, Y:2.17, Z:-0.00 [[ 9.72741540e-01 -2.31891995e-01 0.00000000e+00 3.58022131e+01] [ 2.31891995e-01 9.72741540e-01 0.00000000e+00 2.16636338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55165453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.987552017999995 meters Centerline goodness : 0.986449 Centerline is valid? [True, True] Translation: X:35.83, Y:2.17, Z:-0.00 [[ 9.72393324e-01 -2.33347858e-01 0.00000000e+00 3.58339218e+01] [ 2.33347858e-01 9.72393324e-01 0.00000000e+00 2.17179276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05129525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.017552017999996 meters Centerline goodness : 0.985636 Centerline is valid? [True, True] Translation: X:35.87, Y:2.18, Z:-0.00 [[ 9.72164030e-01 -2.34301301e-01 0.00000000e+00 3.58671864e+01] [ 2.34301301e-01 9.72164030e-01 0.00000000e+00 2.17764500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13554430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.047552018 meters Centerline goodness : 0.986236 Centerline is valid? [True, True] Translation: X:35.90, Y:2.18, Z:-0.00 [[ 9.71912697e-01 -2.35341686e-01 0.00000000e+00 3.58978037e+01] [ 2.35341686e-01 9.71912697e-01 0.00000000e+00 2.18421925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67792985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.077552018 meters Centerline goodness : 0.986431 Centerline is valid? [True, True] Translation: X:35.93, Y:2.19, Z:-0.00 [[ 9.71435307e-01 -2.37304541e-01 0.00000000e+00 3.59283292e+01] [ 2.37304541e-01 9.71435307e-01 0.00000000e+00 2.19243999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23245630e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.107552018 meters Centerline goodness : 0.986282 Centerline is valid? [True, True] Translation: X:35.96, Y:2.20, Z:0.00 [[ 9.71854602e-01 -2.35581479e-01 0.00000000e+00 3.59596354e+01] [ 2.35581479e-01 9.71854602e-01 0.00000000e+00 2.19930092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80883395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.137552017999994 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] Translation: X:35.98, Y:2.21, Z:0.00 [[ 9.71073023e-01 -2.38782714e-01 0.00000000e+00 3.59832194e+01] [ 2.38782714e-01 9.71073023e-01 0.00000000e+00 2.21197006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43864799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.167552017999995 meters Centerline goodness : 0.986761 Centerline is valid? [True, True] Translation: X:36.02, Y:2.21, Z:0.00 [[ 9.72254340e-01 -2.33926267e-01 0.00000000e+00 3.60221396e+01] [ 2.33926267e-01 9.72254340e-01 0.00000000e+00 2.21480750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69574352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.197552017999996 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:36.04, Y:2.23, Z:0.00 [[ 9.71909316e-01 -2.35355648e-01 0.00000000e+00 3.60441093e+01] [ 2.35355648e-01 9.71909316e-01 0.00000000e+00 2.22858521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60780415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.227552018 meters Centerline goodness : 0.988207 Centerline is valid? [True, True] Translation: X:36.08, Y:2.24, Z:0.00 [[ 9.72271303e-01 -2.33855754e-01 0.00000000e+00 3.60753860e+01] [ 2.33855754e-01 9.72271303e-01 0.00000000e+00 2.23507669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45791687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.257552018 meters Centerline goodness : 0.988196 Centerline is valid? [True, True] Translation: X:36.11, Y:2.24, Z:0.00 [[ 9.72623997e-01 -2.32384510e-01 0.00000000e+00 3.61075705e+01] [ 2.32384510e-01 9.72623997e-01 0.00000000e+00 2.24121548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45324991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.287552018 meters Centerline goodness : 0.987545 Centerline is valid? [True, True] Translation: X:36.15, Y:2.24, Z:0.00 [[ 9.74083648e-01 -2.26188078e-01 0.00000000e+00 3.61477281e+01] [ 2.26188078e-01 9.74083648e-01 0.00000000e+00 2.24229099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35860100e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31755201799999 meters Centerline goodness : 0.987737 Centerline is valid? [True, True] Translation: X:36.18, Y:2.25, Z:-0.00 [[ 9.73915951e-01 -2.26909058e-01 0.00000000e+00 3.61757526e+01] [ 2.26909058e-01 9.73915951e-01 0.00000000e+00 2.24908124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07341303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.347552017999995 meters Centerline goodness : 0.986873 Centerline is valid? [True, True] Translation: X:36.21, Y:2.25, Z:-0.00 [[ 9.73952642e-01 -2.26751517e-01 0.00000000e+00 3.62095918e+01] [ 2.26751517e-01 9.73952642e-01 0.00000000e+00 2.25453446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34768613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.377552017999996 meters Centerline goodness : 0.986932 Centerline is valid? [True, True] Translation: X:36.24, Y:2.26, Z:-0.00 [[ 9.73875903e-01 -2.27080879e-01 0.00000000e+00 3.62412542e+01] [ 2.27080879e-01 9.73875903e-01 0.00000000e+00 2.26080409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39450879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.407552018 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:36.26, Y:2.27, Z:-0.01 [[ 9.72042192e-01 -2.34806254e-01 0.00000000e+00 3.62628714e+01] [ 2.34806254e-01 9.72042192e-01 0.00000000e+00 2.27475748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24764429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.437552018 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:36.30, Y:2.28, Z:-0.01 [[ 9.72008470e-01 -2.34945812e-01 0.00000000e+00 3.62956947e+01] [ 2.34945812e-01 9.72008470e-01 0.00000000e+00 2.28105875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57534971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.467552018 meters Centerline goodness : 0.987335 Centerline is valid? [True, True] Translation: X:36.34, Y:2.28, Z:-0.01 [[ 9.73085577e-01 -2.30444051e-01 0.00000000e+00 3.63375428e+01] [ 2.30444051e-01 9.73085577e-01 0.00000000e+00 2.28126781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95831555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.497552018 meters Centerline goodness : 0.988318 Centerline is valid? [True, True] Translation: X:36.37, Y:2.29, Z:-0.01 [[ 9.72894767e-01 -2.31248292e-01 0.00000000e+00 3.63683112e+01] [ 2.31248292e-01 9.72894767e-01 0.00000000e+00 2.28824886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99340203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.527552017999994 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] Translation: X:36.39, Y:2.30, Z:-0.00 [[ 9.71977584e-01 -2.35073556e-01 0.00000000e+00 3.63902571e+01] [ 2.35073556e-01 9.71977584e-01 0.00000000e+00 2.30190727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82361072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.557552017999996 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:36.43, Y:2.30, Z:-0.00 [[ 9.73451946e-01 -2.28891479e-01 0.00000000e+00 3.64311630e+01] [ 2.28891479e-01 9.73451946e-01 0.00000000e+00 2.30278480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77233220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.587552018 meters Centerline goodness : 0.989069 Centerline is valid? [True, True] Translation: X:36.45, Y:2.32, Z:-0.00 [[ 9.72660034e-01 -2.32233630e-01 0.00000000e+00 3.64512347e+01] [ 2.32233630e-01 9.72660034e-01 0.00000000e+00 2.31559894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47591370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.617552018 meters Centerline goodness : 0.990085 Centerline is valid? [True, True] Translation: X:36.48, Y:2.33, Z:-0.00 [[ 9.73337782e-01 -2.29376465e-01 0.00000000e+00 3.64829779e+01] [ 2.29376465e-01 9.73337782e-01 0.00000000e+00 2.32509416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36530819e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.647552018 meters Centerline goodness : 0.988803 Centerline is valid? [True, True] Translation: X:36.51, Y:2.33, Z:-0.00 [[ 9.73581685e-01 -2.28339008e-01 0.00000000e+00 3.65146827e+01] [ 2.28339008e-01 9.73581685e-01 0.00000000e+00 2.33217593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59490081e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.677552018 meters Centerline goodness : 0.989695 Centerline is valid? [True, True] Translation: X:36.55, Y:2.34, Z:-0.00 [[ 9.73936818e-01 -2.26819475e-01 0.00000000e+00 3.65477142e+01] [ 2.26819475e-01 9.73936818e-01 0.00000000e+00 2.33809652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52196758e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.707552017999994 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:36.58, Y:2.35, Z:0.00 [[ 9.73769579e-01 -2.27536387e-01 0.00000000e+00 3.65802131e+01] [ 2.27536387e-01 9.73769579e-01 0.00000000e+00 2.34556657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30395978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.737552017999995 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:36.61, Y:2.35, Z:0.00 [[ 9.73673511e-01 -2.27947132e-01 0.00000000e+00 3.66117131e+01] [ 2.27947132e-01 9.73673511e-01 0.00000000e+00 2.35152827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82708908e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.767552017999996 meters Centerline goodness : 0.988772 Centerline is valid? [True, True] Translation: X:36.65, Y:2.35, Z:-0.00 [[ 9.74985990e-01 -2.22266324e-01 0.00000000e+00 3.66537935e+01] [ 2.22266324e-01 9.74985990e-01 0.00000000e+00 2.35036160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29755879e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.797552018 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:36.69, Y:2.36, Z:0.00 [[ 9.74246055e-01 -2.25487526e-01 0.00000000e+00 3.66852926e+01] [ 2.25487526e-01 9.74246055e-01 0.00000000e+00 2.35873418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10681278e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.827552018 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:36.71, Y:2.37, Z:0.00 [[ 9.72600417e-01 -2.32483182e-01 0.00000000e+00 3.67056785e+01] [ 2.32483182e-01 9.72600417e-01 0.00000000e+00 2.37292243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08893905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.857552018 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:36.75, Y:2.37, Z:-0.00 [[ 9.73769400e-01 -2.27537152e-01 0.00000000e+00 3.67472872e+01] [ 2.27537152e-01 9.73769400e-01 0.00000000e+00 2.37316281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13898531e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.887552017999994 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:36.78, Y:2.38, Z:-0.00 [[ 9.73827393e-01 -2.27288821e-01 0.00000000e+00 3.67799399e+01] [ 2.27288821e-01 9.73827393e-01 0.00000000e+00 2.37870427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07180444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.917552017999995 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:36.81, Y:2.39, Z:-0.00 [[ 9.73721375e-01 -2.27742582e-01 0.00000000e+00 3.68115641e+01] [ 2.27742582e-01 9.73721375e-01 0.00000000e+00 2.38545425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12012830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.947552017999996 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:36.83, Y:2.40, Z:-0.00 [[ 9.73419928e-01 -2.29027604e-01 0.00000000e+00 3.68317748e+01] [ 2.29027604e-01 9.73419928e-01 0.00000000e+00 2.39731315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72623207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.977552018 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:36.87, Y:2.40, Z:-0.00 [[ 9.74920167e-01 -2.22554865e-01 0.00000000e+00 3.68712594e+01] [ 2.22554865e-01 9.74920167e-01 0.00000000e+00 2.39916048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89764181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.007552018 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:36.91, Y:2.40, Z:-0.01 [[ 9.75719962e-01 -2.19021814e-01 0.00000000e+00 3.69070438e+01] [ 2.19021814e-01 9.75719962e-01 0.00000000e+00 2.40450987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10286262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.037552018 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:36.92, Y:2.42, Z:-0.00 [[ 9.75508477e-01 -2.19961840e-01 0.00000000e+00 3.69246821e+01] [ 2.19961840e-01 9.75508477e-01 0.00000000e+00 2.42067755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29032195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06755201799999 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:36.96, Y:2.43, Z:-0.00 [[ 9.76269768e-01 -2.16557937e-01 0.00000000e+00 3.69567961e+01] [ 2.16557937e-01 9.76269768e-01 0.00000000e+00 2.42754153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78437084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.097552017999995 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:36.99, Y:2.43, Z:-0.00 [[ 9.76975141e-01 -2.13353166e-01 0.00000000e+00 3.69882669e+01] [ 2.13353166e-01 9.76975141e-01 0.00000000e+00 2.43391722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12798168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127552017999996 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:37.02, Y:2.44, Z:-0.00 [[ 9.77666993e-01 -2.10160062e-01 0.00000000e+00 3.70209991e+01] [ 2.10160062e-01 9.77666993e-01 0.00000000e+00 2.43937539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37505375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.157552018 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:37.05, Y:2.44, Z:-0.00 [[ 9.79146059e-01 -2.03157561e-01 0.00000000e+00 3.70535302e+01] [ 2.03157561e-01 9.79146059e-01 0.00000000e+00 2.44410505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68751324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.187552018 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:37.09, Y:2.45, Z:-0.00 [[ 9.79797548e-01 -1.99991910e-01 0.00000000e+00 3.70855076e+01] [ 1.99991910e-01 9.79797548e-01 0.00000000e+00 2.44943582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87232685e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.217552018 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:37.12, Y:2.45, Z:0.00 [[ 9.80613542e-01 -1.95951731e-01 0.00000000e+00 3.71178965e+01] [ 1.95951731e-01 9.80613542e-01 0.00000000e+00 2.45361615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60468353e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.247552018 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:37.15, Y:2.46, Z:0.00 [[ 9.81580164e-01 -1.91050731e-01 0.00000000e+00 3.71512488e+01] [ 1.91050731e-01 9.81580164e-01 0.00000000e+00 2.45737294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31543538e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.277552017999994 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:37.19, Y:2.46, Z:0.00 [[ 9.84031375e-01 -1.77995094e-01 0.00000000e+00 3.71924485e+01] [ 1.77995094e-01 9.84031375e-01 0.00000000e+00 2.45570581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31988883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307552017999996 meters Centerline goodness : 0.989643 Centerline is valid? [True, True] Translation: X:37.21, Y:2.46, Z:-0.00 [[ 9.84026802e-01 -1.78020372e-01 0.00000000e+00 3.72144013e+01] [ 1.78020372e-01 9.84026802e-01 0.00000000e+00 2.46464590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59214911e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.337552018 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:37.26, Y:2.46, Z:-0.00 [[ 9.85604332e-01 -1.69068333e-01 0.00000000e+00 3.72555119e+01] [ 1.69068333e-01 9.85604332e-01 0.00000000e+00 2.46340534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14690015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.367552018 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:37.28, Y:2.47, Z:-0.00 [[ 9.85262376e-01 -1.71049849e-01 0.00000000e+00 3.72770347e+01] [ 1.71049849e-01 9.85262376e-01 0.00000000e+00 2.47255071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11761291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.397552018 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:37.31, Y:2.47, Z:-0.00 [[ 9.85932671e-01 -1.67142955e-01 0.00000000e+00 3.73087307e+01] [ 1.67142955e-01 9.85932671e-01 0.00000000e+00 2.47485664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24532808e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.427552018 meters Centerline goodness : 0.989489 Centerline is valid? [True, True] Translation: X:37.34, Y:2.47, Z:-0.00 [[ 9.86801035e-01 -1.61937390e-01 0.00000000e+00 3.73420494e+01] [ 1.61937390e-01 9.86801035e-01 0.00000000e+00 2.47361699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85988079e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.457552017999994 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:37.38, Y:2.47, Z:-0.00 [[ 9.87167961e-01 -1.59685371e-01 0.00000000e+00 3.73751639e+01] [ 1.59685371e-01 9.87167961e-01 0.00000000e+00 2.47472006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09225868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.487552017999995 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:37.41, Y:2.48, Z:-0.00 [[ 9.87452703e-01 -1.57915037e-01 0.00000000e+00 3.74075554e+01] [ 1.57915037e-01 9.87452703e-01 0.00000000e+00 2.47538826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27631961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.517552017999996 meters Centerline goodness : 0.987814 Centerline is valid? [True, True] Translation: X:37.44, Y:2.47, Z:-0.00 [[ 9.87730028e-01 -1.56171031e-01 0.00000000e+00 3.74420276e+01] [ 1.56171031e-01 9.87730028e-01 0.00000000e+00 2.47027150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77747371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.547552018 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] Translation: X:37.47, Y:2.47, Z:-0.00 [[ 9.87777688e-01 -1.55869303e-01 0.00000000e+00 3.74745484e+01] [ 1.55869303e-01 9.87777688e-01 0.00000000e+00 2.46947330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84605351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.577552018 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:37.51, Y:2.47, Z:-0.00 [[ 9.87767137e-01 -1.55936153e-01 0.00000000e+00 3.75086867e+01] [ 1.55936153e-01 9.87767137e-01 0.00000000e+00 2.46864628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16821825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.607552018 meters Centerline goodness : 0.986671 Centerline is valid? [True, True] Translation: X:37.54, Y:2.47, Z:-0.00 [[ 9.87631945e-01 -1.56790121e-01 0.00000000e+00 3.75420898e+01] [ 1.56790121e-01 9.87631945e-01 0.00000000e+00 2.46774223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92151465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.637552017999994 meters Centerline goodness : 0.986033 Centerline is valid? [True, True] Translation: X:37.58, Y:2.46, Z:-0.00 [[ 9.87294375e-01 -1.58901913e-01 0.00000000e+00 3.75762293e+01] [ 1.58901913e-01 9.87294375e-01 0.00000000e+00 2.45926192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70215349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667552017999995 meters Centerline goodness : 0.986161 Centerline is valid? [True, True] Translation: X:37.61, Y:2.46, Z:-0.00 [[ 9.87056819e-01 -1.60370935e-01 0.00000000e+00 3.76086526e+01] [ 1.60370935e-01 9.87056819e-01 0.00000000e+00 2.45726770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98835492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.697552017999996 meters Centerline goodness : 0.986027 Centerline is valid? [True, True] Translation: X:37.64, Y:2.46, Z:-0.01 [[ 9.86771501e-01 -1.62117254e-01 0.00000000e+00 3.76420810e+01] [ 1.62117254e-01 9.86771501e-01 0.00000000e+00 2.45535062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29119084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.727552018 meters Centerline goodness : 0.986426 Centerline is valid? [True, True] Translation: X:37.67, Y:2.45, Z:-0.01 [[ 9.86404325e-01 -1.64336568e-01 0.00000000e+00 3.76739498e+01] [ 1.64336568e-01 9.86404325e-01 0.00000000e+00 2.45345241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32137393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.757552018 meters Centerline goodness : 0.986898 Centerline is valid? [True, True] Translation: X:37.71, Y:2.44, Z:-0.01 [[ 9.85803506e-01 -1.67903087e-01 0.00000000e+00 3.77072227e+01] [ 1.67903087e-01 9.85803506e-01 0.00000000e+00 2.44372427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46934943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.787552018 meters Centerline goodness : 0.986031 Centerline is valid? [True, True] Translation: X:37.74, Y:2.44, Z:-0.01 [[ 9.85507757e-01 -1.69630366e-01 0.00000000e+00 3.77398076e+01] [ 1.69630366e-01 9.85507757e-01 0.00000000e+00 2.44150685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46612609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81755201799999 meters Centerline goodness : 0.986063 Centerline is valid? [True, True] Translation: X:37.77, Y:2.44, Z:-0.00 [[ 9.85505457e-01 -1.69643726e-01 0.00000000e+00 3.77721556e+01] [ 1.69643726e-01 9.85505457e-01 0.00000000e+00 2.43772306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89707400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.847552017999995 meters Centerline goodness : 0.988720 Centerline is valid? [True, True] Translation: X:37.81, Y:2.43, Z:-0.00 [[ 9.84935422e-01 -1.72922565e-01 0.00000000e+00 3.78056393e+01] [ 1.72922565e-01 9.84935422e-01 0.00000000e+00 2.43029401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44526128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.877552017999996 meters Centerline goodness : 0.988720 Centerline is valid? [True, True] Translation: X:37.84, Y:2.44, Z:-0.00 [[ 9.84935422e-01 -1.72922565e-01 0.00000000e+00 3.78361984e+01] [ 1.72922565e-01 9.84935422e-01 0.00000000e+00 2.43550275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44526128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.907552018 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:37.87, Y:2.43, Z:-0.00 [[ 9.84766358e-01 -1.73882775e-01 0.00000000e+00 3.78672291e+01] [ 1.73882775e-01 9.84766358e-01 0.00000000e+00 2.43469341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89829022e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.937552018 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:37.90, Y:2.43, Z:0.00 [[ 9.84563745e-01 -1.75026374e-01 0.00000000e+00 3.78981267e+01] [ 1.75026374e-01 9.84563745e-01 0.00000000e+00 2.43418399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97178041e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.967552018 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:37.93, Y:2.43, Z:0.00 [[ 9.84297982e-01 -1.76514821e-01 0.00000000e+00 3.79285925e+01] [ 1.76514821e-01 9.84297982e-01 0.00000000e+00 2.43307091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17735622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.997552018 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:37.96, Y:2.43, Z:0.00 [[ 9.83520191e-01 -1.80798325e-01 0.00000000e+00 3.79587059e+01] [ 1.80798325e-01 9.83520191e-01 0.00000000e+00 2.42503516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47264709e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.027552017999994 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:37.99, Y:2.42, Z:0.00 [[ 9.82930790e-01 -1.83975709e-01 0.00000000e+00 3.79864998e+01] [ 1.83975709e-01 9.82930790e-01 0.00000000e+00 2.42392774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42024004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.057552017999996 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:38.01, Y:2.42, Z:-0.00 [[ 9.82268003e-01 -1.87482187e-01 0.00000000e+00 3.80145568e+01] [ 1.87482187e-01 9.82268003e-01 0.00000000e+00 2.42340266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41483036e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.087552018 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:38.04, Y:2.42, Z:-0.00 [[ 9.80750066e-01 -1.95267272e-01 0.00000000e+00 3.80434699e+01] [ 1.95267272e-01 9.80750066e-01 0.00000000e+00 2.41854662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27248132e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.117552018 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:38.07, Y:2.42, Z:-0.00 [[ 9.79942620e-01 -1.99279855e-01 0.00000000e+00 3.80718245e+01] [ 1.99279855e-01 9.79942620e-01 0.00000000e+00 2.41917867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77242054e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.147552018 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:38.10, Y:2.42, Z:0.00 [[ 9.79078554e-01 -2.03482642e-01 0.00000000e+00 3.81001348e+01] [ 2.03482642e-01 9.79078554e-01 0.00000000e+00 2.42014942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73929314e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.177552018 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:38.13, Y:2.42, Z:0.00 [[ 9.78197763e-01 -2.07675557e-01 0.00000000e+00 3.81283837e+01] [ 2.07675557e-01 9.78197763e-01 0.00000000e+00 2.42151956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84592999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.207552017999994 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:38.16, Y:2.42, Z:0.00 [[ 9.76643257e-01 -2.14867281e-01 0.00000000e+00 3.81574590e+01] [ 2.14867281e-01 9.76643257e-01 0.00000000e+00 2.42023537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96466926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.237552017999995 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:38.19, Y:2.42, Z:0.01 [[ 9.75928472e-01 -2.18090848e-01 0.00000000e+00 3.81850419e+01] [ 2.18090848e-01 9.75928472e-01 0.00000000e+00 2.42287379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35687424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.267552017999996 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:38.21, Y:2.43, Z:0.00 [[ 9.75278018e-01 -2.20981418e-01 0.00000000e+00 3.82121044e+01] [ 2.20981418e-01 9.75278018e-01 0.00000000e+00 2.42640458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94960798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.297552018 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:38.24, Y:2.43, Z:0.00 [[ 9.74344470e-01 -2.25061889e-01 0.00000000e+00 3.82399288e+01] [ 2.25061889e-01 9.74344470e-01 0.00000000e+00 2.43032220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69565745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.327552018 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:38.27, Y:2.44, Z:0.00 [[ 9.73891627e-01 -2.27013432e-01 0.00000000e+00 3.82676882e+01] [ 2.27013432e-01 9.73891627e-01 0.00000000e+00 2.43552210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36974540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.357552018 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:38.29, Y:2.44, Z:0.00 [[ 9.73519253e-01 -2.28605039e-01 0.00000000e+00 3.82948155e+01] [ 2.28605039e-01 9.73519253e-01 0.00000000e+00 2.44097284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81216578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.387552017999994 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:38.32, Y:2.45, Z:0.00 [[ 9.73170239e-01 -2.30086256e-01 0.00000000e+00 3.83218009e+01] [ 2.30086256e-01 9.73170239e-01 0.00000000e+00 2.44687838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94797404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.417552017999995 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:38.35, Y:2.45, Z:0.00 [[ 9.72825915e-01 -2.31537769e-01 0.00000000e+00 3.83489300e+01] [ 2.31537769e-01 9.72825915e-01 0.00000000e+00 2.45422864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12261511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.447552017999996 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:38.38, Y:2.46, Z:0.00 [[ 9.72845671e-01 -2.31454748e-01 0.00000000e+00 3.83760349e+01] [ 2.31454748e-01 9.72845671e-01 0.00000000e+00 2.46007799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11900845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.477552018 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:38.40, Y:2.47, Z:0.01 [[ 9.72723307e-01 -2.31968465e-01 0.00000000e+00 3.84025487e+01] [ 2.31968465e-01 9.72723307e-01 0.00000000e+00 2.46724821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29467383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.507552018 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:38.43, Y:2.47, Z:0.01 [[ 9.72675742e-01 -2.32167828e-01 0.00000000e+00 3.84299982e+01] [ 2.32167828e-01 9.72675742e-01 0.00000000e+00 2.47444649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84718000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.537552018 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:38.46, Y:2.49, Z:0.01 [[ 9.72654845e-01 -2.32255360e-01 0.00000000e+00 3.84559175e+01] [ 2.32255360e-01 9.72654845e-01 0.00000000e+00 2.48502882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40916044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56755201799999 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:38.48, Y:2.49, Z:0.00 [[ 9.72473337e-01 -2.33014180e-01 0.00000000e+00 3.84824027e+01] [ 2.33014180e-01 9.72473337e-01 0.00000000e+00 2.49312865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64296818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.597552017999995 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:38.51, Y:2.50, Z:0.00 [[ 9.72294515e-01 -2.33759227e-01 0.00000000e+00 3.85087533e+01] [ 2.33759227e-01 9.72294515e-01 0.00000000e+00 2.50103345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42720093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627552017999996 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:38.54, Y:2.51, Z:-0.00 [[ 9.71928645e-01 -2.35275816e-01 0.00000000e+00 3.85354532e+01] [ 2.35275816e-01 9.71928645e-01 0.00000000e+00 2.51204591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46934775e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.657552018 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:38.56, Y:2.52, Z:-0.00 [[ 9.71750154e-01 -2.36011944e-01 0.00000000e+00 3.85614540e+01] [ 2.36011944e-01 9.71750154e-01 0.00000000e+00 2.52087436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43475973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.687552018 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:38.59, Y:2.53, Z:-0.00 [[ 9.71694693e-01 -2.36240182e-01 0.00000000e+00 3.85875322e+01] [ 2.36240182e-01 9.71694693e-01 0.00000000e+00 2.52998408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56284095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.717552018 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:38.61, Y:2.54, Z:-0.00 [[ 9.71607775e-01 -2.36597402e-01 0.00000000e+00 3.86136704e+01] [ 2.36597402e-01 9.71607775e-01 0.00000000e+00 2.53932448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15286038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.747552018 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:38.64, Y:2.55, Z:0.00 [[ 9.71402286e-01 -2.37439674e-01 0.00000000e+00 3.86392173e+01] [ 2.37439674e-01 9.71402286e-01 0.00000000e+00 2.55395239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67817650e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.777552017999994 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:38.67, Y:2.56, Z:0.00 [[ 9.71200998e-01 -2.38261668e-01 0.00000000e+00 3.86658874e+01] [ 2.38261668e-01 9.71200998e-01 0.00000000e+00 2.56320134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39647672e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807552017999996 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:38.69, Y:2.57, Z:0.00 [[ 9.71078270e-01 -2.38761373e-01 0.00000000e+00 3.86932786e+01] [ 2.38761373e-01 9.71078270e-01 0.00000000e+00 2.57170555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77984066e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.837552018 meters Centerline goodness : 0.991375 Centerline is valid? [True, True] Translation: X:38.72, Y:2.58, Z:0.00 [[ 9.70896529e-01 -2.39499332e-01 0.00000000e+00 3.87205291e+01] [ 2.39499332e-01 9.70896529e-01 0.00000000e+00 2.57994699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51017271e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.867552018 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:38.75, Y:2.59, Z:-0.00 [[ 9.70593794e-01 -2.40723258e-01 0.00000000e+00 3.87454044e+01] [ 2.40723258e-01 9.70593794e-01 0.00000000e+00 2.59175424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08084664e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.897552018 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:38.77, Y:2.60, Z:-0.00 [[ 9.70340821e-01 -2.41740958e-01 0.00000000e+00 3.87724233e+01] [ 2.41740958e-01 9.70340821e-01 0.00000000e+00 2.60140332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37717105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.927552018 meters Centerline goodness : 0.989130 Centerline is valid? [True, True] Translation: X:38.80, Y:2.61, Z:-0.00 [[ 9.70346989e-01 -2.41716200e-01 0.00000000e+00 3.88036384e+01] [ 2.41716200e-01 9.70346989e-01 0.00000000e+00 2.61154334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87240057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.957552017999994 meters Centerline goodness : 0.987424 Centerline is valid? [True, True] Translation: X:38.84, Y:2.62, Z:0.00 [[ 9.71844442e-01 -2.35623388e-01 0.00000000e+00 3.88423505e+01] [ 2.35623388e-01 9.71844442e-01 0.00000000e+00 2.61785813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82944430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.987552017999995 meters Centerline goodness : 0.986021 Centerline is valid? [True, True] Translation: X:38.87, Y:2.63, Z:0.00 [[ 9.71672202e-01 -2.36332671e-01 0.00000000e+00 3.88729525e+01] [ 2.36332671e-01 9.71672202e-01 0.00000000e+00 2.62735760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03912588e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.017552017999996 meters Centerline goodness : 0.985964 Centerline is valid? [True, True] Translation: X:38.90, Y:2.64, Z:0.00 [[ 9.72055873e-01 -2.34749610e-01 0.00000000e+00 3.89042391e+01] [ 2.34749610e-01 9.72055873e-01 0.00000000e+00 2.63542144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55639827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.047552018 meters Centerline goodness : 0.985570 Centerline is valid? [True, True] Translation: X:38.93, Y:2.65, Z:0.00 [[ 9.71963538e-01 -2.35131623e-01 0.00000000e+00 3.89345596e+01] [ 2.35131623e-01 9.71963538e-01 0.00000000e+00 2.64541868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00662775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.077552018 meters Centerline goodness : 0.984851 Centerline is valid? [True, True] Translation: X:38.96, Y:2.66, Z:-0.00 [[ 9.72063581e-01 -2.34717692e-01 0.00000000e+00 3.89619239e+01] [ 2.34717692e-01 9.72063581e-01 0.00000000e+00 2.65989699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38400973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.107552018 meters Centerline goodness : 0.984246 Centerline is valid? [True, True] Translation: X:38.99, Y:2.67, Z:-0.00 [[ 9.72047359e-01 -2.34784865e-01 0.00000000e+00 3.89923734e+01] [ 2.34784865e-01 9.72047359e-01 0.00000000e+00 2.66999841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58275609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.137552017999994 meters Centerline goodness : 0.984413 Centerline is valid? [True, True] Translation: X:39.02, Y:2.68, Z:-0.00 [[ 9.72304084e-01 -2.33719424e-01 0.00000000e+00 3.90220066e+01] [ 2.33719424e-01 9.72304084e-01 0.00000000e+00 2.67930749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76603360e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167552017999995 meters Centerline goodness : 0.983945 Centerline is valid? [True, True] Translation: X:39.05, Y:2.69, Z:-0.00 [[ 9.72777351e-01 -2.31741723e-01 0.00000000e+00 3.90542097e+01] [ 2.31741723e-01 9.72777351e-01 0.00000000e+00 2.68870237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04498358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.197552017999996 meters Centerline goodness : 0.983904 Centerline is valid? [True, True] Translation: X:39.08, Y:2.70, Z:-0.00 [[ 9.73869220e-01 -2.27109539e-01 0.00000000e+00 3.90840972e+01] [ 2.27109539e-01 9.73869220e-01 0.00000000e+00 2.70323829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38016113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.227552018 meters Centerline goodness : 0.984600 Centerline is valid? [True, True] Translation: X:39.12, Y:2.71, Z:-0.00 [[ 9.74404674e-01 -2.24801092e-01 0.00000000e+00 3.91159092e+01] [ 2.24801092e-01 9.74404674e-01 0.00000000e+00 2.71324946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78066827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.257552018 meters Centerline goodness : 0.984244 Centerline is valid? [True, True] Translation: X:39.15, Y:2.73, Z:-0.01 [[ 9.75412422e-01 -2.20387404e-01 0.00000000e+00 3.91453199e+01] [ 2.20387404e-01 9.75412422e-01 0.00000000e+00 2.72683765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05823634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.287552018 meters Centerline goodness : 0.985814 Centerline is valid? [True, True] Translation: X:39.17, Y:2.74, Z:-0.01 [[ 9.74692132e-01 -2.23551445e-01 0.00000000e+00 3.91658754e+01] [ 2.23551445e-01 9.74692132e-01 0.00000000e+00 2.74174241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34505444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31755201799999 meters Centerline goodness : 0.984438 Centerline is valid? [True, True] Translation: X:39.21, Y:2.75, Z:-0.01 [[ 9.76026334e-01 -2.17652465e-01 0.00000000e+00 3.92060844e+01] [ 2.17652465e-01 9.76026334e-01 0.00000000e+00 2.74609091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09356727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.347552017999995 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:39.23, Y:2.76, Z:-0.01 [[ 9.75329773e-01 -2.20752881e-01 0.00000000e+00 3.92274048e+01] [ 2.20752881e-01 9.75329773e-01 0.00000000e+00 2.75872218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36127074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.377552017999996 meters Centerline goodness : 0.986185 Centerline is valid? [True, True] Translation: X:39.26, Y:2.77, Z:-0.01 [[ 9.76001410e-01 -2.17764204e-01 0.00000000e+00 3.92595429e+01] [ 2.17764204e-01 9.76001410e-01 0.00000000e+00 2.76668373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.98181939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.407552018 meters Centerline goodness : 0.984460 Centerline is valid? [True, True] Translation: X:39.30, Y:2.77, Z:-0.01 [[ 9.77700043e-01 -2.10006251e-01 0.00000000e+00 3.93002265e+01] [ 2.10006251e-01 9.77700043e-01 0.00000000e+00 2.76720208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98697668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.437552018 meters Centerline goodness : 0.984371 Centerline is valid? [True, True] Translation: X:39.33, Y:2.77, Z:-0.01 [[ 9.77909271e-01 -2.09029803e-01 0.00000000e+00 3.93339897e+01] [ 2.09029803e-01 9.77909271e-01 0.00000000e+00 2.77461185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56067552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.467552018 meters Centerline goodness : 0.985938 Centerline is valid? [True, True] Translation: X:39.36, Y:2.78, Z:-0.01 [[ 9.77856593e-01 -2.09276092e-01 0.00000000e+00 3.93635423e+01] [ 2.09276092e-01 9.77856593e-01 0.00000000e+00 2.78329317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18795126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.497552018 meters Centerline goodness : 0.986715 Centerline is valid? [True, True] Translation: X:39.38, Y:2.80, Z:-0.01 [[ 9.77212768e-01 -2.12262117e-01 0.00000000e+00 3.93838377e+01] [ 2.12262117e-01 9.77212768e-01 0.00000000e+00 2.79644826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31920889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.527552017999994 meters Centerline goodness : 0.986716 Centerline is valid? [True, True] Translation: X:39.42, Y:2.80, Z:-0.01 [[ 9.77584194e-01 -2.10544875e-01 0.00000000e+00 3.94160159e+01] [ 2.10544875e-01 9.77584194e-01 0.00000000e+00 2.80199325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99574227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.557552017999996 meters Centerline goodness : 0.985686 Centerline is valid? [True, True] Translation: X:39.46, Y:2.80, Z:-0.00 [[ 9.79002633e-01 -2.03847601e-01 0.00000000e+00 3.94569927e+01] [ 2.03847601e-01 9.79002633e-01 0.00000000e+00 2.80246383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36920727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.587552018 meters Centerline goodness : 0.985660 Centerline is valid? [True, True] Translation: X:39.49, Y:2.81, Z:-0.00 [[ 9.79287673e-01 -2.02473835e-01 0.00000000e+00 3.94890747e+01] [ 2.02473835e-01 9.79287673e-01 0.00000000e+00 2.80855481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67512371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.617552018 meters Centerline goodness : 0.986604 Centerline is valid? [True, True] Translation: X:39.51, Y:2.82, Z:-0.01 [[ 9.78760242e-01 -2.05008266e-01 0.00000000e+00 3.95108786e+01] [ 2.05008266e-01 9.78760242e-01 0.00000000e+00 2.82065240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38678291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.647552018 meters Centerline goodness : 0.986595 Centerline is valid? [True, True] Translation: X:39.54, Y:2.83, Z:-0.01 [[ 9.79028694e-01 -2.03722399e-01 0.00000000e+00 3.95426023e+01] [ 2.03722399e-01 9.79028694e-01 0.00000000e+00 2.82636864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06647655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.677552018 meters Centerline goodness : 0.986470 Centerline is valid? [True, True] Translation: X:39.57, Y:2.83, Z:-0.01 [[ 9.79301597e-01 -2.02406475e-01 0.00000000e+00 3.95748651e+01] [ 2.02406475e-01 9.79301597e-01 0.00000000e+00 2.83105000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53803125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.707552017999994 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:39.62, Y:2.83, Z:-0.01 [[ 9.80689479e-01 -1.95571330e-01 0.00000000e+00 3.96183349e+01] [ 1.95571330e-01 9.80689479e-01 0.00000000e+00 2.82912383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66298290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.737552017999995 meters Centerline goodness : 0.985962 Centerline is valid? [True, True] Translation: X:39.65, Y:2.83, Z:-0.01 [[ 9.80751343e-01 -1.95260859e-01 0.00000000e+00 3.96487091e+01] [ 1.95260859e-01 9.80751343e-01 0.00000000e+00 2.83113159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92272189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.767552017999996 meters Centerline goodness : 0.985962 Centerline is valid? [True, True] Translation: X:39.68, Y:2.84, Z:-0.01 [[ 9.80688328e-01 -1.95577102e-01 0.00000000e+00 3.96797580e+01] [ 1.95577102e-01 9.80688328e-01 0.00000000e+00 2.83713044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92272189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.797552018 meters Centerline goodness : 0.986504 Centerline is valid? [True, True] Translation: X:39.70, Y:2.85, Z:-0.01 [[ 9.79416108e-01 -2.01851648e-01 0.00000000e+00 3.96985046e+01] [ 2.01851648e-01 9.79416108e-01 0.00000000e+00 2.84726484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03651202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.827552018 meters Centerline goodness : 0.985918 Centerline is valid? [True, True] Translation: X:39.74, Y:2.85, Z:-0.01 [[ 9.80502963e-01 -1.96504298e-01 0.00000000e+00 3.97381169e+01] [ 1.96504298e-01 9.80502963e-01 0.00000000e+00 2.84601119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38677959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.857552018 meters Centerline goodness : 0.985689 Centerline is valid? [True, True] Translation: X:39.77, Y:2.85, Z:-0.01 [[ 9.80417458e-01 -1.96930466e-01 0.00000000e+00 3.97691369e+01] [ 1.96930466e-01 9.80417458e-01 0.00000000e+00 2.85050445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88507807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.887552017999994 meters Centerline goodness : 0.987141 Centerline is valid? [True, True] Translation: X:39.79, Y:2.86, Z:-0.01 [[ 9.79192807e-01 -2.02932125e-01 0.00000000e+00 3.97917426e+01] [ 2.02932125e-01 9.79192807e-01 0.00000000e+00 2.85662925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63238627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.917552017999995 meters Centerline goodness : 0.986624 Centerline is valid? [True, True] Translation: X:39.82, Y:2.86, Z:-0.01 [[ 9.78961611e-01 -2.04044517e-01 0.00000000e+00 3.98236685e+01] [ 2.04044517e-01 9.78961611e-01 0.00000000e+00 2.85889833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01063875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.947552017999996 meters Centerline goodness : 0.985689 Centerline is valid? [True, True] Translation: X:39.87, Y:2.85, Z:-0.01 [[ 9.79741185e-01 -2.00267849e-01 0.00000000e+00 3.98656030e+01] [ 2.00267849e-01 9.79741185e-01 0.00000000e+00 2.85478997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02942385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.977552018 meters Centerline goodness : 0.985321 Centerline is valid? [True, True] Translation: X:39.90, Y:2.86, Z:-0.01 [[ 9.79441174e-01 -2.01729985e-01 0.00000000e+00 3.99000346e+01] [ 2.01729985e-01 9.79441174e-01 0.00000000e+00 2.85615051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15207610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.007552018 meters Centerline goodness : 0.986687 Centerline is valid? [True, True] Translation: X:39.92, Y:2.86, Z:-0.01 [[ 9.77728544e-01 -2.09873518e-01 0.00000000e+00 3.99195723e+01] [ 2.09873518e-01 9.77728544e-01 0.00000000e+00 2.86044863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25878710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.037552018 meters Centerline goodness : 0.985771 Centerline is valid? [True, True] Translation: X:39.95, Y:2.86, Z:-0.01 [[ 9.77819048e-01 -2.09451450e-01 0.00000000e+00 3.99518881e+01] [ 2.09451450e-01 9.77819048e-01 0.00000000e+00 2.86299897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99264690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06755201799999 meters Centerline goodness : 0.985530 Centerline is valid? [True, True] Translation: X:39.98, Y:2.87, Z:-0.00 [[ 9.78074039e-01 -2.08257470e-01 0.00000000e+00 3.99829507e+01] [ 2.08257470e-01 9.78074039e-01 0.00000000e+00 2.86628844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07534903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.097552017999995 meters Centerline goodness : 0.985989 Centerline is valid? [True, True] Translation: X:40.02, Y:2.87, Z:-0.00 [[ 9.78816964e-01 -2.04737274e-01 0.00000000e+00 4.00155251e+01] [ 2.04737274e-01 9.78816964e-01 0.00000000e+00 2.86704683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83117551e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.127552017999996 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:40.05, Y:2.87, Z:-0.00 [[ 9.79305721e-01 -2.02386524e-01 0.00000000e+00 4.00482246e+01] [ 2.02386524e-01 9.79305721e-01 0.00000000e+00 2.86911513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53247678e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157552018 meters Centerline goodness : 0.986963 Centerline is valid? [True, True] Translation: X:40.08, Y:2.87, Z:-0.00 [[ 9.79833123e-01 -1.99817547e-01 0.00000000e+00 4.00802493e+01] [ 1.99817547e-01 9.79833123e-01 0.00000000e+00 2.87071318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61178825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.187552018 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:40.11, Y:2.87, Z:-0.00 [[ 9.80426793e-01 -1.96883987e-01 0.00000000e+00 4.01124125e+01] [ 1.96883987e-01 9.80426793e-01 0.00000000e+00 2.87152662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32520905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.217552018 meters Centerline goodness : 0.988206 Centerline is valid? [True, True] Translation: X:40.14, Y:2.87, Z:-0.01 [[ 9.81691944e-01 -1.90475528e-01 0.00000000e+00 4.01423213e+01] [ 1.90475528e-01 9.81691944e-01 0.00000000e+00 2.87085098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94281734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.247552018 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:40.17, Y:2.87, Z:-0.01 [[ 9.82341340e-01 -1.87097547e-01 0.00000000e+00 4.01739903e+01] [ 1.87097547e-01 9.82341340e-01 0.00000000e+00 2.87405992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81602634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.277552017999994 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:40.20, Y:2.88, Z:-0.01 [[ 9.83127014e-01 -1.82924232e-01 0.00000000e+00 4.02048207e+01] [ 1.82924232e-01 9.83127014e-01 0.00000000e+00 2.87672439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.49351651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307552017999996 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:40.24, Y:2.87, Z:-0.01 [[ 9.84596117e-01 -1.74844177e-01 0.00000000e+00 4.02351234e+01] [ 1.74844177e-01 9.84596117e-01 0.00000000e+00 2.87392621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80877763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.337552018 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:40.27, Y:2.87, Z:-0.01 [[ 9.85445471e-01 -1.69991835e-01 0.00000000e+00 4.02687533e+01] [ 1.69991835e-01 9.85445471e-01 0.00000000e+00 2.87326163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36893373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.367552018 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:40.30, Y:2.87, Z:-0.01 [[ 9.85907902e-01 -1.67288999e-01 0.00000000e+00 4.02958147e+01] [ 1.67288999e-01 9.85907902e-01 0.00000000e+00 2.87497323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60028088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.397552018 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:40.33, Y:2.88, Z:-0.01 [[ 9.86468935e-01 -1.63948286e-01 0.00000000e+00 4.03254857e+01] [ 1.63948286e-01 9.86468935e-01 0.00000000e+00 2.87547900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12319246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.427552018 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:40.36, Y:2.88, Z:-0.01 [[ 9.86971223e-01 -1.60896878e-01 0.00000000e+00 4.03551869e+01] [ 1.60896878e-01 9.86971223e-01 0.00000000e+00 2.87582821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30417602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.457552017999994 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:40.38, Y:2.87, Z:-0.00 [[ 9.87643627e-01 -1.56716512e-01 0.00000000e+00 4.03842762e+01] [ 1.56716512e-01 9.87643627e-01 0.00000000e+00 2.86990055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98121312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.487552017999995 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:40.41, Y:2.87, Z:-0.00 [[ 9.87740517e-01 -1.56104679e-01 0.00000000e+00 4.04135017e+01] [ 1.56104679e-01 9.87740517e-01 0.00000000e+00 2.86889713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18421309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.517552017999996 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:40.44, Y:2.87, Z:-0.00 [[ 9.87707303e-01 -1.56314697e-01 0.00000000e+00 4.04412870e+01] [ 1.56314697e-01 9.87707303e-01 0.00000000e+00 2.86747349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67942484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.547552018 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:40.47, Y:2.86, Z:-0.00 [[ 9.87310409e-01 -1.58802256e-01 0.00000000e+00 4.04700226e+01] [ 1.58802256e-01 9.87310409e-01 0.00000000e+00 2.85938565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71359333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.577552018 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:40.50, Y:2.86, Z:-0.00 [[ 9.87047451e-01 -1.60428581e-01 0.00000000e+00 4.04987490e+01] [ 1.60428581e-01 9.87047451e-01 0.00000000e+00 2.85764891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09883402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.607552018 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:40.53, Y:2.86, Z:-0.00 [[ 9.86710609e-01 -1.62487458e-01 0.00000000e+00 4.05278477e+01] [ 1.62487458e-01 9.86710609e-01 0.00000000e+00 2.85591448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26346658e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.637552017999994 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:40.56, Y:2.85, Z:0.00 [[ 9.86175332e-01 -1.65705201e-01 0.00000000e+00 4.05571186e+01] [ 1.65705201e-01 9.86175332e-01 0.00000000e+00 2.84549457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40809997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667552017999995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:40.59, Y:2.84, Z:0.00 [[ 9.85876727e-01 -1.67472623e-01 0.00000000e+00 4.05858690e+01] [ 1.67472623e-01 9.85876727e-01 0.00000000e+00 2.84363185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63858135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.697552017999996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:40.61, Y:2.84, Z:0.00 [[ 9.85586673e-01 -1.69171243e-01 0.00000000e+00 4.06145758e+01] [ 1.69171243e-01 9.85586673e-01 0.00000000e+00 2.84271532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19601437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.727552018 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:40.64, Y:2.84, Z:0.00 [[ 9.85347905e-01 -1.70556462e-01 0.00000000e+00 4.06422480e+01] [ 1.70556462e-01 9.85347905e-01 0.00000000e+00 2.84166171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77107837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.757552018 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:40.67, Y:2.84, Z:0.00 [[ 9.85157986e-01 -1.71650056e-01 0.00000000e+00 4.06709119e+01] [ 1.71650056e-01 9.85157986e-01 0.00000000e+00 2.84063581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68620358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.787552018 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:40.70, Y:2.83, Z:0.00 [[ 9.85019993e-01 -1.72440173e-01 0.00000000e+00 4.06998213e+01] [ 1.72440173e-01 9.85019993e-01 0.00000000e+00 2.83266007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12296805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81755201799999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:40.73, Y:2.83, Z:0.00 [[ 9.85004300e-01 -1.72529794e-01 0.00000000e+00 4.07283846e+01] [ 1.72529794e-01 9.85004300e-01 0.00000000e+00 2.83181100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99068044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.847552017999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:40.76, Y:2.83, Z:0.00 [[ 9.84994827e-01 -1.72583866e-01 0.00000000e+00 4.07568083e+01] [ 1.72583866e-01 9.84994827e-01 0.00000000e+00 2.82519478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57679524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.877552017999996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:40.79, Y:2.82, Z:-0.00 [[ 9.84934266e-01 -1.72929152e-01 0.00000000e+00 4.07857432e+01] [ 1.72929152e-01 9.84934266e-01 0.00000000e+00 2.82466086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74692599e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.907552018 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:40.81, Y:2.82, Z:-0.00 [[ 9.84820613e-01 -1.73575231e-01 0.00000000e+00 4.08128087e+01] [ 1.73575231e-01 9.84820613e-01 0.00000000e+00 2.82423748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07742276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.937552018 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:40.84, Y:2.82, Z:-0.00 [[ 9.84658253e-01 -1.74493909e-01 0.00000000e+00 4.08411778e+01] [ 1.74493909e-01 9.84658253e-01 0.00000000e+00 2.82397927e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30112957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:2.82, Z:0.00 [[ 9.84320500e-01 -1.76389210e-01 0.00000000e+00 4.08703614e+01] [ 1.76389210e-01 9.84320500e-01 0.00000000e+00 2.81701686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92457762e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:2.82, Z:0.00 [[ 9.84122159e-01 -1.77492468e-01 0.00000000e+00 4.08989299e+01] [ 1.77492468e-01 9.84122159e-01 0.00000000e+00 2.81694811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28218563e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.027552017999994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:40.93, Y:2.82, Z:-0.00 [[ 9.84035393e-01 -1.77972876e-01 0.00000000e+00 4.09276749e+01] [ 1.77972876e-01 9.84035393e-01 0.00000000e+00 2.81781006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76517913e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.057552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:2.82, Z:0.00 [[ 9.84014394e-01 -1.78088946e-01 0.00000000e+00 4.09560493e+01] [ 1.78088946e-01 9.84014394e-01 0.00000000e+00 2.81892635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18553319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.98, Y:2.82, Z:0.00 [[ 9.84284705e-01 -1.76588844e-01 0.00000000e+00 4.09841600e+01] [ 1.76588844e-01 9.84284705e-01 0.00000000e+00 2.81529525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61211569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.01, Y:2.82, Z:0.00 [[ 9.84418288e-01 -1.75842639e-01 0.00000000e+00 4.10128995e+01] [ 1.75842639e-01 9.84418288e-01 0.00000000e+00 2.81611944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94452876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:2.82, Z:0.00 [[ 9.84588924e-01 -1.74884680e-01 0.00000000e+00 4.10413629e+01] [ 1.74884680e-01 9.84588924e-01 0.00000000e+00 2.81725798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46863728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:2.82, Z:0.00 [[ 9.85044737e-01 -1.72298769e-01 0.00000000e+00 4.10700500e+01] [ 1.72298769e-01 9.85044737e-01 0.00000000e+00 2.81520792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46667991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.207552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:2.82, Z:0.00 [[ 9.85191341e-01 -1.71458516e-01 0.00000000e+00 4.10980489e+01] [ 1.71458516e-01 9.85191341e-01 0.00000000e+00 2.81706257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78141785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:2.82, Z:0.00 [[ 9.85405037e-01 -1.70226063e-01 0.00000000e+00 4.11248554e+01] [ 1.70226063e-01 9.85405037e-01 0.00000000e+00 2.81847825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31474943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:2.82, Z:0.00 [[ 9.85503566e-01 -1.69654711e-01 0.00000000e+00 4.11528756e+01] [ 1.69654711e-01 9.85503566e-01 0.00000000e+00 2.82076734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42242994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.297552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:2.82, Z:0.00 [[ 9.85868316e-01 -1.67522127e-01 0.00000000e+00 4.11809505e+01] [ 1.67522127e-01 9.85868316e-01 0.00000000e+00 2.81940998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74693580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:2.82, Z:0.00 [[ 9.85987559e-01 -1.66818864e-01 0.00000000e+00 4.12078904e+01] [ 1.66818864e-01 9.85987559e-01 0.00000000e+00 2.82069453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83297500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.357552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:2.82, Z:0.00 [[ 9.86009395e-01 -1.66689750e-01 0.00000000e+00 4.12354415e+01] [ 1.66689750e-01 9.86009395e-01 0.00000000e+00 2.82255354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57509265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.387552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:2.82, Z:0.00 [[ 9.85914996e-01 -1.67247185e-01 0.00000000e+00 4.12639919e+01] [ 1.67247185e-01 9.85914996e-01 0.00000000e+00 2.82499095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99154730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.417552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:2.82, Z:0.00 [[ 9.85429725e-01 -1.70083091e-01 0.00000000e+00 4.12930063e+01] [ 1.70083091e-01 9.85429725e-01 0.00000000e+00 2.82424315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66918874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.447552017999996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:41.32, Y:2.83, Z:-0.00 [[ 9.84994974e-01 -1.72583026e-01 0.00000000e+00 4.13215046e+01] [ 1.72583026e-01 9.84994974e-01 0.00000000e+00 2.82614151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07104461e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:2.83, Z:0.00 [[ 9.84744016e-01 -1.74009259e-01 0.00000000e+00 4.13489899e+01] [ 1.74009259e-01 9.84744016e-01 0.00000000e+00 2.82631747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21535310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.507552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.38, Y:2.82, Z:0.00 [[ 9.84002689e-01 -1.78153605e-01 0.00000000e+00 4.13778701e+01] [ 1.78153605e-01 9.84002689e-01 0.00000000e+00 2.82318294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17851012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:2.83, Z:0.00 [[ 9.83552180e-01 -1.80624222e-01 0.00000000e+00 4.14061990e+01] [ 1.80624222e-01 9.83552180e-01 0.00000000e+00 2.82532251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27205440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:2.83, Z:0.00 [[ 9.83117204e-01 -1.82976947e-01 0.00000000e+00 4.14352732e+01] [ 1.82976947e-01 9.83117204e-01 0.00000000e+00 2.82759792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27921025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.597552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:2.83, Z:0.00 [[ 9.82213426e-01 -1.87767905e-01 0.00000000e+00 4.14628085e+01] [ 1.87767905e-01 9.82213426e-01 0.00000000e+00 2.82596102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87293375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:2.83, Z:0.00 [[ 9.81631737e-01 -1.90785566e-01 0.00000000e+00 4.14909953e+01] [ 1.90785566e-01 9.81631737e-01 0.00000000e+00 2.82780454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19925658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.657552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:2.83, Z:0.01 [[ 9.81027629e-01 -1.93867974e-01 0.00000000e+00 4.15189889e+01] [ 1.93867974e-01 9.81027629e-01 0.00000000e+00 2.82959146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30535747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.687552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:2.84, Z:0.01 [[ 9.80998472e-01 -1.94015457e-01 0.00000000e+00 4.15459689e+01] [ 1.94015457e-01 9.80998472e-01 0.00000000e+00 2.83500860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30535747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.57, Y:2.84, Z:0.01 [[ 9.80558603e-01 -1.96226466e-01 0.00000000e+00 4.15740294e+01] [ 1.96226466e-01 9.80558603e-01 0.00000000e+00 2.83742106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78956847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:2.84, Z:0.01 [[ 9.79806931e-01 -1.99945939e-01 0.00000000e+00 4.16019645e+01] [ 1.99945939e-01 9.79806931e-01 0.00000000e+00 2.83877358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64608873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.777552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:2.84, Z:0.01 [[ 9.79567741e-01 -2.01114495e-01 0.00000000e+00 4.16283510e+01] [ 2.01114495e-01 9.79567741e-01 0.00000000e+00 2.84265483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52618912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.807552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:2.85, Z:0.00 [[ 9.79389763e-01 -2.01979435e-01 0.00000000e+00 4.16562418e+01] [ 2.01979435e-01 9.79389763e-01 0.00000000e+00 2.84685492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81415270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:2.85, Z:0.00 [[ 9.79058733e-01 -2.03577990e-01 0.00000000e+00 4.16845140e+01] [ 2.03577990e-01 9.79058733e-01 0.00000000e+00 2.84940120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30124408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:2.85, Z:0.00 [[ 9.78809167e-01 -2.04774544e-01 0.00000000e+00 4.17115019e+01] [ 2.04774544e-01 9.78809167e-01 0.00000000e+00 2.85365222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53960675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.897552018 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:41.74, Y:2.86, Z:-0.00 [[ 9.78255270e-01 -2.07404499e-01 0.00000000e+00 4.17387185e+01] [ 2.07404499e-01 9.78255270e-01 0.00000000e+00 2.85892378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41493487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:2.86, Z:0.00 [[ 9.77982167e-01 -2.08688479e-01 0.00000000e+00 4.17662617e+01] [ 2.08688479e-01 9.77982167e-01 0.00000000e+00 2.86301963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76877773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.957552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:2.87, Z:0.00 [[ 9.76939947e-01 -2.13514261e-01 0.00000000e+00 4.17928939e+01] [ 2.13514261e-01 9.76939947e-01 0.00000000e+00 2.86867182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47079283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:2.87, Z:0.00 [[ 9.76340504e-01 -2.16238806e-01 0.00000000e+00 4.18204606e+01] [ 2.16238806e-01 9.76340504e-01 0.00000000e+00 2.87439726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29853827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:2.88, Z:0.00 [[ 9.75683067e-01 -2.19186116e-01 0.00000000e+00 4.18467628e+01] [ 2.19186116e-01 9.75683067e-01 0.00000000e+00 2.88002882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23656308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:2.89, Z:0.01 [[ 9.74388087e-01 -2.24872979e-01 0.00000000e+00 4.18730028e+01] [ 2.24872979e-01 9.74388087e-01 0.00000000e+00 2.88601609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30911961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:2.89, Z:0.01 [[ 9.73636112e-01 -2.28106822e-01 0.00000000e+00 4.19006592e+01] [ 2.28106822e-01 9.73636112e-01 0.00000000e+00 2.89238854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34412697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.107552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:2.90, Z:0.01 [[ 9.72962541e-01 -2.30962971e-01 0.00000000e+00 4.19269495e+01] [ 2.30962971e-01 9.72962541e-01 0.00000000e+00 2.89894312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31048295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.137552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:2.91, Z:0.01 [[ 9.72230673e-01 -2.34024612e-01 0.00000000e+00 4.19543874e+01] [ 2.34024612e-01 9.72230673e-01 0.00000000e+00 2.90607480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05156578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:2.91, Z:0.01 [[ 9.71247902e-01 -2.38070395e-01 0.00000000e+00 4.19805488e+01] [ 2.38070395e-01 9.71247902e-01 0.00000000e+00 2.91368808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78653975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.01, Y:2.92, Z:0.01 [[ 9.70844070e-01 -2.39711893e-01 0.00000000e+00 4.20072339e+01] [ 2.39711893e-01 9.70844070e-01 0.00000000e+00 2.92142400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17327642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:2.93, Z:0.01 [[ 9.70560934e-01 -2.40855712e-01 0.00000000e+00 4.20328417e+01] [ 2.40855712e-01 9.70560934e-01 0.00000000e+00 2.93008223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83938140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:2.94, Z:0.01 [[ 9.70354859e-01 -2.41684605e-01 0.00000000e+00 4.20590551e+01] [ 2.41684605e-01 9.70354859e-01 0.00000000e+00 2.93945220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51745031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:2.95, Z:0.01 [[ 9.70334097e-01 -2.41767948e-01 0.00000000e+00 4.20847879e+01] [ 2.41767948e-01 9.70334097e-01 0.00000000e+00 2.95132166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04849883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:2.96, Z:0.01 [[ 9.70392706e-01 -2.41532597e-01 0.00000000e+00 4.21112917e+01] [ 2.41532597e-01 9.70392706e-01 0.00000000e+00 2.95933331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76687026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.347552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:2.97, Z:0.01 [[ 9.70399783e-01 -2.41504165e-01 0.00000000e+00 4.21380767e+01] [ 2.41504165e-01 9.70399783e-01 0.00000000e+00 2.96823018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92092272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:2.98, Z:0.01 [[ 9.70537220e-01 -2.40951247e-01 0.00000000e+00 4.21628429e+01] [ 2.40951247e-01 9.70537220e-01 0.00000000e+00 2.98212211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49742105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.407552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:2.99, Z:0.01 [[ 9.70536597e-01 -2.40953757e-01 0.00000000e+00 4.21891584e+01] [ 2.40953757e-01 9.70536597e-01 0.00000000e+00 2.99288686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04915469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.437552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:3.00, Z:0.01 [[ 9.70512256e-01 -2.41051779e-01 0.00000000e+00 4.22149287e+01] [ 2.41051779e-01 9.70512256e-01 0.00000000e+00 3.00308800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42157741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:3.02, Z:0.01 [[ 9.70370865e-01 -2.41620333e-01 0.00000000e+00 4.22403473e+01] [ 2.41620333e-01 9.70370865e-01 0.00000000e+00 3.01631144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25406146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:3.03, Z:0.00 [[ 9.70075548e-01 -2.42803278e-01 0.00000000e+00 4.22674498e+01] [ 2.42803278e-01 9.70075548e-01 0.00000000e+00 3.02572539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58690745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.527552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:3.04, Z:0.00 [[ 9.69717743e-01 -2.44228373e-01 0.00000000e+00 4.22940475e+01] [ 2.44228373e-01 9.69717743e-01 0.00000000e+00 3.03541140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43884005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.557552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:3.05, Z:0.00 [[ 9.69004943e-01 -2.47041332e-01 0.00000000e+00 4.23195419e+01] [ 2.47041332e-01 9.69004943e-01 0.00000000e+00 3.04835015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09148591e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:3.06, Z:0.00 [[ 9.68673595e-01 -2.48337402e-01 0.00000000e+00 4.23457918e+01] [ 2.48337402e-01 9.68673595e-01 0.00000000e+00 3.05742437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98883661e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:3.07, Z:0.00 [[ 9.68296760e-01 -2.49802691e-01 0.00000000e+00 4.23724603e+01] [ 2.49802691e-01 9.68296760e-01 0.00000000e+00 3.06697617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32577887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:3.08, Z:0.00 [[ 9.67633225e-01 -2.52360737e-01 0.00000000e+00 4.23971213e+01] [ 2.52360737e-01 9.67633225e-01 0.00000000e+00 3.07986846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95898915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:3.09, Z:0.00 [[ 9.67262173e-01 -2.53779213e-01 0.00000000e+00 4.24234204e+01] [ 2.53779213e-01 9.67262173e-01 0.00000000e+00 3.08906829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54022428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.707552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:3.10, Z:0.00 [[ 9.67053491e-01 -2.54573262e-01 0.00000000e+00 4.24506481e+01] [ 2.54573262e-01 9.67053491e-01 0.00000000e+00 3.09814797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25945769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.737552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:3.11, Z:0.01 [[ 9.67137600e-01 -2.54253541e-01 0.00000000e+00 4.24757550e+01] [ 2.54253541e-01 9.67137600e-01 0.00000000e+00 3.11034304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25775608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:3.12, Z:0.01 [[ 9.67396347e-01 -2.53267264e-01 0.00000000e+00 4.25025019e+01] [ 2.53267264e-01 9.67396347e-01 0.00000000e+00 3.12005090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38061037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:3.13, Z:0.01 [[ 9.67779819e-01 -2.51797977e-01 0.00000000e+00 4.25293013e+01] [ 2.51797977e-01 9.67779819e-01 0.00000000e+00 3.13015775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23862832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:3.14, Z:0.01 [[ 9.68098109e-01 -2.50571448e-01 0.00000000e+00 4.25558167e+01] [ 2.50571448e-01 9.68098109e-01 0.00000000e+00 3.14000907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15075956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.857552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:3.15, Z:0.00 [[ 9.68484989e-01 -2.49071929e-01 0.00000000e+00 4.25816786e+01] [ 2.49071929e-01 9.68484989e-01 0.00000000e+00 3.15148825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11743459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.887552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:3.16, Z:0.00 [[ 9.68573551e-01 -2.48727312e-01 0.00000000e+00 4.26078528e+01] [ 2.48727312e-01 9.68573551e-01 0.00000000e+00 3.15955107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84640176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:3.17, Z:0.00 [[ 9.68601941e-01 -2.48616735e-01 0.00000000e+00 4.26342689e+01] [ 2.48616735e-01 9.68601941e-01 0.00000000e+00 3.16821822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26726552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:3.18, Z:0.00 [[ 9.68870379e-01 -2.47568553e-01 0.00000000e+00 4.26596786e+01] [ 2.47568553e-01 9.68870379e-01 0.00000000e+00 3.17950483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20947517e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:3.19, Z:0.00 [[ 9.68927811e-01 -2.47343683e-01 0.00000000e+00 4.26862117e+01] [ 2.47343683e-01 9.68927811e-01 0.00000000e+00 3.18789431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56837823e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:3.20, Z:0.00 [[ 9.69001569e-01 -2.47054567e-01 0.00000000e+00 4.27118988e+01] [ 2.47054567e-01 9.69001569e-01 0.00000000e+00 3.19586769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43529910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:3.20, Z:0.00 [[ 9.69134983e-01 -2.46530698e-01 0.00000000e+00 4.27374068e+01] [ 2.46530698e-01 9.69134983e-01 0.00000000e+00 3.20379528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13532784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:3.21, Z:0.00 [[ 9.69403330e-01 -2.45473386e-01 0.00000000e+00 4.27640809e+01] [ 2.45473386e-01 9.69403330e-01 0.00000000e+00 3.21420743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62159826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.097552017999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.79, Y:3.22, Z:0.01 [[ 9.69615565e-01 -2.44633718e-01 0.00000000e+00 4.27898952e+01] [ 2.44633718e-01 9.69615565e-01 0.00000000e+00 3.22215557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10053720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.127552017999996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:42.82, Y:3.23, Z:0.01 [[ 9.69768707e-01 -2.44025930e-01 0.00000000e+00 4.28163657e+01] [ 2.44025930e-01 9.69768707e-01 0.00000000e+00 3.23053420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06665710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.157552018 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.84, Y:3.24, Z:0.00 [[ 9.69927340e-01 -2.43394649e-01 0.00000000e+00 4.28422195e+01] [ 2.43394649e-01 9.69927340e-01 0.00000000e+00 3.23847566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32328845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.187552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.87, Y:3.25, Z:0.00 [[ 9.70070018e-01 -2.42825370e-01 0.00000000e+00 4.28685246e+01] [ 2.42825370e-01 9.70070018e-01 0.00000000e+00 3.24742113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05475298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:3.25, Z:0.00 [[ 9.70240898e-01 -2.42141693e-01 0.00000000e+00 4.28959910e+01] [ 2.42141693e-01 9.70240898e-01 0.00000000e+00 3.25450458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51077602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:3.26, Z:0.00 [[ 9.70992467e-01 -2.39110079e-01 0.00000000e+00 4.29220890e+01] [ 2.39110079e-01 9.70992467e-01 0.00000000e+00 3.26397503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48856136e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.277552017999994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.95, Y:3.27, Z:0.00 [[ 9.71443057e-01 -2.37272811e-01 0.00000000e+00 4.29490702e+01] [ 2.37272811e-01 9.71443057e-01 0.00000000e+00 3.27247139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83716503e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:3.28, Z:0.00 [[ 9.71943754e-01 -2.35213392e-01 0.00000000e+00 4.29747255e+01] [ 2.35213392e-01 9.71943754e-01 0.00000000e+00 3.28066560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07525534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337552018 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:43.00, Y:3.29, Z:0.00 [[ 9.72424347e-01 -2.33218543e-01 0.00000000e+00 4.30015411e+01] [ 2.33218543e-01 9.72424347e-01 0.00000000e+00 3.28915802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40231888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.367552018 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:43.03, Y:3.30, Z:0.00 [[ 9.72780301e-01 -2.31729337e-01 0.00000000e+00 4.30281013e+01] [ 2.31729337e-01 9.72780301e-01 0.00000000e+00 3.29691219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66017235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.397552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:43.05, Y:3.30, Z:0.00 [[ 9.73309983e-01 -2.29494395e-01 0.00000000e+00 4.30543298e+01] [ 2.29494395e-01 9.73309983e-01 0.00000000e+00 3.30314977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66519201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.427552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:43.08, Y:3.31, Z:0.00 [[ 9.73408536e-01 -2.29076018e-01 0.00000000e+00 4.30821672e+01] [ 2.29076018e-01 9.73408536e-01 0.00000000e+00 3.30909867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43371045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.457552017999994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:43.11, Y:3.32, Z:0.00 [[ 9.73391547e-01 -2.29148197e-01 0.00000000e+00 4.31094623e+01] [ 2.29148197e-01 9.73391547e-01 0.00000000e+00 3.31564791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89961168e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487552017999995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:43.14, Y:3.32, Z:0.00 [[ 9.73514356e-01 -2.28625893e-01 0.00000000e+00 4.31353037e+01] [ 2.28625893e-01 9.73514356e-01 0.00000000e+00 3.32331621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15360342e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.517552017999996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:43.16, Y:3.33, Z:-0.00 [[ 9.73664466e-01 -2.27985761e-01 0.00000000e+00 4.31622488e+01] [ 2.27985761e-01 9.73664466e-01 0.00000000e+00 3.33010380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68349126e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.547552018 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:43.19, Y:3.34, Z:-0.00 [[ 9.73963978e-01 -2.26702824e-01 0.00000000e+00 4.31887059e+01] [ 2.26702824e-01 9.73963978e-01 0.00000000e+00 3.33690924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42345035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.577552018 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:43.22, Y:3.34, Z:-0.00 [[ 9.73882445e-01 -2.27052821e-01 0.00000000e+00 4.32165071e+01] [ 2.27052821e-01 9.73882445e-01 0.00000000e+00 3.34313495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42345035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.607552018 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:43.24, Y:3.35, Z:-0.00 [[ 9.74625083e-01 -2.23843580e-01 0.00000000e+00 4.32439862e+01] [ 2.23843580e-01 9.74625083e-01 0.00000000e+00 3.34887012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28653343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.637552017999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:43.27, Y:3.35, Z:-0.00 [[ 9.74962820e-01 -2.22367939e-01 0.00000000e+00 4.32709115e+01] [ 2.22367939e-01 9.74962820e-01 0.00000000e+00 3.35389151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15248855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:3.36, Z:-0.00 [[ 9.75224858e-01 -2.21215905e-01 0.00000000e+00 4.32978254e+01] [ 2.21215905e-01 9.75224858e-01 0.00000000e+00 3.35956560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63970615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697552017999996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:43.32, Y:3.37, Z:-0.00 [[ 9.75504203e-01 -2.19980795e-01 0.00000000e+00 4.33238793e+01] [ 2.19980795e-01 9.75504203e-01 0.00000000e+00 3.36528392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79604929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.727552018 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:43.35, Y:3.37, Z:-0.00 [[ 9.75785114e-01 -2.18731367e-01 0.00000000e+00 4.33500082e+01] [ 2.18731367e-01 9.75785114e-01 0.00000000e+00 3.37087957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56543476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.757552018 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:43.38, Y:3.38, Z:0.00 [[ 9.76323930e-01 -2.16313622e-01 0.00000000e+00 4.33777602e+01] [ 2.16313622e-01 9.76323930e-01 0.00000000e+00 3.37538791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11943411e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.787552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:43.41, Y:3.38, Z:0.00 [[ 9.76457536e-01 -2.15709711e-01 0.00000000e+00 4.34050777e+01] [ 2.15709711e-01 9.76457536e-01 0.00000000e+00 3.38049786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08686568e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81755201799999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:43.43, Y:3.39, Z:-0.00 [[ 9.76455318e-01 -2.15719754e-01 0.00000000e+00 4.34322811e+01] [ 2.15719754e-01 9.76455318e-01 0.00000000e+00 3.38593857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68948502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.847552017999995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:43.46, Y:3.39, Z:-0.00 [[ 9.76034768e-01 -2.17614641e-01 0.00000000e+00 4.34592053e+01] [ 2.17614641e-01 9.76034768e-01 0.00000000e+00 3.38963623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70304749e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.877552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:43.49, Y:3.39, Z:-0.00 [[ 9.75627149e-01 -2.19434881e-01 0.00000000e+00 4.34874322e+01] [ 2.19434881e-01 9.75627149e-01 0.00000000e+00 3.39357024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22526147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.907552018 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:43.52, Y:3.40, Z:-0.00 [[ 9.75021900e-01 -2.22108746e-01 0.00000000e+00 4.35155814e+01] [ 2.22108746e-01 9.75021900e-01 0.00000000e+00 3.39695632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62551571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.937552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:3.40, Z:-0.00 [[ 9.73827587e-01 -2.27287991e-01 0.00000000e+00 4.35440122e+01] [ 2.27287991e-01 9.73827587e-01 0.00000000e+00 3.39820833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19256404e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.967552018 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.57, Y:3.40, Z:0.00 [[ 9.73307431e-01 -2.29505217e-01 0.00000000e+00 4.35709193e+01] [ 2.29505217e-01 9.73307431e-01 0.00000000e+00 3.40298706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49529240e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99755201799999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:43.60, Y:3.41, Z:0.00 [[ 9.72902854e-01 -2.31214266e-01 0.00000000e+00 4.35988979e+01] [ 2.31214266e-01 9.72902854e-01 0.00000000e+00 3.40821425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23420997e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.027552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:3.41, Z:0.00 [[ 9.72542581e-01 -2.32725004e-01 0.00000000e+00 4.36258955e+01] [ 2.32725004e-01 9.72542581e-01 0.00000000e+00 3.41360063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70292910e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.057552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:3.42, Z:-0.00 [[ 9.71841976e-01 -2.35633558e-01 0.00000000e+00 4.36539758e+01] [ 2.35633558e-01 9.71841976e-01 0.00000000e+00 3.41728841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51446707e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:3.42, Z:-0.00 [[ 9.71391800e-01 -2.37482568e-01 0.00000000e+00 4.36817381e+01] [ 2.37482568e-01 9.71391800e-01 0.00000000e+00 3.42156728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58658694e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:3.43, Z:-0.00 [[ 9.71002508e-01 -2.39069299e-01 0.00000000e+00 4.37092539e+01] [ 2.39069299e-01 9.71002508e-01 0.00000000e+00 3.42547755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12472059e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:3.43, Z:-0.00 [[ 9.70479363e-01 -2.41184174e-01 0.00000000e+00 4.37360855e+01] [ 2.41184174e-01 9.70479363e-01 0.00000000e+00 3.42809297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.93956720e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:3.43, Z:-0.00 [[ 9.70437354e-01 -2.41353147e-01 0.00000000e+00 4.37637493e+01] [ 2.41353147e-01 9.70437354e-01 0.00000000e+00 3.43361358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16357709e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.207552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:3.44, Z:0.00 [[ 9.70669971e-01 -2.40415904e-01 0.00000000e+00 4.37906098e+01] [ 2.40415904e-01 9.70669971e-01 0.00000000e+00 3.43911929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96968370e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.237552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:3.44, Z:0.00 [[ 9.71055496e-01 -2.38853980e-01 0.00000000e+00 4.38176350e+01] [ 2.38853980e-01 9.71055496e-01 0.00000000e+00 3.44461676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92493827e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.267552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:3.45, Z:0.00 [[ 9.72294627e-01 -2.33758761e-01 0.00000000e+00 4.38453021e+01] [ 2.33758761e-01 9.72294627e-01 0.00000000e+00 3.44866434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46065771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.297552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:3.45, Z:0.00 [[ 9.72987171e-01 -2.30859189e-01 0.00000000e+00 4.38715345e+01] [ 2.30859189e-01 9.72987171e-01 0.00000000e+00 3.45385506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66236164e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:3.46, Z:0.00 [[ 9.73521644e-01 -2.28594858e-01 0.00000000e+00 4.38988694e+01] [ 2.28594858e-01 9.73521644e-01 0.00000000e+00 3.45990767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20287201e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.357552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:3.46, Z:0.00 [[ 9.74478264e-01 -2.24481879e-01 0.00000000e+00 4.39264013e+01] [ 2.24481879e-01 9.74478264e-01 0.00000000e+00 3.46458078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19478175e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.387552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:3.47, Z:0.00 [[ 9.74862206e-01 -2.22808615e-01 0.00000000e+00 4.39544568e+01] [ 2.22808615e-01 9.74862206e-01 0.00000000e+00 3.46892570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99541251e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.417552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:3.47, Z:0.00 [[ 9.75173490e-01 -2.21442236e-01 0.00000000e+00 4.39814966e+01] [ 2.21442236e-01 9.75173490e-01 0.00000000e+00 3.47277031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76467683e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.447552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:3.48, Z:0.00 [[ 9.75423826e-01 -2.20336922e-01 0.00000000e+00 4.40089883e+01] [ 2.20336922e-01 9.75423826e-01 0.00000000e+00 3.47720437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09721800e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:3.48, Z:-0.00 [[ 9.76292199e-01 -2.16456790e-01 0.00000000e+00 4.40355646e+01] [ 2.16456790e-01 9.76292199e-01 0.00000000e+00 3.48052659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42117143e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:3.49, Z:-0.00 [[ 9.76852656e-01 -2.13913271e-01 0.00000000e+00 4.40635427e+01] [ 2.13913271e-01 9.76852656e-01 0.00000000e+00 3.48533795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21193465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:3.49, Z:-0.00 [[ 9.77471736e-01 -2.11066354e-01 0.00000000e+00 4.40902148e+01] [ 2.11066354e-01 9.77471736e-01 0.00000000e+00 3.48950924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73250090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:3.49, Z:-0.00 [[ 9.78768459e-01 -2.04969032e-01 0.00000000e+00 4.41190514e+01] [ 2.04969032e-01 9.78768459e-01 0.00000000e+00 3.49094893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32572564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.597552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:3.49, Z:-0.00 [[ 9.79346478e-01 -2.02189209e-01 0.00000000e+00 4.41468612e+01] [ 2.02189209e-01 9.79346478e-01 0.00000000e+00 3.49458475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47658577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:3.50, Z:-0.00 [[ 9.79904872e-01 -1.99465388e-01 0.00000000e+00 4.41748418e+01] [ 1.99465388e-01 9.79904872e-01 0.00000000e+00 3.49778154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58813150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.657552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:3.50, Z:-0.00 [[ 9.80778201e-01 -1.95125907e-01 0.00000000e+00 4.42033475e+01] [ 1.95125907e-01 9.80778201e-01 0.00000000e+00 3.49737298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20080894e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.687552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:3.50, Z:-0.00 [[ 9.81045948e-01 -1.93775250e-01 0.00000000e+00 4.42300059e+01] [ 1.93775250e-01 9.81045948e-01 0.00000000e+00 3.49978327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45836457e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:3.50, Z:-0.00 [[ 9.81159575e-01 -1.93199092e-01 0.00000000e+00 4.42572337e+01] [ 1.93199092e-01 9.81159575e-01 0.00000000e+00 3.50230591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32967281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:3.50, Z:-0.00 [[ 9.81174351e-01 -1.93124037e-01 0.00000000e+00 4.42845365e+01] [ 1.93124037e-01 9.81174351e-01 0.00000000e+00 3.50431013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79955928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.777552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:3.50, Z:-0.00 [[ 9.80944008e-01 -1.94290643e-01 0.00000000e+00 4.43138423e+01] [ 1.94290643e-01 9.80944008e-01 0.00000000e+00 3.50100127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98282340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.807552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:3.50, Z:-0.00 [[ 9.80778416e-01 -1.95124829e-01 0.00000000e+00 4.43422793e+01] [ 1.95124829e-01 9.80778416e-01 0.00000000e+00 3.50181897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10776003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:3.50, Z:-0.00 [[ 9.80546726e-01 -1.96285807e-01 0.00000000e+00 4.43705967e+01] [ 1.96285807e-01 9.80546726e-01 0.00000000e+00 3.50287919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36563651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:3.50, Z:-0.00 [[ 9.80369820e-01 -1.97167481e-01 0.00000000e+00 4.43992767e+01] [ 1.97167481e-01 9.80369820e-01 0.00000000e+00 3.50445434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73468572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:3.50, Z:-0.00 [[ 9.80192060e-01 -1.98049300e-01 0.00000000e+00 4.44277136e+01] [ 1.98049300e-01 9.80192060e-01 0.00000000e+00 3.50117068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64197228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:3.50, Z:-0.00 [[ 9.80107375e-01 -1.98467965e-01 0.00000000e+00 4.44560478e+01] [ 1.98467965e-01 9.80107375e-01 0.00000000e+00 3.50211503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87899706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.957552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:3.50, Z:-0.00 [[ 9.79983193e-01 -1.99080239e-01 0.00000000e+00 4.44848872e+01] [ 1.99080239e-01 9.79983193e-01 0.00000000e+00 3.50362813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25321063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.987552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.51, Y:3.50, Z:-0.00 [[ 9.79788855e-01 -2.00034496e-01 0.00000000e+00 4.45139612e+01] [ 2.00034496e-01 9.79788855e-01 0.00000000e+00 3.50170659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63407421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:3.50, Z:-0.00 [[ 9.79781449e-01 -2.00070766e-01 0.00000000e+00 4.45414515e+01] [ 2.00070766e-01 9.79781449e-01 0.00000000e+00 3.50371245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48735034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:3.51, Z:-0.00 [[ 9.79673578e-01 -2.00598305e-01 0.00000000e+00 4.45697605e+01] [ 2.00598305e-01 9.79673578e-01 0.00000000e+00 3.50594012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55416910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:3.51, Z:-0.00 [[ 9.79561302e-01 -2.01145855e-01 0.00000000e+00 4.45966410e+01] [ 2.01145855e-01 9.79561302e-01 0.00000000e+00 3.50822907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80214607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.107552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:3.51, Z:-0.01 [[ 9.78840275e-01 -2.04625796e-01 0.00000000e+00 4.46258551e+01] [ 2.04625796e-01 9.78840275e-01 0.00000000e+00 3.50809870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69045710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.137552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:3.51, Z:-0.01 [[ 9.78267306e-01 -2.07347725e-01 0.00000000e+00 4.46531208e+01] [ 2.07347725e-01 9.78267306e-01 0.00000000e+00 3.51054688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82376845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:3.51, Z:-0.01 [[ 9.77644139e-01 -2.10266348e-01 0.00000000e+00 4.46817926e+01] [ 2.10266348e-01 9.77644139e-01 0.00000000e+00 3.51318490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50688925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.197552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:3.52, Z:-0.00 [[ 9.76877088e-01 -2.13801673e-01 0.00000000e+00 4.47103267e+01] [ 2.13801673e-01 9.76877088e-01 0.00000000e+00 3.51622318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83385234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:3.52, Z:-0.00 [[ 9.75367187e-01 -2.20587513e-01 0.00000000e+00 4.47387975e+01] [ 2.20587513e-01 9.75367187e-01 0.00000000e+00 3.51556637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10357277e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:3.52, Z:0.00 [[ 9.74561071e-01 -2.24122106e-01 0.00000000e+00 4.47667287e+01] [ 2.24122106e-01 9.74561071e-01 0.00000000e+00 3.51843519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10853479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:3.52, Z:0.00 [[ 9.73854456e-01 -2.27172838e-01 0.00000000e+00 4.47935417e+01] [ 2.27172838e-01 9.73854456e-01 0.00000000e+00 3.52122974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81105080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:3.52, Z:0.00 [[ 9.72398412e-01 -2.33326656e-01 0.00000000e+00 4.48217838e+01] [ 2.33326656e-01 9.72398412e-01 0.00000000e+00 3.52389232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08814688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.347552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:3.53, Z:0.00 [[ 9.71628279e-01 -2.36513186e-01 0.00000000e+00 4.48494024e+01] [ 2.36513186e-01 9.71628279e-01 0.00000000e+00 3.52905253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23268377e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:3.53, Z:-0.00 [[ 9.70970733e-01 -2.39198317e-01 0.00000000e+00 4.48762684e+01] [ 2.39198317e-01 9.70970733e-01 0.00000000e+00 3.53373926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18040474e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:3.54, Z:-0.00 [[ 9.70248091e-01 -2.42112871e-01 0.00000000e+00 4.49043496e+01] [ 2.42112871e-01 9.70248091e-01 0.00000000e+00 3.53854965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22276549e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.437552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:3.54, Z:0.00 [[ 9.69373961e-01 -2.45589340e-01 0.00000000e+00 4.49316723e+01] [ 2.45589340e-01 9.69373961e-01 0.00000000e+00 3.54156902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99852192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:3.55, Z:0.00 [[ 9.69103124e-01 -2.46655904e-01 0.00000000e+00 4.49591284e+01] [ 2.46655904e-01 9.69103124e-01 0.00000000e+00 3.54709145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13098818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:3.55, Z:0.00 [[ 9.69028160e-01 -2.46950247e-01 0.00000000e+00 4.49868941e+01] [ 2.46950247e-01 9.69028160e-01 0.00000000e+00 3.55372567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13098818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.527552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:3.56, Z:0.01 [[ 9.68913857e-01 -2.47398338e-01 0.00000000e+00 4.50144715e+01] [ 2.47398338e-01 9.68913857e-01 0.00000000e+00 3.56040631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55788079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:3.57, Z:0.01 [[ 9.68970822e-01 -2.47175133e-01 0.00000000e+00 4.50410849e+01] [ 2.47175133e-01 9.68970822e-01 0.00000000e+00 3.56762945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03727652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:3.58, Z:0.00 [[ 9.69642231e-01 -2.44528003e-01 0.00000000e+00 4.50668991e+01] [ 2.44528003e-01 9.69642231e-01 0.00000000e+00 3.57607494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91184520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:3.58, Z:0.00 [[ 9.70168984e-01 -2.42429664e-01 0.00000000e+00 4.50925297e+01] [ 2.42429664e-01 9.70168984e-01 0.00000000e+00 3.58308382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34317551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:3.59, Z:0.00 [[ 9.70743368e-01 -2.40119372e-01 0.00000000e+00 4.51196697e+01] [ 2.40119372e-01 9.70743368e-01 0.00000000e+00 3.59028286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69484974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.15, Y:3.60, Z:0.00 [[ 9.71479692e-01 -2.37122771e-01 0.00000000e+00 4.51459943e+01] [ 2.37122771e-01 9.71479692e-01 0.00000000e+00 3.59925104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10733844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.707552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:3.61, Z:0.00 [[ 9.71582411e-01 -2.36701538e-01 0.00000000e+00 4.51731289e+01] [ 2.36701538e-01 9.71582411e-01 0.00000000e+00 3.60685354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70880208e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:3.61, Z:-0.00 [[ 9.71455875e-01 -2.37220326e-01 0.00000000e+00 4.51998892e+01] [ 2.37220326e-01 9.71455875e-01 0.00000000e+00 3.61434354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42781568e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:3.62, Z:-0.00 [[ 9.70779751e-01 -2.39972237e-01 0.00000000e+00 4.52266584e+01] [ 2.39972237e-01 9.70779751e-01 0.00000000e+00 3.62103491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75996489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:3.63, Z:-0.00 [[ 9.70137637e-01 -2.42555077e-01 0.00000000e+00 4.52541111e+01] [ 2.42555077e-01 9.70137637e-01 0.00000000e+00 3.62729295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25689701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:3.63, Z:-0.00 [[ 9.69449695e-01 -2.45290215e-01 0.00000000e+00 4.52818679e+01] [ 2.45290215e-01 9.69449695e-01 0.00000000e+00 3.63374033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06390515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.857552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:3.64, Z:0.00 [[ 9.68788666e-01 -2.47888121e-01 0.00000000e+00 4.53083358e+01] [ 2.47888121e-01 9.68788666e-01 0.00000000e+00 3.64010848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51880110e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.887552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:3.65, Z:0.00 [[ 9.67437007e-01 -2.53111905e-01 0.00000000e+00 4.53355172e+01] [ 2.53111905e-01 9.67437007e-01 0.00000000e+00 3.64800510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47115945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.917552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:3.66, Z:0.00 [[ 9.66888199e-01 -2.55200334e-01 0.00000000e+00 4.53627244e+01] [ 2.55200334e-01 9.66888199e-01 0.00000000e+00 3.65518073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38636683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:3.66, Z:0.00 [[ 9.66506933e-01 -2.56640503e-01 0.00000000e+00 4.53884724e+01] [ 2.56640503e-01 9.66506933e-01 0.00000000e+00 3.66174064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49883553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:3.67, Z:0.00 [[ 9.66200925e-01 -2.57790172e-01 0.00000000e+00 4.54156985e+01] [ 2.57790172e-01 9.66200925e-01 0.00000000e+00 3.66879549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06961922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:3.68, Z:0.00 [[ 9.66209263e-01 -2.57758919e-01 0.00000000e+00 4.54422207e+01] [ 2.57758919e-01 9.66209263e-01 0.00000000e+00 3.67708933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64867048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:3.69, Z:0.00 [[ 9.66231136e-01 -2.57676914e-01 0.00000000e+00 4.54680167e+01] [ 2.57676914e-01 9.66231136e-01 0.00000000e+00 3.68503702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34082737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:3.69, Z:0.00 [[ 9.66497869e-01 -2.56674638e-01 0.00000000e+00 4.54953710e+01] [ 2.56674638e-01 9.66497869e-01 0.00000000e+00 3.69271411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84460013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.097552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:3.70, Z:0.00 [[ 9.67346612e-01 -2.53457162e-01 0.00000000e+00 4.55224986e+01] [ 2.53457162e-01 9.67346612e-01 0.00000000e+00 3.70104246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28053871e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:3.71, Z:0.00 [[ 9.68000787e-01 -2.50947158e-01 0.00000000e+00 4.55479746e+01] [ 2.50947158e-01 9.68000787e-01 0.00000000e+00 3.70869557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67188677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.157552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:3.72, Z:0.00 [[ 9.68792399e-01 -2.47873533e-01 0.00000000e+00 4.55734543e+01] [ 2.47873533e-01 9.68792399e-01 0.00000000e+00 3.71718103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25938494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.187552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:3.73, Z:0.00 [[ 9.69565292e-01 -2.44832889e-01 0.00000000e+00 4.56001811e+01] [ 2.44832889e-01 9.69565292e-01 0.00000000e+00 3.72659775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45826372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:3.74, Z:0.00 [[ 9.71447987e-01 -2.37252628e-01 0.00000000e+00 4.56257640e+01] [ 2.37252628e-01 9.71447987e-01 0.00000000e+00 3.73700922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61412324e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:3.74, Z:-0.00 [[ 9.72385219e-01 -2.33381633e-01 0.00000000e+00 4.56526038e+01] [ 2.33381633e-01 9.72385219e-01 0.00000000e+00 3.74454306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49592740e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.277552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:3.75, Z:-0.00 [[ 9.73345877e-01 -2.29342112e-01 0.00000000e+00 4.56785320e+01] [ 2.29342112e-01 9.73345877e-01 0.00000000e+00 3.75157037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81450829e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.307552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:3.76, Z:-0.00 [[ 9.75040010e-01 -2.22029228e-01 0.00000000e+00 4.57038037e+01] [ 2.22029228e-01 9.75040010e-01 0.00000000e+00 3.76029136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03732820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:3.77, Z:-0.00 [[ 9.75670295e-01 -2.19242958e-01 0.00000000e+00 4.57311046e+01] [ 2.19242958e-01 9.75670295e-01 0.00000000e+00 3.76856435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16981722e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:3.78, Z:-0.00 [[ 9.76216782e-01 -2.16796664e-01 0.00000000e+00 4.57576473e+01] [ 2.16796664e-01 9.76216782e-01 0.00000000e+00 3.77612153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20034369e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:3.78, Z:-0.00 [[ 9.77332261e-01 -2.11711245e-01 0.00000000e+00 4.57841858e+01] [ 2.11711245e-01 9.77332261e-01 0.00000000e+00 3.78256891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90850081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:3.79, Z:-0.00 [[ 9.77697503e-01 -2.10018079e-01 0.00000000e+00 4.58110594e+01] [ 2.10018079e-01 9.77697503e-01 0.00000000e+00 3.78906173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06177252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.457552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:3.80, Z:-0.00 [[ 9.77981245e-01 -2.08692799e-01 0.00000000e+00 4.58384532e+01] [ 2.08692799e-01 9.77981245e-01 0.00000000e+00 3.79567670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41500037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:3.80, Z:-0.00 [[ 9.78139023e-01 -2.07952042e-01 0.00000000e+00 4.58655247e+01] [ 2.07952042e-01 9.78139023e-01 0.00000000e+00 3.80211535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32621757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:3.81, Z:-0.00 [[ 9.78159911e-01 -2.07853765e-01 0.00000000e+00 4.58934975e+01] [ 2.07853765e-01 9.78159911e-01 0.00000000e+00 3.80617433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44702963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:3.81, Z:-0.00 [[ 9.77969886e-01 -2.08746024e-01 0.00000000e+00 4.59210084e+01] [ 2.08746024e-01 9.77969886e-01 0.00000000e+00 3.81040196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57833162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.577552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:3.81, Z:0.00 [[ 9.77706559e-01 -2.09975913e-01 0.00000000e+00 4.59484723e+01] [ 2.09975913e-01 9.77706559e-01 0.00000000e+00 3.81469357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97894318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.607552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:3.82, Z:0.00 [[ 9.77428907e-01 -2.11264603e-01 0.00000000e+00 4.59756153e+01] [ 2.11264603e-01 9.77428907e-01 0.00000000e+00 3.81927792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04085531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.637552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:3.82, Z:0.00 [[ 9.77001461e-01 -2.13232610e-01 0.00000000e+00 4.60033417e+01] [ 2.13232610e-01 9.77001461e-01 0.00000000e+00 3.82284400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37874571e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:3.83, Z:-0.00 [[ 9.76794656e-01 -2.14177962e-01 0.00000000e+00 4.60308165e+01] [ 2.14177962e-01 9.76794656e-01 0.00000000e+00 3.82731536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80493931e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.697552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:3.83, Z:-0.00 [[ 9.76713091e-01 -2.14549618e-01 0.00000000e+00 4.60574668e+01] [ 2.14549618e-01 9.76713091e-01 0.00000000e+00 3.83092667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04016610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:3.83, Z:-0.00 [[ 9.76363290e-01 -2.16135898e-01 0.00000000e+00 4.60862317e+01] [ 2.16135898e-01 9.76363290e-01 0.00000000e+00 3.83173296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22186256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:3.84, Z:-0.00 [[ 9.76073491e-01 -2.17440890e-01 0.00000000e+00 4.61142872e+01] [ 2.17440890e-01 9.76073491e-01 0.00000000e+00 3.83595208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75576879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:3.84, Z:-0.00 [[ 9.75734282e-01 -2.18958013e-01 0.00000000e+00 4.61423375e+01] [ 2.18958013e-01 9.75734282e-01 0.00000000e+00 3.83993030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58100432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:3.84, Z:-0.00 [[ 9.75462387e-01 -2.20166147e-01 0.00000000e+00 4.61695148e+01] [ 2.20166147e-01 9.75462387e-01 0.00000000e+00 3.84314701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97893810e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.847552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:3.84, Z:0.00 [[ 9.75145662e-01 -2.21564748e-01 0.00000000e+00 4.61987556e+01] [ 2.21564748e-01 9.75145662e-01 0.00000000e+00 3.84298630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24653457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.877552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:3.85, Z:0.00 [[ 9.75124347e-01 -2.21658540e-01 0.00000000e+00 4.62256341e+01] [ 2.21658540e-01 9.75124347e-01 0.00000000e+00 3.84691197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37810887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.907552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:3.85, Z:0.00 [[ 9.75183062e-01 -2.21400080e-01 0.00000000e+00 4.62536873e+01] [ 2.21400080e-01 9.75183062e-01 0.00000000e+00 3.84918463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46184575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.937552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:3.85, Z:0.00 [[ 9.75246909e-01 -2.21118671e-01 0.00000000e+00 4.62812388e+01] [ 2.21118671e-01 9.75246909e-01 0.00000000e+00 3.85294888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22218937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:3.86, Z:0.00 [[ 9.75384660e-01 -2.20510236e-01 0.00000000e+00 4.63081156e+01] [ 2.20510236e-01 9.75384660e-01 0.00000000e+00 3.85643713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65497171e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:3.86, Z:0.00 [[ 9.75543351e-01 -2.19807123e-01 0.00000000e+00 4.63359420e+01] [ 2.19807123e-01 9.75543351e-01 0.00000000e+00 3.86031213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34743494e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.027552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:3.86, Z:0.00 [[ 9.75862972e-01 -2.18383742e-01 0.00000000e+00 4.63644164e+01] [ 2.18383742e-01 9.75862972e-01 0.00000000e+00 3.86081221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38746223e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.057552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:3.86, Z:0.00 [[ 9.75907204e-01 -2.18185996e-01 0.00000000e+00 4.63913310e+01] [ 2.18185996e-01 9.75907204e-01 0.00000000e+00 3.86343910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00094937e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:3.87, Z:0.00 [[ 9.75866530e-01 -2.18367844e-01 0.00000000e+00 4.64185440e+01] [ 2.18367844e-01 9.75866530e-01 0.00000000e+00 3.86619669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20138027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:3.87, Z:0.00 [[ 9.75603989e-01 -2.19537826e-01 0.00000000e+00 4.64472203e+01] [ 2.19537826e-01 9.75603989e-01 0.00000000e+00 3.86595935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78989356e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:3.87, Z:0.00 [[ 9.75574397e-01 -2.19669289e-01 0.00000000e+00 4.64748197e+01] [ 2.19669289e-01 9.75574397e-01 0.00000000e+00 3.86931330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62597586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:3.87, Z:0.00 [[ 9.75683676e-01 -2.19183404e-01 0.00000000e+00 4.65019496e+01] [ 2.19183404e-01 9.75683676e-01 0.00000000e+00 3.87283892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86873222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.207552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:3.88, Z:0.00 [[ 9.75881293e-01 -2.18301858e-01 0.00000000e+00 4.65287772e+01] [ 2.18301858e-01 9.75881293e-01 0.00000000e+00 3.87638142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53522662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.237552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:3.88, Z:-0.00 [[ 9.76367692e-01 -2.16116011e-01 0.00000000e+00 4.65575924e+01] [ 2.16116011e-01 9.76367692e-01 0.00000000e+00 3.87746890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13681481e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.267552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.58, Y:3.88, Z:-0.00 [[ 9.76508914e-01 -2.15477006e-01 0.00000000e+00 4.65843737e+01] [ 2.15477006e-01 9.76508914e-01 0.00000000e+00 3.88044916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60503131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.297552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:3.88, Z:-0.00 [[ 9.76623282e-01 -2.14958055e-01 0.00000000e+00 4.66127480e+01] [ 2.14958055e-01 9.76623282e-01 0.00000000e+00 3.88305725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56355875e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:3.88, Z:-0.00 [[ 9.77051292e-01 -2.13004160e-01 0.00000000e+00 4.66415412e+01] [ 2.13004160e-01 9.77051292e-01 0.00000000e+00 3.88371550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51812302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.357552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:3.89, Z:-0.00 [[ 9.77216017e-01 -2.12247159e-01 0.00000000e+00 4.66680496e+01] [ 2.12247159e-01 9.77216017e-01 0.00000000e+00 3.88763946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42754185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.387552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:3.89, Z:-0.00 [[ 9.77149221e-01 -2.12554462e-01 0.00000000e+00 4.66957343e+01] [ 2.12554462e-01 9.77149221e-01 0.00000000e+00 3.89471576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42754185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.417552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:3.90, Z:-0.00 [[ 9.77189936e-01 -2.12367203e-01 0.00000000e+00 4.67236200e+01] [ 2.12367203e-01 9.77189936e-01 0.00000000e+00 3.89822184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19237526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:3.90, Z:-0.00 [[ 9.77440562e-01 -2.11210671e-01 0.00000000e+00 4.67525606e+01] [ 2.11210671e-01 9.77440562e-01 0.00000000e+00 3.89656794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13906896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:3.90, Z:-0.00 [[ 9.77418914e-01 -2.11310830e-01 0.00000000e+00 4.67810195e+01] [ 2.11310830e-01 9.77418914e-01 0.00000000e+00 3.89994925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03177700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:3.90, Z:-0.00 [[ 9.77256310e-01 -2.12061559e-01 0.00000000e+00 4.68094498e+01] [ 2.12061559e-01 9.77256310e-01 0.00000000e+00 3.90388493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42474048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:3.91, Z:-0.00 [[ 9.77082676e-01 -2.12860152e-01 0.00000000e+00 4.68371234e+01] [ 2.12860152e-01 9.77082676e-01 0.00000000e+00 3.90713192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33176517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:3.91, Z:-0.00 [[ 9.76692085e-01 -2.14645221e-01 0.00000000e+00 4.68654948e+01] [ 2.14645221e-01 9.76692085e-01 0.00000000e+00 3.90566779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64366835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.597552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:3.91, Z:-0.00 [[ 9.76455913e-01 -2.15717061e-01 0.00000000e+00 4.68923565e+01] [ 2.15717061e-01 9.76455913e-01 0.00000000e+00 3.90860408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93937148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:3.91, Z:-0.00 [[ 9.76254183e-01 -2.16628185e-01 0.00000000e+00 4.69199347e+01] [ 2.16628185e-01 9.76254183e-01 0.00000000e+00 3.91184507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96113576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.657552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:3.91, Z:-0.00 [[ 9.75798400e-01 -2.18672091e-01 0.00000000e+00 4.69493740e+01] [ 2.18672091e-01 9.75798400e-01 0.00000000e+00 3.91216705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61623629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.687552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:3.92, Z:-0.00 [[ 9.75451966e-01 -2.20212313e-01 0.00000000e+00 4.69778945e+01] [ 2.20212313e-01 9.75451966e-01 0.00000000e+00 3.91587257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62354547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:3.92, Z:-0.00 [[ 9.75071802e-01 -2.21889568e-01 0.00000000e+00 4.70049621e+01] [ 2.21889568e-01 9.75071802e-01 0.00000000e+00 3.91943892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22396098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:3.92, Z:-0.00 [[ 9.74634406e-01 -2.23802982e-01 0.00000000e+00 4.70327433e+01] [ 2.23802982e-01 9.74634406e-01 0.00000000e+00 3.92309109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78591456e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.777552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:3.92, Z:-0.00 [[ 9.74120739e-01 -2.26028283e-01 0.00000000e+00 4.70599591e+01] [ 2.26028283e-01 9.74120739e-01 0.00000000e+00 3.92390718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00698276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:3.93, Z:-0.00 [[ 9.73819832e-01 -2.27321216e-01 0.00000000e+00 4.70874182e+01] [ 2.27321216e-01 9.73819832e-01 0.00000000e+00 3.92799811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38501524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:3.93, Z:-0.00 [[ 9.73479351e-01 -2.28774896e-01 0.00000000e+00 4.71139160e+01] [ 2.28774896e-01 9.73479351e-01 0.00000000e+00 3.93168722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78232434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:3.93, Z:-0.00 [[ 9.72776477e-01 -2.31745391e-01 0.00000000e+00 4.71428593e+01] [ 2.31745391e-01 9.72776477e-01 0.00000000e+00 3.93321688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84444842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:3.94, Z:-0.00 [[ 9.72353704e-01 -2.33512900e-01 0.00000000e+00 4.71697602e+01] [ 2.33512900e-01 9.72353704e-01 0.00000000e+00 3.93760072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01815779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:3.94, Z:-0.00 [[ 9.71784014e-01 -2.35872487e-01 0.00000000e+00 4.71972840e+01] [ 2.35872487e-01 9.71784014e-01 0.00000000e+00 3.94266151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07828466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.957552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:3.95, Z:-0.01 [[ 9.70470519e-01 -2.41219759e-01 0.00000000e+00 4.72258334e+01] [ 2.41219759e-01 9.70470519e-01 0.00000000e+00 3.94589434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40672261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.987552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:3.95, Z:-0.01 [[ 9.69685377e-01 -2.44356849e-01 0.00000000e+00 4.72531039e+01] [ 2.44356849e-01 9.69685377e-01 0.00000000e+00 3.94996444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57598139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:3.95, Z:-0.00 [[ 9.68747877e-01 -2.48047479e-01 0.00000000e+00 4.72813882e+01] [ 2.48047479e-01 9.68747877e-01 0.00000000e+00 3.95382748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94416109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.047552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:3.96, Z:-0.00 [[ 9.67842389e-01 -2.51557370e-01 0.00000000e+00 4.73088950e+01] [ 2.51557370e-01 9.67842389e-01 0.00000000e+00 3.95763732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27033124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:3.96, Z:-0.00 [[ 9.66261445e-01 -2.57563233e-01 0.00000000e+00 4.73369656e+01] [ 2.57563233e-01 9.66261445e-01 0.00000000e+00 3.96071942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13198952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.107552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:3.97, Z:-0.00 [[ 9.65697626e-01 -2.59669203e-01 0.00000000e+00 4.73631557e+01] [ 2.59669203e-01 9.65697626e-01 0.00000000e+00 3.96706439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22376597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.137552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:3.97, Z:-0.00 [[ 9.65249196e-01 -2.61331186e-01 0.00000000e+00 4.73905052e+01] [ 2.61331186e-01 9.65249196e-01 0.00000000e+00 3.97376198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32826486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:3.98, Z:-0.00 [[ 9.64948530e-01 -2.62439201e-01 0.00000000e+00 4.74179300e+01] [ 2.62439201e-01 9.64948530e-01 0.00000000e+00 3.98005860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80394900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:3.98, Z:-0.00 [[ 9.64751375e-01 -2.63163039e-01 0.00000000e+00 4.74459464e+01] [ 2.63163039e-01 9.64751375e-01 0.00000000e+00 3.98480356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20858891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:3.99, Z:-0.00 [[ 9.64904311e-01 -2.62601732e-01 0.00000000e+00 4.74727052e+01] [ 2.62601732e-01 9.64904311e-01 0.00000000e+00 3.99165366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18663623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:4.00, Z:-0.00 [[ 9.65109550e-01 -2.61846436e-01 0.00000000e+00 4.74987571e+01] [ 2.61846436e-01 9.65109550e-01 0.00000000e+00 3.99856864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60301108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:4.01, Z:-0.00 [[ 9.65596309e-01 -2.60045705e-01 0.00000000e+00 4.75262122e+01] [ 2.60045705e-01 9.65596309e-01 0.00000000e+00 4.00592119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52185420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:4.01, Z:-0.00 [[ 9.65796988e-01 -2.59299399e-01 0.00000000e+00 4.75522033e+01] [ 2.59299399e-01 9.65796988e-01 0.00000000e+00 4.01271033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46572466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.347552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:4.02, Z:-0.00 [[ 9.65903653e-01 -2.58901781e-01 0.00000000e+00 4.75794126e+01] [ 2.58901781e-01 9.65903653e-01 0.00000000e+00 4.02033535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29484061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:4.03, Z:-0.00 [[ 9.65937946e-01 -2.58773809e-01 0.00000000e+00 4.76067367e+01] [ 2.58773809e-01 9.65937946e-01 0.00000000e+00 4.02811031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56460297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.407552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:4.04, Z:-0.00 [[ 9.65545903e-01 -2.60232797e-01 0.00000000e+00 4.76332257e+01] [ 2.60232797e-01 9.65545903e-01 0.00000000e+00 4.03708511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36319741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.437552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:4.04, Z:-0.00 [[ 9.65115765e-01 -2.61823527e-01 0.00000000e+00 4.76599938e+01] [ 2.61823527e-01 9.65115765e-01 0.00000000e+00 4.04418742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17652555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:4.05, Z:-0.00 [[ 9.64614298e-01 -2.63665046e-01 0.00000000e+00 4.76868460e+01] [ 2.63665046e-01 9.64614298e-01 0.00000000e+00 4.05103302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62213130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:4.06, Z:-0.00 [[ 9.64112690e-01 -2.65493354e-01 0.00000000e+00 4.77142410e+01] [ 2.65493354e-01 9.64112690e-01 0.00000000e+00 4.05832364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13754856e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.527552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:4.07, Z:0.00 [[ 9.62991527e-01 -2.69531667e-01 0.00000000e+00 4.77406944e+01] [ 2.69531667e-01 9.62991527e-01 0.00000000e+00 4.06747272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35351094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.557552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:4.08, Z:0.00 [[ 9.62406893e-01 -2.71611803e-01 0.00000000e+00 4.77676715e+01] [ 2.71611803e-01 9.62406893e-01 0.00000000e+00 4.07657476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60200488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:4.09, Z:0.00 [[ 9.61941400e-01 -2.73255818e-01 0.00000000e+00 4.77945190e+01] [ 2.73255818e-01 9.61941400e-01 0.00000000e+00 4.08614364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41899008e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:4.10, Z:-0.00 [[ 9.61388816e-01 -2.75193649e-01 0.00000000e+00 4.78189680e+01] [ 2.75193649e-01 9.61388816e-01 0.00000000e+00 4.09790421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92940870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:4.11, Z:-0.00 [[ 9.60917844e-01 -2.76833699e-01 0.00000000e+00 4.78469439e+01] [ 2.76833699e-01 9.60917844e-01 0.00000000e+00 4.10764189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10744913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:4.12, Z:-0.00 [[ 9.60681110e-01 -2.77654112e-01 0.00000000e+00 4.78725921e+01] [ 2.77654112e-01 9.60681110e-01 0.00000000e+00 4.11679044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24056476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.707552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:4.13, Z:-0.00 [[ 9.60171672e-01 -2.79410736e-01 0.00000000e+00 4.78989049e+01] [ 2.79410736e-01 9.60171672e-01 0.00000000e+00 4.12679443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47768546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.737552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:4.14, Z:-0.00 [[ 9.59232668e-01 -2.82617566e-01 0.00000000e+00 4.79238569e+01] [ 2.82617566e-01 9.59232668e-01 0.00000000e+00 4.13984941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48009792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:4.15, Z:-0.00 [[ 9.58674975e-01 -2.84503589e-01 0.00000000e+00 4.79493435e+01] [ 2.84503589e-01 9.58674975e-01 0.00000000e+00 4.15000607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93147622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.797552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:4.16, Z:-0.00 [[ 9.58020289e-01 -2.86700410e-01 0.00000000e+00 4.79756513e+01] [ 2.86700410e-01 9.58020289e-01 0.00000000e+00 4.16030404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50179162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:4.17, Z:-0.01 [[ 9.57466479e-01 -2.88544522e-01 0.00000000e+00 4.80008931e+01] [ 2.88544522e-01 9.57466479e-01 0.00000000e+00 4.17060561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42280999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.857552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:4.18, Z:-0.01 [[ 9.56468269e-01 -2.91836341e-01 0.00000000e+00 4.80257870e+01] [ 2.91836341e-01 9.56468269e-01 0.00000000e+00 4.18383341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36613727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.887552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:4.19, Z:-0.00 [[ 9.55860017e-01 -2.93822443e-01 0.00000000e+00 4.80521949e+01] [ 2.93822443e-01 9.55860017e-01 0.00000000e+00 4.19436893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92478581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:4.21, Z:-0.00 [[ 9.54723251e-01 -2.97495400e-01 0.00000000e+00 4.80773883e+01] [ 2.97495400e-01 9.54723251e-01 0.00000000e+00 4.20933980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25770612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:4.22, Z:-0.00 [[ 9.54249177e-01 -2.99012555e-01 0.00000000e+00 4.81037484e+01] [ 2.99012555e-01 9.54249177e-01 0.00000000e+00 4.22069691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72453330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:4.23, Z:-0.00 [[ 9.53755263e-01 -3.00584261e-01 0.00000000e+00 4.81301983e+01] [ 3.00584261e-01 9.53755263e-01 0.00000000e+00 4.23175692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35622884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:4.24, Z:-0.00 [[ 9.53403438e-01 -3.01698334e-01 0.00000000e+00 4.81565832e+01] [ 3.01698334e-01 9.53403438e-01 0.00000000e+00 4.24237473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61429171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:4.26, Z:-0.00 [[ 9.53152853e-01 -3.02489071e-01 0.00000000e+00 4.81802771e+01] [ 3.02489071e-01 9.53152853e-01 0.00000000e+00 4.25685919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77497870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:4.27, Z:-0.00 [[ 9.53013934e-01 -3.02926463e-01 0.00000000e+00 4.82053328e+01] [ 3.02926463e-01 9.53013934e-01 0.00000000e+00 4.26878851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00933467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.097552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:4.28, Z:-0.00 [[ 9.52791913e-01 -3.03624060e-01 0.00000000e+00 4.82311561e+01] [ 3.03624060e-01 9.52791913e-01 0.00000000e+00 4.28152613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98222304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:4.30, Z:-0.00 [[ 9.52250793e-01 -3.05316930e-01 0.00000000e+00 4.82554087e+01] [ 3.05316930e-01 9.52250793e-01 0.00000000e+00 4.29981834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54032028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.157552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:4.31, Z:-0.00 [[ 9.51855014e-01 -3.06548582e-01 0.00000000e+00 4.82812150e+01] [ 3.06548582e-01 9.51855014e-01 0.00000000e+00 4.31191943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46457270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.187552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:4.32, Z:-0.00 [[ 9.51363108e-01 -3.08071804e-01 0.00000000e+00 4.83060596e+01] [ 3.08071804e-01 9.51363108e-01 0.00000000e+00 4.32384565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33507751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:4.34, Z:-0.00 [[ 9.50094486e-01 -3.11962286e-01 0.00000000e+00 4.83304506e+01] [ 3.11962286e-01 9.50094486e-01 0.00000000e+00 4.34204436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91014191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:4.36, Z:-0.00 [[ 9.49436689e-01 -3.13958553e-01 0.00000000e+00 4.83554609e+01] [ 3.13958553e-01 9.49436689e-01 0.00000000e+00 4.35533530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79493426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.277552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:4.37, Z:-0.00 [[ 9.48821744e-01 -3.15812126e-01 0.00000000e+00 4.83802274e+01] [ 3.15812126e-01 9.48821744e-01 0.00000000e+00 4.36926146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74711905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:4.38, Z:-0.00 [[ 9.48725419e-01 -3.16101375e-01 0.00000000e+00 4.84077910e+01] [ 3.16101375e-01 9.48725419e-01 0.00000000e+00 4.37675157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74711905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:4.40, Z:-0.00 [[ 9.47583593e-01 -3.19507956e-01 0.00000000e+00 4.84310479e+01] [ 3.19507956e-01 9.47583593e-01 0.00000000e+00 4.39753662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56617256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:4.41, Z:-0.00 [[ 9.47072330e-01 -3.21020252e-01 0.00000000e+00 4.84564479e+01] [ 3.21020252e-01 9.47072330e-01 0.00000000e+00 4.41088017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71422069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:4.42, Z:-0.00 [[ 9.46659632e-01 -3.22235227e-01 0.00000000e+00 4.84808853e+01] [ 3.22235227e-01 9.46659632e-01 0.00000000e+00 4.42366806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66979837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:4.44, Z:-0.00 [[ 9.46385289e-01 -3.23040068e-01 0.00000000e+00 4.85033405e+01] [ 3.23040068e-01 9.46385289e-01 0.00000000e+00 4.44336815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32044766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.457552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:4.46, Z:-0.00 [[ 9.46347911e-01 -3.23149548e-01 0.00000000e+00 4.85288065e+01] [ 3.23149548e-01 9.46347911e-01 0.00000000e+00 4.45859544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57643279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.487552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:4.47, Z:-0.00 [[ 9.46618107e-01 -3.22357194e-01 0.00000000e+00 4.85525937e+01] [ 3.22357194e-01 9.46618107e-01 0.00000000e+00 4.47411930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62198278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:4.49, Z:-0.00 [[ 9.46900501e-01 -3.21526734e-01 0.00000000e+00 4.85768966e+01] [ 3.21526734e-01 9.46900501e-01 0.00000000e+00 4.49004354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48800222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.547552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.60, Y:4.51, Z:-0.00 [[ 9.47882505e-01 -3.18620081e-01 0.00000000e+00 4.85983124e+01] [ 3.18620081e-01 9.47882505e-01 0.00000000e+00 4.51426622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26465194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.577552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:4.53, Z:-0.00 [[ 9.48171399e-01 -3.17759341e-01 0.00000000e+00 4.86229378e+01] [ 3.17759341e-01 9.48171399e-01 0.00000000e+00 4.52981562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76015666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.607552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:4.54, Z:-0.01 [[ 9.48407739e-01 -3.17053247e-01 0.00000000e+00 4.86483445e+01] [ 3.17053247e-01 9.48407739e-01 0.00000000e+00 4.54495292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19503694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.637552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:4.57, Z:-0.01 [[ 9.48790187e-01 -3.15906918e-01 0.00000000e+00 4.86719455e+01] [ 3.15906918e-01 9.48790187e-01 0.00000000e+00 4.56668104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98858551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.667552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:4.58, Z:-0.01 [[ 9.49082149e-01 -3.15028687e-01 0.00000000e+00 4.86960286e+01] [ 3.15028687e-01 9.49082149e-01 0.00000000e+00 4.58104418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89878300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.697552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:4.60, Z:-0.01 [[ 9.49167287e-01 -3.14772078e-01 0.00000000e+00 4.87211803e+01] [ 3.14772078e-01 9.49167287e-01 0.00000000e+00 4.59658763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46757699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:4.61, Z:-0.01 [[ 9.49255268e-01 -3.14506656e-01 0.00000000e+00 4.87456089e+01] [ 3.14506656e-01 9.49255268e-01 0.00000000e+00 4.61218100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.11761103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:4.64, Z:-0.01 [[ 9.49562195e-01 -3.13578758e-01 0.00000000e+00 4.87669712e+01] [ 3.13578758e-01 9.49562195e-01 0.00000000e+00 4.63527546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.49660438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:4.65, Z:-0.01 [[ 9.49545691e-01 -3.13628731e-01 0.00000000e+00 4.87920529e+01] [ 3.13628731e-01 9.49545691e-01 0.00000000e+00 4.65014407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90294612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:4.66, Z:-0.01 [[ 9.49706983e-01 -3.13139978e-01 0.00000000e+00 4.88162851e+01] [ 3.13139978e-01 9.49706983e-01 0.00000000e+00 4.66318377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51328910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.847552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:4.68, Z:-0.01 [[ 9.49828375e-01 -3.12771575e-01 0.00000000e+00 4.88408091e+01] [ 3.12771575e-01 9.49828375e-01 0.00000000e+00 4.68159634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15905545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.877552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:4.70, Z:-0.01 [[ 9.50001419e-01 -3.12245582e-01 0.00000000e+00 4.88657969e+01] [ 3.12245582e-01 9.50001419e-01 0.00000000e+00 4.69535493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77461220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.907552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:4.71, Z:-0.01 [[ 9.50489711e-01 -3.10756029e-01 0.00000000e+00 4.88896222e+01] [ 3.10756029e-01 9.50489711e-01 0.00000000e+00 4.70933470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98512050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.937552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:4.72, Z:-0.01 [[ 9.51168699e-01 -3.08671517e-01 0.00000000e+00 4.89146971e+01] [ 3.08671517e-01 9.51168699e-01 0.00000000e+00 4.72368382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05860446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:4.74, Z:-0.01 [[ 9.53183612e-01 -3.02392133e-01 0.00000000e+00 4.89378318e+01] [ 3.02392133e-01 9.53183612e-01 0.00000000e+00 4.74321532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23342836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99755201799999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:48.96, Y:4.76, Z:-0.01 [[ 9.54223119e-01 -2.99095702e-01 0.00000000e+00 4.89629383e+01] [ 2.99095702e-01 9.54223119e-01 0.00000000e+00 4.75656088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31997924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.027552017999994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:48.99, Y:4.77, Z:-0.01 [[ 9.55522535e-01 -2.94918099e-01 0.00000000e+00 4.89870806e+01] [ 2.94918099e-01 9.55522535e-01 0.00000000e+00 4.76923456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34150833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.057552017999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:49.01, Y:4.78, Z:-0.01 [[ 9.56797669e-01 -2.90754571e-01 0.00000000e+00 4.90112451e+01] [ 2.90754571e-01 9.56797669e-01 0.00000000e+00 4.78181291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26309704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.087552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:49.03, Y:4.80, Z:-0.01 [[ 9.58879731e-01 -2.83812723e-01 0.00000000e+00 4.90349912e+01] [ 2.83812723e-01 9.58879731e-01 0.00000000e+00 4.79955055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09421093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.117552018 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:49.06, Y:4.81, Z:-0.01 [[ 9.59544932e-01 -2.81555541e-01 0.00000000e+00 4.90605369e+01] [ 2.81555541e-01 9.59544932e-01 0.00000000e+00 4.81136073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01028604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.147552018 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:49.09, Y:4.82, Z:-0.01 [[ 9.59837853e-01 -2.80555336e-01 0.00000000e+00 4.90852062e+01] [ 2.80555336e-01 9.59837853e-01 0.00000000e+00 4.82290522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77903319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.177552018 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:49.11, Y:4.84, Z:-0.01 [[ 9.59620021e-01 -2.81299512e-01 0.00000000e+00 4.91094013e+01] [ 2.81299512e-01 9.59620021e-01 0.00000000e+00 4.83644496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02344137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.207552017999994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:49.14, Y:4.85, Z:-0.01 [[ 9.58937648e-01 -2.83616974e-01 0.00000000e+00 4.91359695e+01] [ 2.83616974e-01 9.58937648e-01 0.00000000e+00 4.84591652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03694013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.237552017999995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:49.16, Y:4.85, Z:-0.01 [[ 9.58128688e-01 -2.86337944e-01 0.00000000e+00 4.91615347e+01] [ 2.86337944e-01 9.58128688e-01 0.00000000e+00 4.85457906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04348917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.267552017999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:49.19, Y:4.86, Z:-0.01 [[ 9.56976563e-01 -2.90165224e-01 0.00000000e+00 4.91882998e+01] [ 2.90165224e-01 9.56976563e-01 0.00000000e+00 4.86451661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07192986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.297552018 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:49.21, Y:4.88, Z:-0.01 [[ 9.55117883e-01 -2.96225979e-01 0.00000000e+00 4.92123937e+01] [ 2.96225979e-01 9.55117883e-01 0.00000000e+00 4.87733963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20639253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.327552018 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:49.24, Y:4.89, Z:-0.01 [[ 9.54364658e-01 -2.98643768e-01 0.00000000e+00 4.92384758e+01] [ 2.98643768e-01 9.54364658e-01 0.00000000e+00 4.88773794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29442450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.357552018 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:49.27, Y:4.90, Z:-0.01 [[ 9.53889458e-01 -3.00158127e-01 0.00000000e+00 4.92650527e+01] [ 3.00158127e-01 9.53889458e-01 0.00000000e+00 4.89713565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34360730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.387552017999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:49.29, Y:4.91, Z:-0.01 [[ 9.53694497e-01 -3.00777003e-01 0.00000000e+00 4.92911322e+01] [ 3.00777003e-01 9.53694497e-01 0.00000000e+00 4.90596631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29987804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417552017999995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:49.32, Y:4.92, Z:-0.01 [[ 9.53696033e-01 -3.00772133e-01 0.00000000e+00 4.93179839e+01] [ 3.00772133e-01 9.53696033e-01 0.00000000e+00 4.91500370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30045314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447552017999996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:49.34, Y:4.92, Z:-0.01 [[ 9.53754325e-01 -3.00587239e-01 0.00000000e+00 4.93435055e+01] [ 3.00587239e-01 9.53754325e-01 0.00000000e+00 4.92488817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35347623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.477552018 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:49.37, Y:4.94, Z:-0.01 [[ 9.54114991e-01 -2.99440453e-01 0.00000000e+00 4.93689033e+01] [ 2.99440453e-01 9.54114991e-01 0.00000000e+00 4.93790582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42464576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.507552018 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:49.40, Y:4.95, Z:-0.01 [[ 9.54345117e-01 -2.98706207e-01 0.00000000e+00 4.93951471e+01] [ 2.98706207e-01 9.54345117e-01 0.00000000e+00 4.94787337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34652065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.537552018 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:49.42, Y:4.96, Z:-0.01 [[ 9.54545100e-01 -2.98066524e-01 0.00000000e+00 4.94201743e+01] [ 2.98066524e-01 9.54545100e-01 0.00000000e+00 4.95732449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24178542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56755201799999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:49.45, Y:4.97, Z:-0.01 [[ 9.54407893e-01 -2.98505568e-01 0.00000000e+00 4.94460967e+01] [ 2.98505568e-01 9.54407893e-01 0.00000000e+00 4.96770944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14529074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.597552017999995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:49.47, Y:4.98, Z:-0.01 [[ 9.54197850e-01 -2.99176308e-01 0.00000000e+00 4.94719784e+01] [ 2.99176308e-01 9.54197850e-01 0.00000000e+00 4.97546383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15501142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.627552017999996 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:49.50, Y:4.98, Z:-0.01 [[ 9.53436697e-01 -3.01593212e-01 0.00000000e+00 4.94975239e+01] [ 3.01593212e-01 9.53436697e-01 0.00000000e+00 4.98446417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17949117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.657552018 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:49.52, Y:4.99, Z:-0.01 [[ 9.52953527e-01 -3.03116437e-01 0.00000000e+00 4.95241245e+01] [ 3.03116437e-01 9.52953527e-01 0.00000000e+00 4.99333739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17952869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.687552018 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:49.55, Y:5.00, Z:-0.01 [[ 9.52580250e-01 -3.04287474e-01 0.00000000e+00 4.95511219e+01] [ 3.04287474e-01 9.52580250e-01 0.00000000e+00 5.00225157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17146894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.717552018 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:49.58, Y:5.01, Z:-0.01 [[ 9.52404753e-01 -3.04836328e-01 0.00000000e+00 4.95782216e+01] [ 3.04836328e-01 9.52404753e-01 0.00000000e+00 5.01059667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11223314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74755201799999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:49.60, Y:5.02, Z:-0.01 [[ 9.52222602e-01 -3.05404841e-01 0.00000000e+00 4.96045496e+01] [ 3.05404841e-01 9.52222602e-01 0.00000000e+00 5.01956913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06082412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.777552017999994 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:49.63, Y:5.03, Z:-0.01 [[ 9.52199277e-01 -3.05477555e-01 0.00000000e+00 4.96302719e+01] [ 3.05477555e-01 9.52199277e-01 0.00000000e+00 5.02759960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09251220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.807552017999996 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:49.66, Y:5.04, Z:-0.01 [[ 9.52299362e-01 -3.05165405e-01 0.00000000e+00 4.96563546e+01] [ 3.05165405e-01 9.52299362e-01 0.00000000e+00 5.03632698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14484051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.837552018 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:49.68, Y:5.05, Z:-0.01 [[ 9.52942723e-01 -3.03150402e-01 0.00000000e+00 4.96822500e+01] [ 3.03150402e-01 9.52942723e-01 0.00000000e+00 5.04757673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34386828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.867552018 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:49.71, Y:5.06, Z:-0.01 [[ 9.53424356e-01 -3.01632222e-01 0.00000000e+00 4.97077604e+01] [ 3.01632222e-01 9.53424356e-01 0.00000000e+00 5.05696442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23760741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.897552018 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:49.73, Y:5.07, Z:-0.01 [[ 9.53974788e-01 -2.99886817e-01 0.00000000e+00 4.97346686e+01] [ 2.99886817e-01 9.53974788e-01 0.00000000e+00 5.06607588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16864627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.927552018 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:49.76, Y:5.08, Z:-0.01 [[ 9.54422507e-01 -2.98458839e-01 0.00000000e+00 4.97614876e+01] [ 2.98458839e-01 9.54422507e-01 0.00000000e+00 5.07517022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43879706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.957552017999994 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:49.79, Y:5.08, Z:-0.01 [[ 9.55252940e-01 -2.95790162e-01 0.00000000e+00 4.97875869e+01] [ 2.95790162e-01 9.55252940e-01 0.00000000e+00 5.08475107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72910413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.987552017999995 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:49.81, Y:5.09, Z:-0.01 [[ 9.55541404e-01 -2.94856956e-01 0.00000000e+00 4.98129948e+01] [ 2.94856956e-01 9.55541404e-01 0.00000000e+00 5.09310117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04978194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.017552017999996 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:49.84, Y:5.10, Z:-0.01 [[ 9.55665513e-01 -2.94454458e-01 0.00000000e+00 4.98395840e+01] [ 2.94454458e-01 9.55665513e-01 0.00000000e+00 5.10127107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13699978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.047552018 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:49.87, Y:5.11, Z:-0.01 [[ 9.55844358e-01 -2.93873380e-01 0.00000000e+00 4.98657269e+01] [ 2.93873380e-01 9.55844358e-01 0.00000000e+00 5.10879969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27306922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.077552018 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:49.89, Y:5.12, Z:-0.01 [[ 9.56082318e-01 -2.93098279e-01 0.00000000e+00 4.98915174e+01] [ 2.93098279e-01 9.56082318e-01 0.00000000e+00 5.11608699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33211124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.107552018 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:49.92, Y:5.12, Z:-0.01 [[ 9.56054612e-01 -2.93188641e-01 0.00000000e+00 4.99180774e+01] [ 2.93188641e-01 9.56054612e-01 0.00000000e+00 5.12411767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27600781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.137552017999994 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:49.95, Y:5.13, Z:-0.01 [[ 9.55909583e-01 -2.93661147e-01 0.00000000e+00 4.99455123e+01] [ 2.93661147e-01 9.55909583e-01 0.00000000e+00 5.13142376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18542713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.167552017999995 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:49.97, Y:5.14, Z:-0.01 [[ 9.55833735e-01 -2.93907929e-01 0.00000000e+00 4.99714893e+01] [ 2.93907929e-01 9.55833735e-01 0.00000000e+00 5.13759337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18215192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.197552017999996 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:50.00, Y:5.15, Z:-0.01 [[ 9.55728773e-01 -2.94249065e-01 0.00000000e+00 4.99987949e+01] [ 2.94249065e-01 9.55728773e-01 0.00000000e+00 5.14564942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18215192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.227552018 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:50.02, Y:5.15, Z:-0.01 [[ 9.55623283e-01 -2.94591481e-01 0.00000000e+00 5.00248461e+01] [ 2.94591481e-01 9.55623283e-01 0.00000000e+00 5.15172201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20600020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.257552018 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:50.05, Y:5.16, Z:-0.01 [[ 9.55406447e-01 -2.95293956e-01 0.00000000e+00 5.00518118e+01] [ 2.95293956e-01 9.55406447e-01 0.00000000e+00 5.15872512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22488289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.287552018 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:50.08, Y:5.17, Z:-0.01 [[ 9.55384962e-01 -2.95363460e-01 0.00000000e+00 5.00775107e+01] [ 2.95363460e-01 9.55384962e-01 0.00000000e+00 5.16533213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27190221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31755201799999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:50.10, Y:5.17, Z:-0.01 [[ 9.55185652e-01 -2.96007383e-01 0.00000000e+00 5.01043848e+01] [ 2.96007383e-01 9.55185652e-01 0.00000000e+00 5.17137667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34097835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.347552017999995 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:50.13, Y:5.18, Z:-0.01 [[ 9.55031218e-01 -2.96505266e-01 0.00000000e+00 5.01315899e+01] [ 2.96505266e-01 9.55031218e-01 0.00000000e+00 5.17840343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21956240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.377552017999996 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:50.16, Y:5.19, Z:-0.01 [[ 9.54912197e-01 -2.96888357e-01 0.00000000e+00 5.01589882e+01] [ 2.96888357e-01 9.54912197e-01 0.00000000e+00 5.18605187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14520137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.407552018 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:50.19, Y:5.19, Z:-0.01 [[ 9.54789872e-01 -2.97281517e-01 0.00000000e+00 5.01850112e+01] [ 2.97281517e-01 9.54789872e-01 0.00000000e+00 5.19424685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00284661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.437552018 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:50.21, Y:5.20, Z:-0.01 [[ 9.54637674e-01 -2.97769896e-01 0.00000000e+00 5.02120643e+01] [ 2.97769896e-01 9.54637674e-01 0.00000000e+00 5.20151610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98010389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.467552018 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:50.24, Y:5.21, Z:-0.01 [[ 9.54493493e-01 -2.98231743e-01 0.00000000e+00 5.02383869e+01] [ 2.98231743e-01 9.54493493e-01 0.00000000e+00 5.20752103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64643000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49755201799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:50.27, Y:5.21, Z:-0.01 [[ 9.53810891e-01 -3.00407698e-01 0.00000000e+00 5.02659116e+01] [ 3.00407698e-01 9.53810891e-01 0.00000000e+00 5.21259948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45794967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.527552017999994 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:50.29, Y:5.22, Z:-0.01 [[ 9.53239307e-01 -3.02216517e-01 0.00000000e+00 5.02915172e+01] [ 3.02216517e-01 9.53239307e-01 0.00000000e+00 5.22010718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25994640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.557552017999996 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:50.32, Y:5.23, Z:-0.01 [[ 9.52746662e-01 -3.03766026e-01 0.00000000e+00 5.03168916e+01] [ 3.03766026e-01 9.52746662e-01 0.00000000e+00 5.22776548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99585829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.587552018 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:50.34, Y:5.24, Z:-0.01 [[ 9.52142424e-01 -3.05654714e-01 0.00000000e+00 5.03438141e+01] [ 3.05654714e-01 9.52142424e-01 0.00000000e+00 5.23594492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04263435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.617552018 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:50.37, Y:5.24, Z:-0.01 [[ 9.51644672e-01 -3.07200940e-01 0.00000000e+00 5.03704381e+01] [ 3.07200940e-01 9.51644672e-01 0.00000000e+00 5.24337479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03542440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.647552018 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:50.40, Y:5.25, Z:-0.01 [[ 9.50431577e-01 -3.10933784e-01 0.00000000e+00 5.03979340e+01] [ 3.10933784e-01 9.50431577e-01 0.00000000e+00 5.24908086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12097976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67755201799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:50.42, Y:5.26, Z:-0.01 [[ 9.49729018e-01 -3.13073143e-01 0.00000000e+00 5.04245699e+01] [ 3.13073143e-01 9.49729018e-01 0.00000000e+00 5.25595494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19782572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.707552017999994 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:50.45, Y:5.26, Z:-0.01 [[ 9.48545285e-01 -3.16641504e-01 0.00000000e+00 5.04500471e+01] [ 3.16641504e-01 9.48545285e-01 0.00000000e+00 5.26338203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22089409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.737552017999995 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:50.48, Y:5.27, Z:-0.01 [[ 9.48063029e-01 -3.18082527e-01 0.00000000e+00 5.04766815e+01] [ 3.18082527e-01 9.48063029e-01 0.00000000e+00 5.27132862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18368651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.767552017999996 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:50.50, Y:5.28, Z:-0.01 [[ 9.47719121e-01 -3.19105732e-01 0.00000000e+00 5.05036675e+01] [ 3.19105732e-01 9.47719121e-01 0.00000000e+00 5.27928121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05780414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.797552018 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:50.53, Y:5.29, Z:-0.01 [[ 9.47263878e-01 -3.20454592e-01 0.00000000e+00 5.05288252e+01] [ 3.20454592e-01 9.47263878e-01 0.00000000e+00 5.28846461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52309511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.827552018 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:50.55, Y:5.30, Z:-0.01 [[ 9.46872223e-01 -3.21610000e-01 0.00000000e+00 5.05547620e+01] [ 3.21610000e-01 9.46872223e-01 0.00000000e+00 5.29746763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.11016520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.857552018 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:50.58, Y:5.31, Z:-0.01 [[ 9.46370674e-01 -3.23082879e-01 0.00000000e+00 5.05807888e+01] [ 3.23082879e-01 9.46370674e-01 0.00000000e+00 5.30635056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60915903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.887552017999994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:50.61, Y:5.32, Z:-0.01 [[ 9.45180559e-01 -3.26548176e-01 0.00000000e+00 5.06067927e+01] [ 3.26548176e-01 9.45180559e-01 0.00000000e+00 5.31793988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66294481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.917552017999995 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:50.63, Y:5.33, Z:-0.01 [[ 9.44531867e-01 -3.28419780e-01 0.00000000e+00 5.06319102e+01] [ 3.28419780e-01 9.44531867e-01 0.00000000e+00 5.32781433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98818099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.947552017999996 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:50.66, Y:5.34, Z:-0.01 [[ 9.43985616e-01 -3.29986602e-01 0.00000000e+00 5.06574198e+01] [ 3.29986602e-01 9.43985616e-01 0.00000000e+00 5.33737810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50244962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.977552018 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:50.68, Y:5.35, Z:-0.00 [[ 9.43266293e-01 -3.32037197e-01 0.00000000e+00 5.06829646e+01] [ 3.32037197e-01 9.43266293e-01 0.00000000e+00 5.34909607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89549235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.007552018 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:50.71, Y:5.36, Z:-0.01 [[ 9.43200917e-01 -3.32222861e-01 0.00000000e+00 5.07092540e+01] [ 3.32222861e-01 9.43200917e-01 0.00000000e+00 5.35999509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14019910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.037552018 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:50.74, Y:5.37, Z:-0.00 [[ 9.42758072e-01 -3.33477461e-01 0.00000000e+00 5.07350537e+01] [ 3.33477461e-01 9.42758072e-01 0.00000000e+00 5.37263562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42102109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06755201799999 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:50.76, Y:5.39, Z:-0.00 [[ 9.43114866e-01 -3.32467066e-01 0.00000000e+00 5.07588007e+01] [ 3.32467066e-01 9.43114866e-01 0.00000000e+00 5.38668905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08960472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.097552017999995 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:50.79, Y:5.40, Z:-0.01 [[ 9.43241614e-01 -3.32107298e-01 0.00000000e+00 5.07850953e+01] [ 3.32107298e-01 9.43241614e-01 0.00000000e+00 5.39766548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05087550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.127552017999996 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:50.81, Y:5.41, Z:-0.01 [[ 9.43285677e-01 -3.31982127e-01 0.00000000e+00 5.08102737e+01] [ 3.31982127e-01 9.43285677e-01 0.00000000e+00 5.40831753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81221309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.157552018 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:50.84, Y:5.42, Z:-0.01 [[ 9.43106967e-01 -3.32489471e-01 0.00000000e+00 5.08365435e+01] [ 3.32489471e-01 9.43106967e-01 0.00000000e+00 5.41979389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08051885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.187552018 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:50.86, Y:5.43, Z:-0.01 [[ 9.42807938e-01 -3.33336454e-01 0.00000000e+00 5.08613571e+01] [ 3.33336454e-01 9.42807938e-01 0.00000000e+00 5.43334412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48016338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.217552018 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:50.89, Y:5.44, Z:-0.01 [[ 9.42384438e-01 -3.34531868e-01 0.00000000e+00 5.08867749e+01] [ 3.34531868e-01 9.42384438e-01 0.00000000e+00 5.44480454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01124853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24755201799999 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:50.91, Y:5.46, Z:-0.01 [[ 9.41995927e-01 -3.35624304e-01 0.00000000e+00 5.09123084e+01] [ 3.35624304e-01 9.41995927e-01 0.00000000e+00 5.45612934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09873894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.277552017999994 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:50.94, Y:5.47, Z:-0.01 [[ 9.41466388e-01 -3.37106867e-01 0.00000000e+00 5.09369678e+01] [ 3.37106867e-01 9.41466388e-01 0.00000000e+00 5.46705189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26433649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.307552017999996 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:50.96, Y:5.48, Z:-0.01 [[ 9.40423984e-01 -3.40004016e-01 0.00000000e+00 5.09623370e+01] [ 3.40004016e-01 9.40423984e-01 0.00000000e+00 5.48040524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46637853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.337552018 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:50.99, Y:5.49, Z:-0.02 [[ 9.39951601e-01 -3.41307762e-01 0.00000000e+00 5.09884044e+01] [ 3.41307762e-01 9.39951601e-01 0.00000000e+00 5.49160707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53924195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.367552018 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:51.01, Y:5.50, Z:-0.02 [[ 9.39821644e-01 -3.41665446e-01 0.00000000e+00 5.10137808e+01] [ 3.41665446e-01 9.39821644e-01 0.00000000e+00 5.50251330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55923414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.397552018 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:51.04, Y:5.52, Z:-0.02 [[ 9.40148532e-01 -3.40764929e-01 0.00000000e+00 5.10390789e+01] [ 3.40764929e-01 9.40148532e-01 0.00000000e+00 5.51705513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51861258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42755201799999 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:51.06, Y:5.53, Z:-0.02 [[ 9.40742467e-01 -3.39121823e-01 0.00000000e+00 5.10642024e+01] [ 3.39121823e-01 9.40742467e-01 0.00000000e+00 5.52868300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53647985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.457552017999994 meters Centerline goodness : 0.991716 Centerline is valid? [True, True] Translation: X:51.09, Y:5.54, Z:-0.02 [[ 9.41362409e-01 -3.37397118e-01 0.00000000e+00 5.10895481e+01] [ 3.37397118e-01 9.41362409e-01 0.00000000e+00 5.54074053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56376496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487552017999995 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:51.12, Y:5.55, Z:-0.02 [[ 9.41892118e-01 -3.35915522e-01 0.00000000e+00 5.11152190e+01] [ 3.35915522e-01 9.41892118e-01 0.00000000e+00 5.55289800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59393347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.517552017999996 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:51.14, Y:5.57, Z:-0.02 [[ 9.43013325e-01 -3.32754969e-01 0.00000000e+00 5.11404133e+01] [ 3.32754969e-01 9.43013325e-01 0.00000000e+00 5.56514531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61656665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.547552018 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:51.17, Y:5.57, Z:-0.02 [[ 9.43177251e-01 -3.32290044e-01 0.00000000e+00 5.11667746e+01] [ 3.32290044e-01 9.43177251e-01 0.00000000e+00 5.57499086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60810856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.577552018 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:51.19, Y:5.59, Z:-0.02 [[ 9.43220741e-01 -3.32166576e-01 0.00000000e+00 5.11923740e+01] [ 3.32166576e-01 9.43220741e-01 0.00000000e+00 5.58593660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52634855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.607552018 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:51.22, Y:5.60, Z:-0.01 [[ 9.43385712e-01 -3.31697752e-01 0.00000000e+00 5.12168256e+01] [ 3.31697752e-01 9.43385712e-01 0.00000000e+00 5.59732962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40952451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.637552017999994 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:51.24, Y:5.61, Z:-0.01 [[ 9.43275754e-01 -3.32010320e-01 0.00000000e+00 5.12411507e+01] [ 3.32010320e-01 9.43275754e-01 0.00000000e+00 5.61283430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35020155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.667552017999995 meters Centerline goodness : 0.987670 Centerline is valid? [True, True] Translation: X:51.27, Y:5.62, Z:-0.01 [[ 9.43291451e-01 -3.31965717e-01 0.00000000e+00 5.12675392e+01] [ 3.31965717e-01 9.43291451e-01 0.00000000e+00 5.62266480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45506943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.697552017999996 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:51.29, Y:5.63, Z:-0.02 [[ 9.43166471e-01 -3.32320641e-01 0.00000000e+00 5.12925190e+01] [ 3.32320641e-01 9.43166471e-01 0.00000000e+00 5.63495253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70871713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.727552018 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:51.32, Y:5.65, Z:-0.02 [[ 9.43164282e-01 -3.32326854e-01 0.00000000e+00 5.13169132e+01] [ 3.32326854e-01 9.43164282e-01 0.00000000e+00 5.64637298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73112993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.757552018 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:51.35, Y:5.66, Z:-0.02 [[ 9.44034986e-01 -3.29845334e-01 0.00000000e+00 5.13473530e+01] [ 3.29845334e-01 9.44034986e-01 0.00000000e+00 5.65630065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79075780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.787552018 meters Centerline goodness : 0.987824 Centerline is valid? [True, True] Translation: X:51.37, Y:5.67, Z:-0.02 [[ 9.44007108e-01 -3.29925113e-01 0.00000000e+00 5.13743794e+01] [ 3.29925113e-01 9.44007108e-01 0.00000000e+00 5.66849738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79571795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81755201799999 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:51.40, Y:5.68, Z:-0.02 [[ 9.43583810e-01 -3.31133800e-01 0.00000000e+00 5.13989116e+01] [ 3.31133800e-01 9.43583810e-01 0.00000000e+00 5.68131248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78810061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.847552017999995 meters Centerline goodness : 0.988025 Centerline is valid? [True, True] Translation: X:51.42, Y:5.69, Z:-0.02 [[ 9.44197931e-01 -3.29378608e-01 0.00000000e+00 5.14241658e+01] [ 3.29378608e-01 9.44197931e-01 0.00000000e+00 5.69383267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76708553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.877552017999996 meters Centerline goodness : 0.988209 Centerline is valid? [True, True] Translation: X:51.45, Y:5.71, Z:-0.02 [[ 9.44448677e-01 -3.28658935e-01 0.00000000e+00 5.14507173e+01] [ 3.28658935e-01 9.44448677e-01 0.00000000e+00 5.70518860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70503077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.907552018 meters Centerline goodness : 0.986957 Centerline is valid? [True, True] Translation: X:51.48, Y:5.72, Z:-0.02 [[ 9.45330775e-01 -3.26113056e-01 0.00000000e+00 5.14789158e+01] [ 3.26113056e-01 9.45330775e-01 0.00000000e+00 5.71598805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66103698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.937552018 meters Centerline goodness : 0.986013 Centerline is valid? [True, True] Translation: X:51.51, Y:5.73, Z:-0.01 [[ 9.46682265e-01 -3.22168728e-01 0.00000000e+00 5.15096058e+01] [ 3.22168728e-01 9.46682265e-01 0.00000000e+00 5.72891545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47418217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.967552018 meters Centerline goodness : 0.985721 Centerline is valid? [True, True] Translation: X:51.54, Y:5.74, Z:-0.01 [[ 9.47243229e-01 -3.20515624e-01 0.00000000e+00 5.15390159e+01] [ 3.20515624e-01 9.47243229e-01 0.00000000e+00 5.73905650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44317315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99755201799999 meters Centerline goodness : 0.987699 Centerline is valid? [True, True] Translation: X:51.56, Y:5.75, Z:-0.01 [[ 9.47204612e-01 -3.20629729e-01 0.00000000e+00 5.15619082e+01] [ 3.20629729e-01 9.47204612e-01 0.00000000e+00 5.74933301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47181478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.027552017999994 meters Centerline goodness : 0.987408 Centerline is valid? [True, True] Translation: X:51.59, Y:5.76, Z:-0.02 [[ 9.47357404e-01 -3.20177997e-01 0.00000000e+00 5.15874558e+01] [ 3.20177997e-01 9.47357404e-01 0.00000000e+00 5.76013577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58749770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.057552017999996 meters Centerline goodness : 0.986278 Centerline is valid? [True, True] Translation: X:51.62, Y:5.77, Z:-0.02 [[ 9.47339143e-01 -3.20232021e-01 0.00000000e+00 5.16172569e+01] [ 3.20232021e-01 9.47339143e-01 0.00000000e+00 5.76892135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53435430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.087552018 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:51.65, Y:5.78, Z:-0.01 [[ 9.47368910e-01 -3.20143950e-01 0.00000000e+00 5.16480569e+01] [ 3.20143950e-01 9.47368910e-01 0.00000000e+00 5.77811310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49227638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.117552018 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:51.68, Y:5.79, Z:-0.01 [[ 9.47332129e-01 -3.20252770e-01 0.00000000e+00 5.16792434e+01] [ 3.20252770e-01 9.47332129e-01 0.00000000e+00 5.78778514e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49227638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.147552018 meters Centerline goodness : 0.986913 Centerline is valid? [True, True] Translation: X:51.71, Y:5.80, Z:-0.01 [[ 9.46677805e-01 -3.22181832e-01 0.00000000e+00 5.17097011e+01] [ 3.22181832e-01 9.46677805e-01 0.00000000e+00 5.79782646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46323011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17755201799999 meters Centerline goodness : 0.986735 Centerline is valid? [True, True] Translation: X:51.74, Y:5.81, Z:-0.02 [[ 9.46459708e-01 -3.22821965e-01 0.00000000e+00 5.17424461e+01] [ 3.22821965e-01 9.46459708e-01 0.00000000e+00 5.80538724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51538528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.207552017999994 meters Centerline goodness : 0.986641 Centerline is valid? [True, True] Translation: X:51.77, Y:5.81, Z:-0.01 [[ 9.46106649e-01 -3.23855228e-01 0.00000000e+00 5.17729080e+01] [ 3.23855228e-01 9.46106649e-01 0.00000000e+00 5.81456858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43567775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.237552017999995 meters Centerline goodness : 0.988175 Centerline is valid? [True, True] Translation: X:51.80, Y:5.83, Z:-0.02 [[ 9.45357323e-01 -3.26036090e-01 0.00000000e+00 5.17990145e+01] [ 3.26036090e-01 9.45357323e-01 0.00000000e+00 5.82509260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57266426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.267552017999996 meters Centerline goodness : 0.987258 Centerline is valid? [True, True] Translation: X:51.83, Y:5.83, Z:-0.01 [[ 9.45008284e-01 -3.27046394e-01 0.00000000e+00 5.18290314e+01] [ 3.27046394e-01 9.45008284e-01 0.00000000e+00 5.83475008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47662821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.297552018 meters Centerline goodness : 0.987940 Centerline is valid? [True, True] Translation: X:51.86, Y:5.84, Z:-0.01 [[ 9.44937878e-01 -3.27249762e-01 0.00000000e+00 5.18584648e+01] [ 3.27249762e-01 9.44937878e-01 0.00000000e+00 5.84363392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48770685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.327552018 meters Centerline goodness : 0.987537 Centerline is valid? [True, True] Translation: X:51.89, Y:5.85, Z:-0.02 [[ 9.44730745e-01 -3.27847250e-01 0.00000000e+00 5.18876646e+01] [ 3.27847250e-01 9.44730745e-01 0.00000000e+00 5.85187644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64035257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.357552018 meters Centerline goodness : 0.987099 Centerline is valid? [True, True] Translation: X:51.92, Y:5.86, Z:-0.02 [[ 9.43862713e-01 -3.30337976e-01 0.00000000e+00 5.19168910e+01] [ 3.30337976e-01 9.43862713e-01 0.00000000e+00 5.85800127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96939187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.387552017999994 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:51.94, Y:5.87, Z:-0.02 [[ 9.43347440e-01 -3.31806580e-01 0.00000000e+00 5.19436893e+01] [ 3.31806580e-01 9.43347440e-01 0.00000000e+00 5.86512226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07424499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.417552017999995 meters Centerline goodness : 0.988638 Centerline is valid? [True, True] Translation: X:51.97, Y:5.87, Z:-0.02 [[ 9.42783810e-01 -3.33404690e-01 0.00000000e+00 5.19715244e+01] [ 3.33404690e-01 9.42783810e-01 0.00000000e+00 5.87312528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07293548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.447552017999996 meters Centerline goodness : 0.987790 Centerline is valid? [True, True] Translation: X:52.00, Y:5.88, Z:-0.02 [[ 9.42134086e-01 -3.35236282e-01 0.00000000e+00 5.19976391e+01] [ 3.35236282e-01 9.42134086e-01 0.00000000e+00 5.88025145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94169028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.477552018 meters Centerline goodness : 0.988003 Centerline is valid? [True, True] Translation: X:52.02, Y:5.89, Z:-0.02 [[ 9.41343974e-01 -3.37448548e-01 0.00000000e+00 5.20243627e+01] [ 3.37448548e-01 9.41343974e-01 0.00000000e+00 5.88966667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86127483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.507552018 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:52.05, Y:5.90, Z:-0.02 [[ 9.40838891e-01 -3.38854219e-01 0.00000000e+00 5.20508822e+01] [ 3.38854219e-01 9.40838891e-01 0.00000000e+00 5.89783609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77984057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.537552018 meters Centerline goodness : 0.987977 Centerline is valid? [True, True] Translation: X:52.09, Y:5.90, Z:-0.02 [[ 9.40191136e-01 -3.40647364e-01 0.00000000e+00 5.20853291e+01] [ 3.40647364e-01 9.40191136e-01 0.00000000e+00 5.90440769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68649449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56755201799999 meters Centerline goodness : 0.987556 Centerline is valid? [True, True] Translation: X:52.11, Y:5.91, Z:-0.02 [[ 9.38708619e-01 -3.44711660e-01 0.00000000e+00 5.21108864e+01] [ 3.44711660e-01 9.38708619e-01 0.00000000e+00 5.91457216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76518202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.597552017999995 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:52.14, Y:5.92, Z:-0.02 [[ 9.37773098e-01 -3.47248639e-01 0.00000000e+00 5.21377546e+01] [ 3.47248639e-01 9.37773098e-01 0.00000000e+00 5.92229817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76232390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627552017999996 meters Centerline goodness : 0.985788 Centerline is valid? [True, True] Translation: X:52.17, Y:5.93, Z:-0.02 [[ 9.36630005e-01 -3.50320189e-01 0.00000000e+00 5.21694552e+01] [ 3.50320189e-01 9.36630005e-01 0.00000000e+00 5.92881435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75611692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657552018 meters Centerline goodness : 0.986635 Centerline is valid? [True, True] Translation: X:52.20, Y:5.94, Z:-0.02 [[ 9.35219333e-01 -3.54068920e-01 0.00000000e+00 5.21960323e+01] [ 3.54068920e-01 9.35219333e-01 0.00000000e+00 5.93868139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81578320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.687552018 meters Centerline goodness : 0.987175 Centerline is valid? [True, True] Translation: X:52.22, Y:5.95, Z:-0.02 [[ 9.33616244e-01 -3.58274627e-01 0.00000000e+00 5.22198110e+01] [ 3.58274627e-01 9.33616244e-01 0.00000000e+00 5.94945784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76430810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.717552018 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:52.25, Y:5.96, Z:-0.02 [[ 9.32581624e-01 -3.60959158e-01 0.00000000e+00 5.22460594e+01] [ 3.60959158e-01 9.32581624e-01 0.00000000e+00 5.95868444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71468020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74755201799999 meters Centerline goodness : 0.987047 Centerline is valid? [True, True] Translation: X:52.27, Y:5.97, Z:-0.02 [[ 9.31049204e-01 -3.64893655e-01 0.00000000e+00 5.22715031e+01] [ 3.64893655e-01 9.31049204e-01 0.00000000e+00 5.97011733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54899365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.777552017999994 meters Centerline goodness : 0.987441 Centerline is valid? [True, True] Translation: X:52.30, Y:5.98, Z:-0.02 [[ 9.31072561e-01 -3.64834053e-01 0.00000000e+00 5.23024269e+01] [ 3.64834053e-01 9.31072561e-01 0.00000000e+00 5.97835527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58865686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.807552017999996 meters Centerline goodness : 0.986927 Centerline is valid? [True, True] Translation: X:52.33, Y:5.99, Z:-0.02 [[ 9.30335592e-01 -3.66709268e-01 0.00000000e+00 5.23298131e+01] [ 3.66709268e-01 9.30335592e-01 0.00000000e+00 5.98844643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64538348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.837552018 meters Centerline goodness : 0.986726 Centerline is valid? [True, True] Translation: X:52.35, Y:6.00, Z:-0.02 [[ 9.29184954e-01 -3.69615099e-01 0.00000000e+00 5.23536869e+01] [ 3.69615099e-01 9.29184954e-01 0.00000000e+00 6.00161439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84435387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.867552018 meters Centerline goodness : 0.987473 Centerline is valid? [True, True] Translation: X:52.38, Y:6.01, Z:-0.02 [[ 9.29075941e-01 -3.69889031e-01 0.00000000e+00 5.23800154e+01] [ 3.69889031e-01 9.29075941e-01 0.00000000e+00 6.01296584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87305679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.897552018 meters Centerline goodness : 0.987222 Centerline is valid? [True, True] Translation: X:52.41, Y:6.02, Z:-0.02 [[ 9.28916357e-01 -3.70289619e-01 0.00000000e+00 5.24055094e+01] [ 3.70289619e-01 9.28916357e-01 0.00000000e+00 6.02440205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86023015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92755201799999 meters Centerline goodness : 0.986956 Centerline is valid? [True, True] Translation: X:52.43, Y:6.04, Z:-0.02 [[ 9.29355798e-01 -3.69185319e-01 0.00000000e+00 5.24335565e+01] [ 3.69185319e-01 9.29355798e-01 0.00000000e+00 6.03849239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83137521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.957552017999994 meters Centerline goodness : 0.986967 Centerline is valid? [True, True] Translation: X:52.46, Y:6.05, Z:-0.02 [[ 9.29630948e-01 -3.68491927e-01 0.00000000e+00 5.24612149e+01] [ 3.68491927e-01 9.29630948e-01 0.00000000e+00 6.04996882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83133951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.987552017999995 meters Centerline goodness : 0.987340 Centerline is valid? [True, True] Translation: X:52.49, Y:6.06, Z:-0.02 [[ 9.29952842e-01 -3.67678816e-01 0.00000000e+00 5.24901652e+01] [ 3.67678816e-01 9.29952842e-01 0.00000000e+00 6.06234118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78579139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.017552017999996 meters Centerline goodness : 0.987469 Centerline is valid? [True, True] Translation: X:52.52, Y:6.08, Z:-0.02 [[ 9.30892416e-01 -3.65293458e-01 0.00000000e+00 5.25235806e+01] [ 3.65293458e-01 9.30892416e-01 0.00000000e+00 6.07531054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78760663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.047552018 meters Centerline goodness : 0.987125 Centerline is valid? [True, True] Translation: X:52.55, Y:6.09, Z:-0.02 [[ 9.30486290e-01 -3.66326718e-01 0.00000000e+00 5.25520983e+01] [ 3.66326718e-01 9.30486290e-01 0.00000000e+00 6.08731778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85771179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.077552018 meters Centerline goodness : 0.986490 Centerline is valid? [True, True] Translation: X:52.58, Y:6.10, Z:-0.02 [[ 9.30014356e-01 -3.67523193e-01 0.00000000e+00 5.25822726e+01] [ 3.67523193e-01 9.30014356e-01 0.00000000e+00 6.09908727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91390243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.107552018 meters Centerline goodness : 0.986722 Centerline is valid? [True, True] Translation: X:52.61, Y:6.11, Z:-0.02 [[ 9.29423199e-01 -3.69015605e-01 0.00000000e+00 5.26128736e+01] [ 3.69015605e-01 9.29423199e-01 0.00000000e+00 6.11142377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89793302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.137552017999994 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:52.64, Y:6.12, Z:-0.02 [[ 9.29502782e-01 -3.68815101e-01 0.00000000e+00 5.26443545e+01] [ 3.68815101e-01 9.29502782e-01 0.00000000e+00 6.12490361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80517442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.167552017999995 meters Centerline goodness : 0.988180 Centerline is valid? [True, True] Translation: X:52.66, Y:6.14, Z:-0.02 [[ 9.27702964e-01 -3.73319181e-01 0.00000000e+00 5.26646444e+01] [ 3.73319181e-01 9.27702964e-01 0.00000000e+00 6.14129946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74465550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.197552017999996 meters Centerline goodness : 0.987721 Centerline is valid? [True, True] Translation: X:52.70, Y:6.15, Z:-0.02 [[ 9.28978919e-01 -3.70132635e-01 0.00000000e+00 5.27012506e+01] [ 3.70132635e-01 9.28978919e-01 0.00000000e+00 6.15127653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65316666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.227552018 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:52.73, Y:6.17, Z:-0.02 [[ 9.30420254e-01 -3.66494408e-01 0.00000000e+00 5.27333283e+01] [ 3.66494408e-01 9.30420254e-01 0.00000000e+00 6.16710058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78727980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.257552018 meters Centerline goodness : 0.989275 Centerline is valid? [True, True] Translation: X:52.75, Y:6.18, Z:-0.02 [[ 9.29140601e-01 -3.69726580e-01 0.00000000e+00 5.27498870e+01] [ 3.69726580e-01 9.29140601e-01 0.00000000e+00 6.18462210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74636862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.287552018 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:52.79, Y:6.19, Z:-0.02 [[ 9.32316472e-01 -3.61643464e-01 0.00000000e+00 5.27905199e+01] [ 3.61643464e-01 9.32316472e-01 0.00000000e+00 6.19376280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87001756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31755201799999 meters Centerline goodness : 0.987488 Centerline is valid? [True, True] Translation: X:52.82, Y:6.21, Z:-0.02 [[ 9.33432894e-01 -3.58752048e-01 0.00000000e+00 5.28210616e+01] [ 3.58752048e-01 9.33432894e-01 0.00000000e+00 6.20742533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81038352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.347552017999995 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:52.85, Y:6.22, Z:-0.02 [[ 9.36301042e-01 -3.51198459e-01 0.00000000e+00 5.28507635e+01] [ 3.51198459e-01 9.36301042e-01 0.00000000e+00 6.22475394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62063513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.377552017999996 meters Centerline goodness : 0.987798 Centerline is valid? [True, True] Translation: X:52.88, Y:6.24, Z:-0.02 [[ 9.37810716e-01 -3.47147030e-01 0.00000000e+00 5.28790763e+01] [ 3.47147030e-01 9.37810716e-01 0.00000000e+00 6.23872862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54533120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.407552018 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:52.91, Y:6.26, Z:-0.01 [[ 9.40233314e-01 -3.40530932e-01 0.00000000e+00 5.29062847e+01] [ 3.40530932e-01 9.40233314e-01 0.00000000e+00 6.25835860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35562765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.437552018 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:52.92, Y:6.28, Z:-0.01 [[ 9.39032610e-01 -3.43828094e-01 0.00000000e+00 5.29206974e+01] [ 3.43828094e-01 9.39032610e-01 0.00000000e+00 6.27666330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19589036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.467552018 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:52.95, Y:6.29, Z:-0.01 [[ 9.40357953e-01 -3.40186595e-01 0.00000000e+00 5.29517557e+01] [ 3.40186595e-01 9.40357953e-01 0.00000000e+00 6.28865670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24388028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49755201799999 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:53.00, Y:6.29, Z:-0.02 [[ 9.43771893e-01 -3.30597358e-01 0.00000000e+00 5.29959851e+01] [ 3.30597358e-01 9.43771893e-01 0.00000000e+00 6.29401097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55661474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.527552017999994 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:53.02, Y:6.31, Z:-0.01 [[ 9.44587227e-01 -3.28260522e-01 0.00000000e+00 5.30194264e+01] [ 3.28260522e-01 9.44587227e-01 0.00000000e+00 6.30895908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47518891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.557552017999996 meters Centerline goodness : 0.991325 Centerline is valid? [True, True] Translation: X:53.04, Y:6.33, Z:-0.01 [[ 9.43577422e-01 -3.31152002e-01 0.00000000e+00 5.30394314e+01] [ 3.31152002e-01 9.43577422e-01 0.00000000e+00 6.32582879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37288677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.587552018 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:53.07, Y:6.34, Z:-0.01 [[ 9.44569306e-01 -3.28312085e-01 0.00000000e+00 5.30692268e+01] [ 3.28312085e-01 9.44569306e-01 0.00000000e+00 6.33766639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31585111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.617552018 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:53.11, Y:6.35, Z:-0.01 [[ 9.47067478e-01 -3.21034565e-01 0.00000000e+00 5.31089304e+01] [ 3.21034565e-01 9.47067478e-01 0.00000000e+00 6.34572455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15973168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.647552018 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:53.14, Y:6.36, Z:-0.01 [[ 9.48929408e-01 -3.15488476e-01 0.00000000e+00 5.31377474e+01] [ 3.15488476e-01 9.48929408e-01 0.00000000e+00 6.35648535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25962102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67755201799999 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:53.16, Y:6.37, Z:-0.01 [[ 9.48046948e-01 -3.18130452e-01 0.00000000e+00 5.31574861e+01] [ 3.18130452e-01 9.48046948e-01 0.00000000e+00 6.37050156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32223844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.707552017999994 meters Centerline goodness : 0.991295 Centerline is valid? [True, True] Translation: X:53.19, Y:6.38, Z:-0.01 [[ 9.48806600e-01 -3.15857619e-01 0.00000000e+00 5.31885144e+01] [ 3.15857619e-01 9.48806600e-01 0.00000000e+00 6.38045497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33390542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.737552017999995 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:53.22, Y:6.39, Z:-0.01 [[ 9.50451682e-01 -3.10872322e-01 0.00000000e+00 5.32205138e+01] [ 3.10872322e-01 9.50451682e-01 0.00000000e+00 6.39063211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20369257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.767552017999996 meters Centerline goodness : 0.990301 Centerline is valid? [True, True] Translation: X:53.25, Y:6.40, Z:-0.01 [[ 9.51326969e-01 -3.08183384e-01 0.00000000e+00 5.32518352e+01] [ 3.08183384e-01 9.51326969e-01 0.00000000e+00 6.40033490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09295156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.797552018 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:53.28, Y:6.41, Z:-0.01 [[ 9.52246347e-01 -3.05330795e-01 0.00000000e+00 5.32830767e+01] [ 3.05330795e-01 9.52246347e-01 0.00000000e+00 6.40908100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89569801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.827552018 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:53.31, Y:6.42, Z:-0.01 [[ 9.53593573e-01 -3.01096825e-01 0.00000000e+00 5.33144517e+01] [ 3.01096825e-01 9.53593573e-01 0.00000000e+00 6.41507403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69481239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.857552018 meters Centerline goodness : 0.989808 Centerline is valid? [True, True] Translation: X:53.35, Y:6.42, Z:-0.01 [[ 9.54079798e-01 -2.99552564e-01 0.00000000e+00 5.33463750e+01] [ 2.99552564e-01 9.54079798e-01 0.00000000e+00 6.42251615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08503908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.887552017999994 meters Centerline goodness : 0.989182 Centerline is valid? [True, True] Translation: X:53.38, Y:6.43, Z:-0.01 [[ 9.54451614e-01 -2.98365742e-01 0.00000000e+00 5.33778308e+01] [ 2.98365742e-01 9.54451614e-01 0.00000000e+00 6.42939240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17948171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.917552017999995 meters Centerline goodness : 0.989551 Centerline is valid? [True, True] Translation: X:53.41, Y:6.43, Z:-0.01 [[ 9.54318609e-01 -2.98790885e-01 0.00000000e+00 5.34108331e+01] [ 2.98790885e-01 9.54318609e-01 0.00000000e+00 6.43458281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21339719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.947552017999996 meters Centerline goodness : 0.988697 Centerline is valid? [True, True] Translation: X:53.44, Y:6.44, Z:-0.01 [[ 9.54093193e-01 -2.99509900e-01 0.00000000e+00 5.34437323e+01] [ 2.99509900e-01 9.54093193e-01 0.00000000e+00 6.44133934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23641359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.977552018 meters Centerline goodness : 0.987617 Centerline is valid? [True, True] Translation: X:53.49, Y:6.44, Z:-0.01 [[ 9.55546928e-01 -2.94839055e-01 0.00000000e+00 5.34882292e+01] [ 2.94839055e-01 9.55546928e-01 0.00000000e+00 6.44120340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47301569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.007552018 meters Centerline goodness : 0.987617 Centerline is valid? [True, True] Translation: X:53.52, Y:6.45, Z:-0.01 [[ 9.55438265e-01 -2.95190992e-01 0.00000000e+00 5.35182806e+01] [ 2.95190992e-01 9.55438265e-01 0.00000000e+00 6.45093764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47301569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.037552018 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:53.54, Y:6.46, Z:-0.01 [[ 9.51784800e-01 -3.06766514e-01 0.00000000e+00 5.35391554e+01] [ 3.06766514e-01 9.51784800e-01 0.00000000e+00 6.45728803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42482272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06755201799999 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:53.57, Y:6.46, Z:-0.01 [[ 9.51111351e-01 -3.08848180e-01 0.00000000e+00 5.35710676e+01] [ 3.08848180e-01 9.51111351e-01 0.00000000e+00 6.46242444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46248898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.097552017999995 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:53.60, Y:6.47, Z:-0.01 [[ 9.50352186e-01 -3.11176354e-01 0.00000000e+00 5.36040170e+01] [ 3.11176354e-01 9.50352186e-01 0.00000000e+00 6.46852086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40199524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.127552017999996 meters Centerline goodness : 0.987166 Centerline is valid? [True, True] Translation: X:53.65, Y:6.47, Z:-0.02 [[ 9.51537076e-01 -3.07534052e-01 0.00000000e+00 5.36479829e+01] [ 3.07534052e-01 9.51537076e-01 0.00000000e+00 6.46864857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51540926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.157552018 meters Centerline goodness : 0.988131 Centerline is valid? [True, True] Translation: X:53.67, Y:6.47, Z:-0.01 [[ 9.48078080e-01 -3.18037661e-01 0.00000000e+00 5.36678005e+01] [ 3.18037661e-01 9.48078080e-01 0.00000000e+00 6.47450212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15721570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.187552018 meters Centerline goodness : 0.987192 Centerline is valid? [True, True] Translation: X:53.70, Y:6.48, Z:-0.01 [[ 9.47567056e-01 -3.19556997e-01 0.00000000e+00 5.36998749e+01] [ 3.19556997e-01 9.47567056e-01 0.00000000e+00 6.48019294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14585667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.217552018 meters Centerline goodness : 0.987956 Centerline is valid? [True, True] Translation: X:53.73, Y:6.49, Z:-0.01 [[ 9.47100735e-01 -3.20936439e-01 0.00000000e+00 5.37311327e+01] [ 3.20936439e-01 9.47100735e-01 0.00000000e+00 6.48590327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19304652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24755201799999 meters Centerline goodness : 0.987812 Centerline is valid? [True, True] Translation: X:53.76, Y:6.49, Z:-0.01 [[ 9.45873670e-01 -3.24535054e-01 0.00000000e+00 5.37645756e+01] [ 3.24535054e-01 9.45873670e-01 0.00000000e+00 6.48885269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34794400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.277552017999994 meters Centerline goodness : 0.986340 Centerline is valid? [True, True] Translation: X:53.81, Y:6.49, Z:-0.02 [[ 9.46862744e-01 -3.21637907e-01 0.00000000e+00 5.38050370e+01] [ 3.21637907e-01 9.46862744e-01 0.00000000e+00 6.48992498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62032429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.307552017999996 meters Centerline goodness : 0.987743 Centerline is valid? [True, True] Translation: X:53.83, Y:6.50, Z:-0.02 [[ 9.44221099e-01 -3.29312186e-01 0.00000000e+00 5.38266605e+01] [ 3.29312186e-01 9.44221099e-01 0.00000000e+00 6.50007650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50282897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.337552018 meters Centerline goodness : 0.986447 Centerline is valid? [True, True] Translation: X:53.87, Y:6.50, Z:-0.02 [[ 9.43826417e-01 -3.30441666e-01 0.00000000e+00 5.38681677e+01] [ 3.30441666e-01 9.43826417e-01 0.00000000e+00 6.49805630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64480843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.367552018 meters Centerline goodness : 0.986707 Centerline is valid? [True, True] Translation: X:53.90, Y:6.50, Z:-0.01 [[ 9.42932661e-01 -3.32983478e-01 0.00000000e+00 5.39002723e+01] [ 3.32983478e-01 9.42932661e-01 0.00000000e+00 6.50433086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49365574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.397552018 meters Centerline goodness : 0.987578 Centerline is valid? [True, True] Translation: X:53.92, Y:6.52, Z:-0.01 [[ 9.40230109e-01 -3.40539781e-01 0.00000000e+00 5.39207896e+01] [ 3.40539781e-01 9.40230109e-01 0.00000000e+00 6.51583791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25254995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42755201799999 meters Centerline goodness : 0.985831 Centerline is valid? [True, True] Translation: X:53.96, Y:6.52, Z:-0.01 [[ 9.41177140e-01 -3.37913586e-01 0.00000000e+00 5.39590260e+01] [ 3.37913586e-01 9.41177140e-01 0.00000000e+00 6.51893932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25209426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.457552017999994 meters Centerline goodness : 0.987018 Centerline is valid? [True, True] Translation: X:53.98, Y:6.53, Z:-0.01 [[ 9.38529969e-01 -3.45197765e-01 0.00000000e+00 5.39811654e+01] [ 3.45197765e-01 9.38529969e-01 0.00000000e+00 6.52885486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16361903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.487552017999995 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:54.02, Y:6.53, Z:-0.01 [[ 9.40328785e-01 -3.40267213e-01 0.00000000e+00 5.40216779e+01] [ 3.40267213e-01 9.40328785e-01 0.00000000e+00 6.53123806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38242351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517552017999996 meters Centerline goodness : 0.987639 Centerline is valid? [True, True] Translation: X:54.04, Y:6.54, Z:-0.01 [[ 9.38400531e-01 -3.45549479e-01 0.00000000e+00 5.40413651e+01] [ 3.45549479e-01 9.38400531e-01 0.00000000e+00 6.54279204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40095541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547552018 meters Centerline goodness : 0.987943 Centerline is valid? [True, True] Translation: X:54.07, Y:6.55, Z:-0.01 [[ 9.38398552e-01 -3.45554856e-01 0.00000000e+00 5.40704675e+01] [ 3.45554856e-01 9.38398552e-01 0.00000000e+00 6.55041051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48402112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.577552018 meters Centerline goodness : 0.987447 Centerline is valid? [True, True] Translation: X:54.10, Y:6.56, Z:-0.02 [[ 9.39122381e-01 -3.43582819e-01 0.00000000e+00 5.40985715e+01] [ 3.43582819e-01 9.39122381e-01 0.00000000e+00 6.55739340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56339337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.607552018 meters Centerline goodness : 0.987164 Centerline is valid? [True, True] Translation: X:54.13, Y:6.57, Z:-0.02 [[ 9.39944163e-01 -3.41328244e-01 0.00000000e+00 5.41281091e+01] [ 3.41328244e-01 9.39944163e-01 0.00000000e+00 6.56584672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59251861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.637552017999994 meters Centerline goodness : 0.987223 Centerline is valid? [True, True] Translation: X:54.16, Y:6.57, Z:-0.02 [[ 9.42121906e-01 -3.35270508e-01 0.00000000e+00 5.41622471e+01] [ 3.35270508e-01 9.42121906e-01 0.00000000e+00 6.57120074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64880395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667552017999995 meters Centerline goodness : 0.986854 Centerline is valid? [True, True] Translation: X:54.19, Y:6.58, Z:-0.02 [[ 9.44697803e-01 -3.27942162e-01 0.00000000e+00 5.41948720e+01] [ 3.27942162e-01 9.44697803e-01 0.00000000e+00 6.58143163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52771163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697552017999996 meters Centerline goodness : 0.987216 Centerline is valid? [True, True] Translation: X:54.22, Y:6.59, Z:-0.01 [[ 9.45172932e-01 -3.26570251e-01 0.00000000e+00 5.42229475e+01] [ 3.26570251e-01 9.45172932e-01 0.00000000e+00 6.59317253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38031965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727552018 meters Centerline goodness : 0.987504 Centerline is valid? [True, True] Translation: X:54.25, Y:6.60, Z:-0.01 [[ 9.45456615e-01 -3.25748046e-01 0.00000000e+00 5.42455144e+01] [ 3.25748046e-01 9.45456615e-01 0.00000000e+00 6.60318421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37341116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.757552018 meters Centerline goodness : 0.987994 Centerline is valid? [True, True] Translation: X:54.27, Y:6.61, Z:-0.01 [[ 9.46151764e-01 -3.23723400e-01 0.00000000e+00 5.42724936e+01] [ 3.23723400e-01 9.46151764e-01 0.00000000e+00 6.61131926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38278624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.787552018 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:54.30, Y:6.62, Z:-0.01 [[ 9.47194612e-01 -3.20659271e-01 0.00000000e+00 5.42990497e+01] [ 3.20659271e-01 9.47194612e-01 0.00000000e+00 6.61883215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26273277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81755201799999 meters Centerline goodness : 0.987264 Centerline is valid? [True, True] Translation: X:54.32, Y:6.63, Z:-0.01 [[ 9.47594698e-01 -3.19475021e-01 0.00000000e+00 5.43243805e+01] [ 3.19475021e-01 9.47594698e-01 0.00000000e+00 6.62669462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14967659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.847552017999995 meters Centerline goodness : 0.986844 Centerline is valid? [True, True] Translation: X:54.35, Y:6.64, Z:-0.01 [[ 9.48123419e-01 -3.17902473e-01 0.00000000e+00 5.43511663e+01] [ 3.17902473e-01 9.48123419e-01 0.00000000e+00 6.63500631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16231585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877552017999996 meters Centerline goodness : 0.986636 Centerline is valid? [True, True] Translation: X:54.38, Y:6.64, Z:-0.01 [[ 9.48592288e-01 -3.16500666e-01 0.00000000e+00 5.43814157e+01] [ 3.16500666e-01 9.48592288e-01 0.00000000e+00 6.64244513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21623243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.907552018 meters Centerline goodness : 0.986335 Centerline is valid? [True, True] Translation: X:54.41, Y:6.65, Z:-0.01 [[ 9.48892660e-01 -3.15598987e-01 0.00000000e+00 5.44083767e+01] [ 3.15598987e-01 9.48892660e-01 0.00000000e+00 6.65037137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21818103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.937552018 meters Centerline goodness : 0.986289 Centerline is valid? [True, True] Translation: X:54.43, Y:6.66, Z:-0.01 [[ 9.49537364e-01 -3.13653939e-01 0.00000000e+00 5.44314346e+01] [ 3.13653939e-01 9.49537364e-01 0.00000000e+00 6.65911929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17566317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.967552018 meters Centerline goodness : 0.987224 Centerline is valid? [True, True] Translation: X:54.46, Y:6.67, Z:-0.01 [[ 9.49560119e-01 -3.13585046e-01 0.00000000e+00 5.44580585e+01] [ 3.13585046e-01 9.49560119e-01 0.00000000e+00 6.66876760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13003281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99755201799999 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:54.48, Y:6.68, Z:-0.01 [[ 9.49790781e-01 -3.12885718e-01 0.00000000e+00 5.44849135e+01] [ 3.12885718e-01 9.49790781e-01 0.00000000e+00 6.67713526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14687596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.027552017999994 meters Centerline goodness : 0.987016 Centerline is valid? [True, True] Translation: X:54.51, Y:6.68, Z:-0.01 [[ 9.50018198e-01 -3.12194527e-01 0.00000000e+00 5.45111582e+01] [ 3.12194527e-01 9.50018198e-01 0.00000000e+00 6.68450659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13794709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057552017999996 meters Centerline goodness : 0.986666 Centerline is valid? [True, True] Translation: X:54.54, Y:6.69, Z:-0.01 [[ 9.50117639e-01 -3.11891762e-01 0.00000000e+00 5.45393942e+01] [ 3.11891762e-01 9.50117639e-01 0.00000000e+00 6.68831752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66495042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087552018 meters Centerline goodness : 0.988042 Centerline is valid? [True, True] Translation: X:54.57, Y:6.69, Z:-0.01 [[ 9.49978377e-01 -3.12315678e-01 0.00000000e+00 5.45656631e+01] [ 3.12315678e-01 9.49978377e-01 0.00000000e+00 6.69480397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47860767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.117552018 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:54.59, Y:6.70, Z:-0.01 [[ 9.49491776e-01 -3.13791918e-01 0.00000000e+00 5.45926699e+01] [ 3.13791918e-01 9.49491776e-01 0.00000000e+00 6.70114742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40379451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.147552018 meters Centerline goodness : 0.988852 Centerline is valid? [True, True] Translation: X:54.62, Y:6.71, Z:-0.01 [[ 9.48936577e-01 -3.15466913e-01 0.00000000e+00 5.46202254e+01] [ 3.15466913e-01 9.48936577e-01 0.00000000e+00 6.70818227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14618693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17755201799999 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:54.65, Y:6.71, Z:-0.01 [[ 9.48463041e-01 -3.16887773e-01 0.00000000e+00 5.46482521e+01] [ 3.16887773e-01 9.48463041e-01 0.00000000e+00 6.71380708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32746307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.207552017999994 meters Centerline goodness : 0.990052 Centerline is valid? [True, True] Translation: X:54.68, Y:6.72, Z:-0.01 [[ 9.48005501e-01 -3.18253939e-01 0.00000000e+00 5.46762512e+01] [ 3.18253939e-01 9.48005501e-01 0.00000000e+00 6.71869534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38268537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237552017999995 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:54.71, Y:6.72, Z:-0.01 [[ 9.47765991e-01 -3.18966497e-01 0.00000000e+00 5.47053885e+01] [ 3.18966497e-01 9.47765991e-01 0.00000000e+00 6.72012485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39931618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267552017999996 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:54.73, Y:6.73, Z:-0.01 [[ 9.47666623e-01 -3.19261604e-01 0.00000000e+00 5.47322645e+01] [ 3.19261604e-01 9.47666623e-01 0.00000000e+00 6.72705181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31329607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297552018 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:54.76, Y:6.73, Z:-0.01 [[ 9.48170657e-01 -3.17761555e-01 0.00000000e+00 5.47579812e+01] [ 3.17761555e-01 9.48170657e-01 0.00000000e+00 6.73379903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24873056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.327552018 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:54.78, Y:6.74, Z:-0.01 [[ 9.48804587e-01 -3.15863667e-01 0.00000000e+00 5.47845751e+01] [ 3.15863667e-01 9.48804587e-01 0.00000000e+00 6.74147160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17083979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.357552018 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:54.81, Y:6.75, Z:-0.01 [[ 9.50460518e-01 -3.10845305e-01 0.00000000e+00 5.48116054e+01] [ 3.10845305e-01 9.50460518e-01 0.00000000e+00 6.74557335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89590825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.387552017999994 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:54.84, Y:6.75, Z:-0.01 [[ 9.51290942e-01 -3.08294572e-01 0.00000000e+00 5.48389423e+01] [ 3.08294572e-01 9.51290942e-01 0.00000000e+00 6.74932028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29766367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417552017999995 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:54.87, Y:6.75, Z:-0.01 [[ 9.52496330e-01 -3.04550062e-01 0.00000000e+00 5.48682807e+01] [ 3.04550062e-01 9.52496330e-01 0.00000000e+00 6.74945875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16351536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447552017999996 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:54.89, Y:6.76, Z:-0.01 [[ 9.52866118e-01 -3.03391103e-01 0.00000000e+00 5.48949962e+01] [ 3.03391103e-01 9.52866118e-01 0.00000000e+00 6.75648108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30578704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477552018 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:54.92, Y:6.76, Z:-0.01 [[ 9.53053802e-01 -3.02801007e-01 0.00000000e+00 5.49219818e+01] [ 3.02801007e-01 9.53053802e-01 0.00000000e+00 6.76383819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21848106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.507552018 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:54.95, Y:6.77, Z:-0.01 [[ 9.52305520e-01 -3.05146187e-01 0.00000000e+00 5.49507489e+01] [ 3.05146187e-01 9.52305520e-01 0.00000000e+00 6.76718969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33793239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.537552018 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:54.98, Y:6.77, Z:-0.01 [[ 9.51421513e-01 -3.07891384e-01 0.00000000e+00 5.49783798e+01] [ 3.07891384e-01 9.51421513e-01 0.00000000e+00 6.77132598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85544160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56755201799999 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:55.01, Y:6.78, Z:-0.01 [[ 9.50244255e-01 -3.11505788e-01 0.00000000e+00 5.50063035e+01] [ 3.11505788e-01 9.50244255e-01 0.00000000e+00 6.77518670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41596284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.597552017999995 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:55.03, Y:6.77, Z:-0.01 [[ 9.47431488e-01 -3.19958710e-01 0.00000000e+00 5.50346217e+01] [ 3.19958710e-01 9.47431488e-01 0.00000000e+00 6.77413377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60438955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627552017999996 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:55.06, Y:6.78, Z:-0.01 [[ 9.45900949e-01 -3.24455536e-01 0.00000000e+00 5.50623797e+01] [ 3.24455536e-01 9.45900949e-01 0.00000000e+00 6.77907559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56930140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657552018 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:55.09, Y:6.79, Z:-0.00 [[ 9.44430414e-01 -3.28711412e-01 0.00000000e+00 5.50903193e+01] [ 3.28711412e-01 9.44430414e-01 0.00000000e+00 6.78513969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63748478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.687552018 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:55.12, Y:6.79, Z:-0.00 [[ 9.42006500e-01 -3.35594626e-01 0.00000000e+00 5.51172148e+01] [ 3.35594626e-01 9.42006500e-01 0.00000000e+00 6.78912897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78450167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.717552018 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:55.15, Y:6.80, Z:-0.00 [[ 9.40803500e-01 -3.38952466e-01 0.00000000e+00 5.51450651e+01] [ 3.38952466e-01 9.40803500e-01 0.00000000e+00 6.79531374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99660692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74755201799999 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:55.17, Y:6.80, Z:-0.00 [[ 9.39573268e-01 -3.42347885e-01 0.00000000e+00 5.51725884e+01] [ 3.42347885e-01 9.39573268e-01 0.00000000e+00 6.80065263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90103601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.777552017999994 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:55.20, Y:6.81, Z:-0.00 [[ 9.38362299e-01 -3.45653289e-01 0.00000000e+00 5.52006293e+01] [ 3.45653289e-01 9.38362299e-01 0.00000000e+00 6.80605676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30650949e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.807552017999996 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:55.23, Y:6.81, Z:-0.00 [[ 9.36386799e-01 -3.50969747e-01 0.00000000e+00 5.52285204e+01] [ 3.50969747e-01 9.36386799e-01 0.00000000e+00 6.81067028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40625403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.837552018 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:55.25, Y:6.82, Z:-0.00 [[ 9.35523459e-01 -3.53264573e-01 0.00000000e+00 5.52547011e+01] [ 3.53264573e-01 9.35523459e-01 0.00000000e+00 6.81902904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11529852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.867552018 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:55.28, Y:6.83, Z:-0.00 [[ 9.35050905e-01 -3.54513476e-01 0.00000000e+00 5.52804971e+01] [ 3.54513476e-01 9.35050905e-01 0.00000000e+00 6.82700757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59918677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.897552018 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:55.31, Y:6.83, Z:-0.01 [[ 9.34715284e-01 -3.55397436e-01 0.00000000e+00 5.53068295e+01] [ 3.55397436e-01 9.34715284e-01 0.00000000e+00 6.83487012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94873041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92755201799999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:55.33, Y:6.84, Z:-0.01 [[ 9.34592508e-01 -3.55720178e-01 0.00000000e+00 5.53337853e+01] [ 3.55720178e-01 9.34592508e-01 0.00000000e+00 6.84401647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94873041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.957552017999994 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:55.36, Y:6.85, Z:-0.01 [[ 9.34352341e-01 -3.56350534e-01 0.00000000e+00 5.53607810e+01] [ 3.56350534e-01 9.34352341e-01 0.00000000e+00 6.85085703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63580889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.987552017999995 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:55.39, Y:6.86, Z:-0.00 [[ 9.34291785e-01 -3.56509272e-01 0.00000000e+00 5.53860831e+01] [ 3.56509272e-01 9.34291785e-01 0.00000000e+00 6.85927106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97847734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.017552017999996 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:55.41, Y:6.87, Z:-0.00 [[ 9.34280788e-01 -3.56538089e-01 0.00000000e+00 5.54122202e+01] [ 3.56538089e-01 9.34280788e-01 0.00000000e+00 6.86824865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69554696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047552018 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:55.44, Y:6.88, Z:-0.00 [[ 9.34261013e-01 -3.56589903e-01 0.00000000e+00 5.54372076e+01] [ 3.56589903e-01 9.34261013e-01 0.00000000e+00 6.87822305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16128276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.077552018 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:55.46, Y:6.89, Z:-0.00 [[ 9.33997883e-01 -3.57278539e-01 0.00000000e+00 5.54633470e+01] [ 3.57278539e-01 9.33997883e-01 0.00000000e+00 6.88854906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20217708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.107552018 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:55.49, Y:6.90, Z:-0.00 [[ 9.33636126e-01 -3.58222812e-01 0.00000000e+00 5.54887570e+01] [ 3.58222812e-01 9.33636126e-01 0.00000000e+00 6.89858086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57768351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.137552017999994 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:55.51, Y:6.91, Z:-0.01 [[ 9.32165941e-01 -3.62031294e-01 0.00000000e+00 5.55149256e+01] [ 3.62031294e-01 9.32165941e-01 0.00000000e+00 6.90714170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97159185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.167552017999995 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:55.54, Y:6.92, Z:-0.01 [[ 9.31282535e-01 -3.64297735e-01 0.00000000e+00 5.55407741e+01] [ 3.64297735e-01 9.31282535e-01 0.00000000e+00 6.91517806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75555754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.197552017999996 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:55.57, Y:6.92, Z:-0.01 [[ 9.30113130e-01 -3.67273148e-01 0.00000000e+00 5.55670725e+01] [ 3.67273148e-01 9.30113130e-01 0.00000000e+00 6.92481156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13925160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.227552018 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:55.59, Y:6.94, Z:-0.00 [[ 9.29094222e-01 -3.69843112e-01 0.00000000e+00 5.55920893e+01] [ 3.69843112e-01 9.29094222e-01 0.00000000e+00 6.93532497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76792191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.257552018 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:55.62, Y:6.95, Z:-0.00 [[ 9.26840089e-01 -3.75456321e-01 0.00000000e+00 5.56171666e+01] [ 3.75456321e-01 9.26840089e-01 0.00000000e+00 6.94961760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57403410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.287552018 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:55.64, Y:6.96, Z:-0.00 [[ 9.25739678e-01 -3.78161405e-01 0.00000000e+00 5.56435345e+01] [ 3.78161405e-01 9.25739678e-01 0.00000000e+00 6.96043456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14740469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31755201799999 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:55.67, Y:6.97, Z:-0.00 [[ 9.24649127e-01 -3.80820158e-01 0.00000000e+00 5.56698740e+01] [ 3.80820158e-01 9.24649127e-01 0.00000000e+00 6.97089156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79048264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.347552017999995 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:55.70, Y:6.98, Z:-0.00 [[ 9.23826277e-01 -3.82811978e-01 0.00000000e+00 5.56956164e+01] [ 3.82811978e-01 9.23826277e-01 0.00000000e+00 6.98052569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73852237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.377552017999996 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:55.72, Y:6.99, Z:-0.00 [[ 9.22803165e-01 -3.85271747e-01 0.00000000e+00 5.57205535e+01] [ 3.85271747e-01 9.22803165e-01 0.00000000e+00 6.99258039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89458017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.407552018 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:55.75, Y:7.00, Z:-0.00 [[ 9.22376483e-01 -3.86292149e-01 0.00000000e+00 5.57460902e+01] [ 3.86292149e-01 9.22376483e-01 0.00000000e+00 7.00483759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15490597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.437552018 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:55.77, Y:7.02, Z:-0.00 [[ 9.22301558e-01 -3.86471003e-01 0.00000000e+00 5.57700642e+01] [ 3.86471003e-01 9.22301558e-01 0.00000000e+00 7.01674078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64044358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.467552018 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:55.79, Y:7.03, Z:-0.00 [[ 9.22913439e-01 -3.85007512e-01 0.00000000e+00 5.57946227e+01] [ 3.85007512e-01 9.22913439e-01 0.00000000e+00 7.03119060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95678230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49755201799999 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:55.82, Y:7.04, Z:-0.00 [[ 9.23360131e-01 -3.83934979e-01 0.00000000e+00 5.58196295e+01] [ 3.83934979e-01 9.23360131e-01 0.00000000e+00 7.04303307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10284608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.527552017999994 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:55.84, Y:7.06, Z:-0.00 [[ 9.24030162e-01 -3.82319578e-01 0.00000000e+00 5.58445880e+01] [ 3.82319578e-01 9.24030162e-01 0.00000000e+00 7.05503804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09469227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557552017999996 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:55.87, Y:7.07, Z:-0.00 [[ 9.24435040e-01 -3.81339555e-01 0.00000000e+00 5.58697352e+01] [ 3.81339555e-01 9.24435040e-01 0.00000000e+00 7.06812672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78453055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587552018 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:55.89, Y:7.08, Z:-0.01 [[ 9.25591830e-01 -3.78523137e-01 0.00000000e+00 5.58931653e+01] [ 3.78523137e-01 9.25591830e-01 0.00000000e+00 7.08458431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15547932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.617552018 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:55.92, Y:7.10, Z:-0.01 [[ 9.26033434e-01 -3.77441491e-01 0.00000000e+00 5.59185176e+01] [ 3.77441491e-01 9.26033434e-01 0.00000000e+00 7.09788157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24479387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.647552018 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:55.94, Y:7.12, Z:-0.01 [[ 9.27137285e-01 -3.74721837e-01 0.00000000e+00 5.59417072e+01] [ 3.74721837e-01 9.27137285e-01 0.00000000e+00 7.11590050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.14842254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67755201799999 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:55.97, Y:7.13, Z:-0.01 [[ 9.27294717e-01 -3.74332083e-01 0.00000000e+00 5.59663781e+01] [ 3.74332083e-01 9.27294717e-01 0.00000000e+00 7.12873676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60314018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.707552017999994 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:55.99, Y:7.14, Z:-0.01 [[ 9.27334669e-01 -3.74233098e-01 0.00000000e+00 5.59916020e+01] [ 3.74233098e-01 9.27334669e-01 0.00000000e+00 7.14116164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23034287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.737552017999995 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:56.02, Y:7.15, Z:-0.01 [[ 9.27398203e-01 -3.74075625e-01 0.00000000e+00 5.60169705e+01] [ 3.74075625e-01 9.27398203e-01 0.00000000e+00 7.15365743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31325140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767552017999996 meters Centerline goodness : 0.990556 Centerline is valid? [True, True] Translation: X:56.04, Y:7.17, Z:-0.01 [[ 9.27753921e-01 -3.73192528e-01 0.00000000e+00 5.60407185e+01] [ 3.73192528e-01 9.27753921e-01 0.00000000e+00 7.17016357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37425170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.797552018 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:56.06, Y:7.18, Z:-0.01 [[ 9.27514785e-01 -3.73786469e-01 0.00000000e+00 5.60648335e+01] [ 3.73786469e-01 9.27514785e-01 0.00000000e+00 7.18430206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99823466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.827552018 meters Centerline goodness : 0.988259 Centerline is valid? [True, True] Translation: X:56.09, Y:7.20, Z:-0.01 [[ 9.27597212e-01 -3.73581869e-01 0.00000000e+00 5.60884727e+01] [ 3.73581869e-01 9.27597212e-01 0.00000000e+00 7.20044424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17319394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.857552018 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:56.11, Y:7.21, Z:-0.01 [[ 9.27434344e-01 -3.73986013e-01 0.00000000e+00 5.61129422e+01] [ 3.73986013e-01 9.27434344e-01 0.00000000e+00 7.21201347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24508379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.887552017999994 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:56.14, Y:7.23, Z:-0.01 [[ 9.26785742e-01 -3.75590453e-01 0.00000000e+00 5.61383517e+01] [ 3.75590453e-01 9.26785742e-01 0.00000000e+00 7.22541247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34391170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.917552017999995 meters Centerline goodness : 0.987066 Centerline is valid? [True, True] Translation: X:56.16, Y:7.24, Z:-0.01 [[ 9.26787523e-01 -3.75586058e-01 0.00000000e+00 5.61626010e+01] [ 3.75586058e-01 9.26787523e-01 0.00000000e+00 7.23801177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34878597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.947552017999996 meters Centerline goodness : 0.985722 Centerline is valid? [True, True] Translation: X:56.19, Y:7.25, Z:-0.01 [[ 9.28543755e-01 -3.71222972e-01 0.00000000e+00 5.61946571e+01] [ 3.71222972e-01 9.28543755e-01 0.00000000e+00 7.25207473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29088792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.977552018 meters Centerline goodness : 0.985374 Centerline is valid? [True, True] Translation: X:56.22, Y:7.27, Z:-0.01 [[ 9.28101284e-01 -3.72327823e-01 0.00000000e+00 5.62225456e+01] [ 3.72327823e-01 9.28101284e-01 0.00000000e+00 7.26634543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20136977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.007552018 meters Centerline goodness : 0.985743 Centerline is valid? [True, True] Translation: X:56.24, Y:7.28, Z:-0.01 [[ 9.27061755e-01 -3.74908658e-01 0.00000000e+00 5.62446082e+01] [ 3.74908658e-01 9.27061755e-01 0.00000000e+00 7.28091140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19828260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.037552018 meters Centerline goodness : 0.985761 Centerline is valid? [True, True] Translation: X:56.28, Y:7.29, Z:-0.01 [[ 9.28368962e-01 -3.71659886e-01 0.00000000e+00 5.62809989e+01] [ 3.71659886e-01 9.28368962e-01 0.00000000e+00 7.29072432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14717872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06755201799999 meters Centerline goodness : 0.985528 Centerline is valid? [True, True] Translation: X:56.31, Y:7.31, Z:-0.01 [[ 9.28478068e-01 -3.71387232e-01 0.00000000e+00 5.63090172e+01] [ 3.71387232e-01 9.28478068e-01 0.00000000e+00 7.30725681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13731788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.097552017999995 meters Centerline goodness : 0.985600 Centerline is valid? [True, True] Translation: X:56.34, Y:7.32, Z:-0.01 [[ 9.28714557e-01 -3.70795458e-01 0.00000000e+00 5.63376074e+01] [ 3.70795458e-01 9.28714557e-01 0.00000000e+00 7.32065274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21595115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.127552017999996 meters Centerline goodness : 0.985733 Centerline is valid? [True, True] Translation: X:56.36, Y:7.33, Z:-0.01 [[ 9.28518065e-01 -3.71287223e-01 0.00000000e+00 5.63648201e+01] [ 3.71287223e-01 9.28518065e-01 0.00000000e+00 7.33486284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34038069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.157552018 meters Centerline goodness : 0.984851 Centerline is valid? [True, True] Translation: X:56.40, Y:7.35, Z:-0.01 [[ 9.29966797e-01 -3.67643519e-01 0.00000000e+00 5.63983391e+01] [ 3.67643519e-01 9.29966797e-01 0.00000000e+00 7.34748088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19052339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.187552018 meters Centerline goodness : 0.984098 Centerline is valid? [True, True] Translation: X:56.42, Y:7.36, Z:-0.01 [[ 9.30365791e-01 -3.66632643e-01 0.00000000e+00 5.64249963e+01] [ 3.66632643e-01 9.30365791e-01 0.00000000e+00 7.36038131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14670467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.217552018 meters Centerline goodness : 0.986420 Centerline is valid? [True, True] Translation: X:56.45, Y:7.38, Z:-0.01 [[ 9.29868283e-01 -3.67892616e-01 0.00000000e+00 5.64516275e+01] [ 3.67892616e-01 9.29868283e-01 0.00000000e+00 7.37559799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06066295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24755201799999 meters Centerline goodness : 0.985769 Centerline is valid? [True, True] Translation: X:56.48, Y:7.39, Z:-0.01 [[ 9.30272828e-01 -3.66868459e-01 0.00000000e+00 5.64815580e+01] [ 3.66868459e-01 9.30272828e-01 0.00000000e+00 7.38940641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06162037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.277552017999994 meters Centerline goodness : 0.986867 Centerline is valid? [True, True] Translation: X:56.50, Y:7.41, Z:-0.01 [[ 9.30082748e-01 -3.67350081e-01 0.00000000e+00 5.65040890e+01] [ 3.67350081e-01 9.30082748e-01 0.00000000e+00 7.40518306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23651734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.307552017999996 meters Centerline goodness : 0.987262 Centerline is valid? [True, True] Translation: X:56.54, Y:7.42, Z:-0.01 [[ 9.30535792e-01 -3.66200955e-01 0.00000000e+00 5.65355499e+01] [ 3.66200955e-01 9.30535792e-01 0.00000000e+00 7.41624579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21385088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.337552018 meters Centerline goodness : 0.986711 Centerline is valid? [True, True] Translation: X:56.57, Y:7.43, Z:-0.01 [[ 9.31046054e-01 -3.64901691e-01 0.00000000e+00 5.65661566e+01] [ 3.64901691e-01 9.31046054e-01 0.00000000e+00 7.42791330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18896621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.367552018 meters Centerline goodness : 0.987730 Centerline is valid? [True, True] Translation: X:56.60, Y:7.44, Z:-0.01 [[ 9.31803948e-01 -3.62961984e-01 0.00000000e+00 5.65953444e+01] [ 3.62961984e-01 9.31803948e-01 0.00000000e+00 7.44284735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12276818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.397552018 meters Centerline goodness : 0.986491 Centerline is valid? [True, True] Translation: X:56.63, Y:7.45, Z:-0.01 [[ 9.33334430e-01 -3.59008135e-01 0.00000000e+00 5.66318445e+01] [ 3.59008135e-01 9.33334430e-01 0.00000000e+00 7.45220131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06863890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42755201799999 meters Centerline goodness : 0.986630 Centerline is valid? [True, True] Translation: X:56.66, Y:7.46, Z:-0.01 [[ 9.33584395e-01 -3.58357610e-01 0.00000000e+00 5.66634871e+01] [ 3.58357610e-01 9.33584395e-01 0.00000000e+00 7.46304086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16642017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.457552017999994 meters Centerline goodness : 0.986476 Centerline is valid? [True, True] Translation: X:56.69, Y:7.48, Z:-0.01 [[ 9.32549783e-01 -3.61041414e-01 0.00000000e+00 5.66859606e+01] [ 3.61041414e-01 9.32549783e-01 0.00000000e+00 7.47522237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39054080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487552017999995 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:56.72, Y:7.49, Z:-0.01 [[ 9.31728503e-01 -3.63155609e-01 0.00000000e+00 5.67163116e+01] [ 3.63155609e-01 9.31728503e-01 0.00000000e+00 7.48708669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40368193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517552017999996 meters Centerline goodness : 0.987414 Centerline is valid? [True, True] Translation: X:56.75, Y:7.50, Z:-0.01 [[ 9.32332690e-01 -3.61601653e-01 0.00000000e+00 5.67537555e+01] [ 3.61601653e-01 9.32332690e-01 0.00000000e+00 7.49537105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38447128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547552018 meters Centerline goodness : 0.987360 Centerline is valid? [True, True] Translation: X:56.78, Y:7.51, Z:-0.01 [[ 9.30125123e-01 -3.67242776e-01 0.00000000e+00 5.67766744e+01] [ 3.67242776e-01 9.30125123e-01 0.00000000e+00 7.50811129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48009090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.577552018 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:56.81, Y:7.52, Z:-0.01 [[ 9.28544300e-01 -3.71221608e-01 0.00000000e+00 5.68085934e+01] [ 3.71221608e-01 9.28544300e-01 0.00000000e+00 7.51556439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35572409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60755201799999 meters Centerline goodness : 0.987818 Centerline is valid? [True, True] Translation: X:56.84, Y:7.53, Z:-0.01 [[ 9.26817452e-01 -3.75512198e-01 0.00000000e+00 5.68393495e+01] [ 3.75512198e-01 9.26817452e-01 0.00000000e+00 7.52696801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33884246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.637552017999994 meters Centerline goodness : 0.987614 Centerline is valid? [True, True] Translation: X:56.87, Y:7.54, Z:-0.01 [[ 9.25390331e-01 -3.79015481e-01 0.00000000e+00 5.68705942e+01] [ 3.79015481e-01 9.25390331e-01 0.00000000e+00 7.53819731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32223493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667552017999995 meters Centerline goodness : 0.986857 Centerline is valid? [True, True] Translation: X:56.91, Y:7.54, Z:-0.01 [[ 9.24369835e-01 -3.81497586e-01 0.00000000e+00 5.69110431e+01] [ 3.81497586e-01 9.24369835e-01 0.00000000e+00 7.54426721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49528635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697552017999996 meters Centerline goodness : 0.986361 Centerline is valid? [True, True] Translation: X:56.94, Y:7.55, Z:-0.02 [[ 9.23354285e-01 -3.83949039e-01 0.00000000e+00 5.69407801e+01] [ 3.83949039e-01 9.23354285e-01 0.00000000e+00 7.55274066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62595480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727552018 meters Centerline goodness : 0.986819 Centerline is valid? [True, True] Translation: X:56.97, Y:7.56, Z:-0.01 [[ 9.21232622e-01 -3.89012154e-01 0.00000000e+00 5.69708715e+01] [ 3.89012154e-01 9.21232622e-01 0.00000000e+00 7.56458331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45011937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.757552018 meters Centerline goodness : 0.987047 Centerline is valid? [True, True] Translation: X:57.00, Y:7.58, Z:-0.02 [[ 9.19714846e-01 -3.92587063e-01 0.00000000e+00 5.69983051e+01] [ 3.92587063e-01 9.19714846e-01 0.00000000e+00 7.57597751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58742426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.787552018 meters Centerline goodness : 0.986614 Centerline is valid? [True, True] Translation: X:57.03, Y:7.59, Z:-0.01 [[ 9.17527144e-01 -3.97673158e-01 0.00000000e+00 5.70308450e+01] [ 3.97673158e-01 9.17527144e-01 0.00000000e+00 7.58706453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32159628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81755201799999 meters Centerline goodness : 0.986614 Centerline is valid? [True, True] Translation: X:57.06, Y:7.60, Z:-0.01 [[ 9.17361007e-01 -3.98056256e-01 0.00000000e+00 5.70606247e+01] [ 3.98056256e-01 9.17361007e-01 0.00000000e+00 7.59758976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32159628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.847552017999995 meters Centerline goodness : 0.987018 Centerline is valid? [True, True] Translation: X:57.09, Y:7.61, Z:-0.01 [[ 9.16188974e-01 -4.00746507e-01 0.00000000e+00 5.70910588e+01] [ 4.00746507e-01 9.16188974e-01 0.00000000e+00 7.60872529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18722177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.877552017999996 meters Centerline goodness : 0.985910 Centerline is valid? [True, True] Translation: X:57.12, Y:7.62, Z:-0.01 [[ 9.15085862e-01 -4.03259054e-01 0.00000000e+00 5.71207936e+01] [ 4.03259054e-01 9.15085862e-01 0.00000000e+00 7.62075976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14444417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.907552018 meters Centerline goodness : 0.986577 Centerline is valid? [True, True] Translation: X:57.15, Y:7.63, Z:-0.01 [[ 9.14481941e-01 -4.04626715e-01 0.00000000e+00 5.71494337e+01] [ 4.04626715e-01 9.14481941e-01 0.00000000e+00 7.63236691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07111939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.937552018 meters Centerline goodness : 0.986393 Centerline is valid? [True, True] Translation: X:57.18, Y:7.64, Z:-0.01 [[ 9.14534330e-01 -4.04508293e-01 0.00000000e+00 5.71815222e+01] [ 4.04508293e-01 9.14534330e-01 0.00000000e+00 7.64444372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22815889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.967552018 meters Centerline goodness : 0.987424 Centerline is valid? [True, True] Translation: X:57.21, Y:7.66, Z:-0.01 [[ 9.14448618e-01 -4.04702020e-01 0.00000000e+00 5.72092539e+01] [ 4.04702020e-01 9.14448618e-01 0.00000000e+00 7.65669155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23185394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99755201799999 meters Centerline goodness : 0.986738 Centerline is valid? [True, True] Translation: X:57.24, Y:7.67, Z:-0.01 [[ 9.13745678e-01 -4.06286642e-01 0.00000000e+00 5.72386852e+01] [ 4.06286642e-01 9.13745678e-01 0.00000000e+00 7.67044178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12019419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.027552017999994 meters Centerline goodness : 0.987065 Centerline is valid? [True, True] Translation: X:57.27, Y:7.68, Z:-0.01 [[ 9.14336026e-01 -4.04956334e-01 0.00000000e+00 5.72670307e+01] [ 4.04956334e-01 9.14336026e-01 0.00000000e+00 7.68396234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11835620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057552017999996 meters Centerline goodness : 0.987938 Centerline is valid? [True, True] Translation: X:57.30, Y:7.70, Z:-0.01 [[ 9.14433495e-01 -4.04736189e-01 0.00000000e+00 5.72987429e+01] [ 4.04736189e-01 9.14433495e-01 0.00000000e+00 7.69579287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14866712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087552018 meters Centerline goodness : 0.988929 Centerline is valid? [True, True] Translation: X:57.32, Y:7.71, Z:-0.01 [[ 9.12107511e-01 -4.09951080e-01 0.00000000e+00 5.73156644e+01] [ 4.09951080e-01 9.12107511e-01 0.00000000e+00 7.71204459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16037413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.117552018 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:57.34, Y:7.72, Z:-0.01 [[ 9.12263302e-01 -4.09604283e-01 0.00000000e+00 5.73441675e+01] [ 4.09604283e-01 9.12263302e-01 0.00000000e+00 7.72401875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19492638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.147552018 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:57.37, Y:7.74, Z:-0.01 [[ 9.12238992e-01 -4.09658420e-01 0.00000000e+00 5.73729709e+01] [ 4.09658420e-01 9.12238992e-01 0.00000000e+00 7.73975194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11947726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17755201799999 meters Centerline goodness : 0.988209 Centerline is valid? [True, True] Translation: X:57.42, Y:7.75, Z:-0.01 [[ 9.15243085e-01 -4.02902091e-01 0.00000000e+00 5.74163309e+01] [ 4.02902091e-01 9.15243085e-01 0.00000000e+00 7.74699745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12153093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.207552017999994 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:57.44, Y:7.76, Z:-0.01 [[ 9.14976151e-01 -4.03507922e-01 0.00000000e+00 5.74437597e+01] [ 4.03507922e-01 9.14976151e-01 0.00000000e+00 7.75979359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05948704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.237552017999995 meters Centerline goodness : 0.988420 Centerline is valid? [True, True] Translation: X:57.47, Y:7.77, Z:-0.01 [[ 9.14442364e-01 -4.04716151e-01 0.00000000e+00 5.74736857e+01] [ 4.04716151e-01 9.14442364e-01 0.00000000e+00 7.77457776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24448617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.267552017999996 meters Centerline goodness : 0.988322 Centerline is valid? [True, True] Translation: X:57.50, Y:7.79, Z:-0.01 [[ 9.14334074e-01 -4.04960741e-01 0.00000000e+00 5.75044965e+01] [ 4.04960741e-01 9.14334074e-01 0.00000000e+00 7.78659026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33257931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.297552018 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:57.53, Y:7.80, Z:-0.01 [[ 9.13964784e-01 -4.05793510e-01 0.00000000e+00 5.75323758e+01] [ 4.05793510e-01 9.13964784e-01 0.00000000e+00 7.79977881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36927276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.327552018 meters Centerline goodness : 0.989000 Centerline is valid? [True, True] Translation: X:57.56, Y:7.81, Z:-0.01 [[ 9.13550567e-01 -4.06725167e-01 0.00000000e+00 5.75616400e+01] [ 4.06725167e-01 9.13550567e-01 0.00000000e+00 7.81355981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33797759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35755201799999 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:57.58, Y:7.83, Z:-0.01 [[ 9.11599067e-01 -4.11080457e-01 0.00000000e+00 5.75769110e+01] [ 4.11080457e-01 9.11599067e-01 0.00000000e+00 7.83270138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13369711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.387552017999994 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:57.61, Y:7.84, Z:-0.01 [[ 9.11776120e-01 -4.10687602e-01 0.00000000e+00 5.76067503e+01] [ 4.10687602e-01 9.11776120e-01 0.00000000e+00 7.84463906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25693881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417552017999995 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:57.65, Y:7.85, Z:-0.01 [[ 9.14665051e-01 -4.04212624e-01 0.00000000e+00 5.76495083e+01] [ 4.04212624e-01 9.14665051e-01 0.00000000e+00 7.85132537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49426441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447552017999996 meters Centerline goodness : 0.989857 Centerline is valid? [True, True] Translation: X:57.68, Y:7.87, Z:-0.01 [[ 9.14220371e-01 -4.05217366e-01 0.00000000e+00 5.76752579e+01] [ 4.05217366e-01 9.14220371e-01 0.00000000e+00 7.86631559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36635173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.477552018 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:57.71, Y:7.88, Z:-0.01 [[ 9.13864044e-01 -4.06020330e-01 0.00000000e+00 5.77055998e+01] [ 4.06020330e-01 9.13864044e-01 0.00000000e+00 7.88073867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41789642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.507552018 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:57.73, Y:7.89, Z:-0.01 [[ 9.13429839e-01 -4.06996226e-01 0.00000000e+00 5.77338093e+01] [ 4.06996226e-01 9.13429839e-01 0.00000000e+00 7.89392335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18467646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.537552018 meters Centerline goodness : 0.989944 Centerline is valid? [True, True] Translation: X:57.76, Y:7.91, Z:-0.01 [[ 9.12263527e-01 -4.09603781e-01 0.00000000e+00 5.77623277e+01] [ 4.09603781e-01 9.12263527e-01 0.00000000e+00 7.90876959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.32216000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56755201799999 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:57.79, Y:7.92, Z:-0.01 [[ 9.12315978e-01 -4.09486942e-01 0.00000000e+00 5.77937890e+01] [ 4.09486942e-01 9.12315978e-01 0.00000000e+00 7.91963716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02657381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.597552017999995 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:57.83, Y:7.93, Z:-0.01 [[ 9.12207762e-01 -4.09727957e-01 0.00000000e+00 5.78250810e+01] [ 4.09727957e-01 9.12207762e-01 0.00000000e+00 7.93095789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07364291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627552017999996 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:57.85, Y:7.94, Z:-0.01 [[ 9.12488665e-01 -4.09101987e-01 0.00000000e+00 5.78539863e+01] [ 4.09101987e-01 9.12488665e-01 0.00000000e+00 7.94406520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09152352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.657552018 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:57.88, Y:7.96, Z:-0.01 [[ 9.11347464e-01 -4.11637947e-01 0.00000000e+00 5.78782748e+01] [ 4.11637947e-01 9.11347464e-01 0.00000000e+00 7.95847060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27926660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.687552018 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:57.91, Y:7.97, Z:-0.01 [[ 9.12039194e-01 -4.10103047e-01 0.00000000e+00 5.79083929e+01] [ 4.10103047e-01 9.12039194e-01 0.00000000e+00 7.97100087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34425435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.717552018 meters Centerline goodness : 0.991401 Centerline is valid? [True, True] Translation: X:57.94, Y:7.99, Z:-0.01 [[ 9.11711219e-01 -4.10831660e-01 0.00000000e+00 5.79362325e+01] [ 4.10831660e-01 9.11711219e-01 0.00000000e+00 7.98634157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09765222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74755201799999 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:57.97, Y:8.00, Z:-0.01 [[ 9.11793313e-01 -4.10649430e-01 0.00000000e+00 5.79672825e+01] [ 4.10649430e-01 9.11793313e-01 0.00000000e+00 7.99770921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02597655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.777552017999994 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:58.00, Y:8.01, Z:-0.01 [[ 9.11584490e-01 -4.11112779e-01 0.00000000e+00 5.79969186e+01] [ 4.11112779e-01 9.11584490e-01 0.00000000e+00 8.00919230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90646219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.807552017999996 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:58.02, Y:8.02, Z:-0.01 [[ 9.11371074e-01 -4.11585673e-01 0.00000000e+00 5.80248355e+01] [ 4.11585673e-01 9.11371074e-01 0.00000000e+00 8.02170639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00044868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.837552018 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:58.05, Y:8.04, Z:-0.01 [[ 9.11453021e-01 -4.11404169e-01 0.00000000e+00 5.80517309e+01] [ 4.11404169e-01 9.11453021e-01 0.00000000e+00 8.03912924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00105989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.867552018 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:58.07, Y:8.06, Z:-0.01 [[ 9.10271258e-01 -4.14012364e-01 0.00000000e+00 5.80712064e+01] [ 4.14012364e-01 9.10271258e-01 0.00000000e+00 8.05565320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14240979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.897552018 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:58.11, Y:8.07, Z:-0.01 [[ 9.12791842e-01 -4.08425088e-01 0.00000000e+00 5.81094759e+01] [ 4.08425088e-01 9.12791842e-01 0.00000000e+00 8.06609402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53566357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92755201799999 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:58.14, Y:8.08, Z:-0.01 [[ 9.13292074e-01 -4.07305276e-01 0.00000000e+00 5.81388275e+01] [ 4.07305276e-01 9.13292074e-01 0.00000000e+00 8.07820693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47925903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.957552017999994 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:58.17, Y:8.09, Z:-0.01 [[ 9.13019635e-01 -4.07915612e-01 0.00000000e+00 5.81684830e+01] [ 4.07915612e-01 9.13019635e-01 0.00000000e+00 8.09161695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77147164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.987552017999995 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:58.20, Y:8.11, Z:-0.01 [[ 9.13604037e-01 -4.06605045e-01 0.00000000e+00 5.81964073e+01] [ 4.06605045e-01 9.13604037e-01 0.00000000e+00 8.10716007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11413537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.017552017999996 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:58.23, Y:8.12, Z:-0.01 [[ 9.13490414e-01 -4.06860251e-01 0.00000000e+00 5.82265462e+01] [ 4.06860251e-01 9.13490414e-01 0.00000000e+00 8.12092293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30014848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047552018 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:58.26, Y:8.14, Z:-0.01 [[ 9.12981149e-01 -4.08001742e-01 0.00000000e+00 5.82558810e+01] [ 4.08001742e-01 9.12981149e-01 0.00000000e+00 8.13546925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54758801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.077552018 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:58.28, Y:8.15, Z:-0.01 [[ 9.12861084e-01 -4.08270304e-01 0.00000000e+00 5.82843144e+01] [ 4.08270304e-01 9.12861084e-01 0.00000000e+00 8.14758513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68728764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10755201799999 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:58.31, Y:8.16, Z:-0.01 [[ 9.12118255e-01 -4.09927174e-01 0.00000000e+00 5.83122165e+01] [ 4.09927174e-01 9.12118255e-01 0.00000000e+00 8.15973306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55201819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.137552017999994 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:58.34, Y:8.17, Z:-0.01 [[ 9.10379672e-01 -4.13773914e-01 0.00000000e+00 5.83432235e+01] [ 4.13773914e-01 9.10379672e-01 0.00000000e+00 8.17306783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57318445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167552017999995 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:58.37, Y:8.19, Z:-0.01 [[ 9.09333633e-01 -4.16067716e-01 0.00000000e+00 5.83737388e+01] [ 4.16067716e-01 9.09333633e-01 0.00000000e+00 8.18628818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10009748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197552017999996 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:58.40, Y:8.20, Z:-0.01 [[ 9.07805055e-01 -4.19392396e-01 0.00000000e+00 5.84031113e+01] [ 4.19392396e-01 9.07805055e-01 0.00000000e+00 8.20185372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95437322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227552018 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:58.43, Y:8.21, Z:-0.01 [[ 9.07263655e-01 -4.20562315e-01 0.00000000e+00 5.84339453e+01] [ 4.20562315e-01 9.07263655e-01 0.00000000e+00 8.21471474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13072728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.257552018 meters Centerline goodness : 0.990164 Centerline is valid? [True, True] Translation: X:58.46, Y:8.23, Z:-0.01 [[ 9.07681344e-01 -4.19660074e-01 0.00000000e+00 5.84614667e+01] [ 4.19660074e-01 9.07681344e-01 0.00000000e+00 8.22572853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98122685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.287552018 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:58.49, Y:8.24, Z:-0.01 [[ 9.07617617e-01 -4.19797880e-01 0.00000000e+00 5.84915093e+01] [ 4.19797880e-01 9.07617617e-01 0.00000000e+00 8.24000847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91325233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31755201799999 meters Centerline goodness : 0.990517 Centerline is valid? [True, True] Translation: X:58.52, Y:8.25, Z:-0.01 [[ 9.08107628e-01 -4.18736833e-01 0.00000000e+00 5.85212936e+01] [ 4.18736833e-01 9.08107628e-01 0.00000000e+00 8.25331024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32047886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.347552017999995 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:58.55, Y:8.27, Z:-0.01 [[ 9.08601155e-01 -4.17664867e-01 0.00000000e+00 5.85508174e+01] [ 4.17664867e-01 9.08601155e-01 0.00000000e+00 8.26721891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69523291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.377552017999996 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:58.58, Y:8.28, Z:-0.01 [[ 9.10649457e-01 -4.13179824e-01 0.00000000e+00 5.85790191e+01] [ 4.13179824e-01 9.10649457e-01 0.00000000e+00 8.28352447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16170257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.407552018 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:58.61, Y:8.30, Z:-0.01 [[ 9.11709126e-01 -4.10836306e-01 0.00000000e+00 5.86089798e+01] [ 4.10836306e-01 9.11709126e-01 0.00000000e+00 8.29693169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52204956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.437552018 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:58.64, Y:8.31, Z:-0.01 [[ 9.12493014e-01 -4.09092286e-01 0.00000000e+00 5.86382487e+01] [ 4.09092286e-01 9.12493014e-01 0.00000000e+00 8.30925243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05811667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.467552018 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:58.67, Y:8.32, Z:-0.01 [[ 9.13242334e-01 -4.07416789e-01 0.00000000e+00 5.86690769e+01] [ 4.07416789e-01 9.13242334e-01 0.00000000e+00 8.32187664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00777701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49755201799999 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:58.70, Y:8.34, Z:-0.01 [[ 9.14756918e-01 -4.04004678e-01 0.00000000e+00 5.86958819e+01] [ 4.04004678e-01 9.14756918e-01 0.00000000e+00 8.33673225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62028007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.527552017999994 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:58.73, Y:8.35, Z:-0.01 [[ 9.14956270e-01 -4.03553000e-01 0.00000000e+00 5.87257802e+01] [ 4.03553000e-01 9.14956270e-01 0.00000000e+00 8.35145802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18858191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.557552017999996 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:58.76, Y:8.37, Z:-0.01 [[ 9.15614676e-01 -4.02056917e-01 0.00000000e+00 5.87553678e+01] [ 4.02056917e-01 9.15614676e-01 0.00000000e+00 8.36540549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98717554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.587552018 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:58.78, Y:8.38, Z:-0.01 [[ 9.17054556e-01 -3.98761760e-01 0.00000000e+00 5.87811606e+01] [ 3.98761760e-01 9.17054556e-01 0.00000000e+00 8.38060217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24752712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.617552018 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:58.81, Y:8.39, Z:-0.01 [[ 9.17616027e-01 -3.97468019e-01 0.00000000e+00 5.88101637e+01] [ 3.97468019e-01 9.17616027e-01 0.00000000e+00 8.39338772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66462418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.647552018 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:58.84, Y:8.41, Z:-0.01 [[ 9.17793707e-01 -3.97057566e-01 0.00000000e+00 5.88400435e+01] [ 3.97057566e-01 9.17793707e-01 0.00000000e+00 8.40645198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16988142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67755201799999 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:58.87, Y:8.42, Z:-0.01 [[ 9.18568704e-01 -3.95261352e-01 0.00000000e+00 5.88651957e+01] [ 3.95261352e-01 9.18568704e-01 0.00000000e+00 8.42192821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.11262423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.707552017999994 meters Centerline goodness : 0.990818 Centerline is valid? [True, True] Translation: X:58.89, Y:8.44, Z:-0.01 [[ 9.18563572e-01 -3.95273279e-01 0.00000000e+00 5.88928348e+01] [ 3.95273279e-01 9.18563572e-01 0.00000000e+00 8.43626989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24000719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.737552017999995 meters Centerline goodness : 0.990818 Centerline is valid? [True, True] Translation: X:58.92, Y:8.45, Z:-0.01 [[ 9.18437797e-01 -3.95565434e-01 0.00000000e+00 5.89233596e+01] [ 3.95565434e-01 9.18437797e-01 0.00000000e+00 8.44757892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24000719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.767552017999996 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:58.95, Y:8.46, Z:-0.00 [[ 9.17843184e-01 -3.96943183e-01 0.00000000e+00 5.89527350e+01] [ 3.96943183e-01 9.17843184e-01 0.00000000e+00 8.46405913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38285685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.797552018 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:58.98, Y:8.48, Z:-0.00 [[ 9.17348549e-01 -3.98084965e-01 0.00000000e+00 5.89803311e+01] [ 3.98084965e-01 9.17348549e-01 0.00000000e+00 8.47600614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44289602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.827552018 meters Centerline goodness : 0.990672 Centerline is valid? [True, True] Translation: X:59.01, Y:8.49, Z:-0.01 [[ 9.16827129e-01 -3.99284378e-01 0.00000000e+00 5.90107094e+01] [ 3.99284378e-01 9.16827129e-01 0.00000000e+00 8.48760751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51432565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85755201799999 meters Centerline goodness : 0.991715 Centerline is valid? [True, True] Translation: X:59.04, Y:8.50, Z:-0.00 [[ 9.15610921e-01 -4.02065468e-01 0.00000000e+00 5.90390992e+01] [ 4.02065468e-01 9.15610921e-01 0.00000000e+00 8.50130262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97782657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.887552017999994 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:59.07, Y:8.51, Z:-0.00 [[ 9.15105727e-01 -4.03213974e-01 0.00000000e+00 5.90683190e+01] [ 4.03213974e-01 9.15105727e-01 0.00000000e+00 8.51435229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56279229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.917552017999995 meters Centerline goodness : 0.991052 Centerline is valid? [True, True] Translation: X:59.10, Y:8.53, Z:-0.00 [[ 9.14424015e-01 -4.04757607e-01 0.00000000e+00 5.90983720e+01] [ 4.04757607e-01 9.14424015e-01 0.00000000e+00 8.52767245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93145043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.947552017999996 meters Centerline goodness : 0.990249 Centerline is valid? [True, True] Translation: X:59.13, Y:8.54, Z:-0.00 [[ 9.14063043e-01 -4.05572131e-01 0.00000000e+00 5.91262067e+01] [ 4.05572131e-01 9.14063043e-01 0.00000000e+00 8.53955459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29788268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.977552018 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:59.16, Y:8.55, Z:-0.00 [[ 9.13377928e-01 -4.07112711e-01 0.00000000e+00 5.91553257e+01] [ 4.07112711e-01 9.13377928e-01 0.00000000e+00 8.55253493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88705123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.007552018 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:59.18, Y:8.56, Z:-0.01 [[ 9.13347218e-01 -4.07181606e-01 0.00000000e+00 5.91848235e+01] [ 4.07181606e-01 9.13347218e-01 0.00000000e+00 8.56464490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01642625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.037552018 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:59.22, Y:8.58, Z:-0.00 [[ 9.13243645e-01 -4.07413850e-01 0.00000000e+00 5.92151902e+01] [ 4.07413850e-01 9.13243645e-01 0.00000000e+00 8.57805209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19341998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06755201799999 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:59.24, Y:8.59, Z:-0.00 [[ 9.13662886e-01 -4.06472793e-01 0.00000000e+00 5.92434835e+01] [ 4.06472793e-01 9.13662886e-01 0.00000000e+00 8.59020972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63344642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.097552017999995 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:59.27, Y:8.60, Z:-0.00 [[ 9.14206114e-01 -4.05249530e-01 0.00000000e+00 5.92729919e+01] [ 4.05249530e-01 9.14206114e-01 0.00000000e+00 8.60495195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83057365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.127552017999996 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:59.30, Y:8.62, Z:-0.00 [[ 9.14199917e-01 -4.05263510e-01 0.00000000e+00 5.93018387e+01] [ 4.05263510e-01 9.14199917e-01 0.00000000e+00 8.61769570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20832487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.157552018 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:59.33, Y:8.63, Z:-0.00 [[ 9.14280114e-01 -4.05082552e-01 0.00000000e+00 5.93328200e+01] [ 4.05082552e-01 9.14280114e-01 0.00000000e+00 8.62994843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06859306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.187552018 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:59.36, Y:8.64, Z:-0.01 [[ 9.13996369e-01 -4.05722366e-01 0.00000000e+00 5.93630682e+01] [ 4.05722366e-01 9.13996369e-01 0.00000000e+00 8.64221917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70680529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.217552018 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:59.39, Y:8.65, Z:-0.01 [[ 9.13598222e-01 -4.06618111e-01 0.00000000e+00 5.93937348e+01] [ 4.06618111e-01 9.13598222e-01 0.00000000e+00 8.65412664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02523287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24755201799999 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:59.42, Y:8.67, Z:-0.01 [[ 9.12994787e-01 -4.07971222e-01 0.00000000e+00 5.94217157e+01] [ 4.07971222e-01 9.12994787e-01 0.00000000e+00 8.66697069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72369295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.277552017999994 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:59.45, Y:8.68, Z:-0.00 [[ 9.12579626e-01 -4.08899041e-01 0.00000000e+00 5.94493339e+01] [ 4.08899041e-01 9.12579626e-01 0.00000000e+00 8.67924997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43738527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.307552017999996 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:59.48, Y:8.69, Z:-0.00 [[ 9.11870620e-01 -4.10477736e-01 0.00000000e+00 5.94792765e+01] [ 4.10477736e-01 9.11870620e-01 0.00000000e+00 8.69182249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48301811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.337552018 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:59.51, Y:8.70, Z:-0.00 [[ 9.11198444e-01 -4.11967712e-01 0.00000000e+00 5.95085882e+01] [ 4.11967712e-01 9.11198444e-01 0.00000000e+00 8.70418442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98074025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.367552018 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:59.54, Y:8.72, Z:-0.00 [[ 9.10559867e-01 -4.13377224e-01 0.00000000e+00 5.95378384e+01] [ 4.13377224e-01 9.10559867e-01 0.00000000e+00 8.71582863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90468542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.397552018 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:59.57, Y:8.73, Z:-0.01 [[ 9.10190531e-01 -4.14189808e-01 0.00000000e+00 5.95671414e+01] [ 4.14189808e-01 9.10190531e-01 0.00000000e+00 8.72738567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02558867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42755201799999 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:59.60, Y:8.74, Z:-0.00 [[ 9.09328751e-01 -4.16078384e-01 0.00000000e+00 5.95969568e+01] [ 4.16078384e-01 9.09328751e-01 0.00000000e+00 8.73997227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46342375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.457552017999994 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:59.63, Y:8.75, Z:-0.00 [[ 9.08857526e-01 -4.17106697e-01 0.00000000e+00 5.96267717e+01] [ 4.17106697e-01 9.08857526e-01 0.00000000e+00 8.75306091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25468623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487552017999995 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:59.66, Y:8.77, Z:-0.00 [[ 9.08848992e-01 -4.17125293e-01 0.00000000e+00 5.96553145e+01] [ 4.17125293e-01 9.08848992e-01 0.00000000e+00 8.76516445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53372058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517552017999996 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:59.69, Y:8.78, Z:-0.00 [[ 9.08436217e-01 -4.18023492e-01 0.00000000e+00 5.96853652e+01] [ 4.18023492e-01 9.08436217e-01 0.00000000e+00 8.77813152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95621388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.547552018 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:59.71, Y:8.79, Z:-0.01 [[ 9.08843913e-01 -4.17136360e-01 0.00000000e+00 5.97138895e+01] [ 4.17136360e-01 9.08843913e-01 0.00000000e+00 8.78877804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14755283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.577552018 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:59.75, Y:8.80, Z:-0.00 [[ 9.08213285e-01 -4.18507622e-01 0.00000000e+00 5.97458836e+01] [ 4.18507622e-01 9.08213285e-01 0.00000000e+00 8.80041348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69538038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60755201799999 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:59.78, Y:8.81, Z:-0.01 [[ 9.07995739e-01 -4.18979401e-01 0.00000000e+00 5.97767075e+01] [ 4.18979401e-01 9.07995739e-01 0.00000000e+00 8.81128849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09603090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.637552017999994 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:59.80, Y:8.82, Z:-0.00 [[ 9.08038957e-01 -4.18885728e-01 0.00000000e+00 5.98035455e+01] [ 4.18885728e-01 9.08038957e-01 0.00000000e+00 8.82463763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68291916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667552017999995 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:59.83, Y:8.84, Z:-0.00 [[ 9.08222130e-01 -4.18488426e-01 0.00000000e+00 5.98331328e+01] [ 4.18488426e-01 9.08222130e-01 0.00000000e+00 8.83739078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21716927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697552017999996 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:59.86, Y:8.85, Z:-0.00 [[ 9.09549674e-01 -4.15595224e-01 0.00000000e+00 5.98601492e+01] [ 4.15595224e-01 9.09549674e-01 0.00000000e+00 8.84855428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65199796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727552018 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:59.89, Y:8.86, Z:-0.00 [[ 9.09236703e-01 -4.16279494e-01 0.00000000e+00 5.98921228e+01] [ 4.16279494e-01 9.09236703e-01 0.00000000e+00 8.86106349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73103531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.757552018 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:59.92, Y:8.87, Z:-0.00 [[ 9.09337491e-01 -4.16059285e-01 0.00000000e+00 5.99220179e+01] [ 4.16059285e-01 9.09337491e-01 0.00000000e+00 8.87319493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86683570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.787552018 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:59.95, Y:8.88, Z:-0.00 [[ 9.09189386e-01 -4.16382829e-01 0.00000000e+00 5.99524156e+01] [ 4.16382829e-01 9.09189386e-01 0.00000000e+00 8.88475740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86683570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81755201799999 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:59.98, Y:8.90, Z:-0.00 [[ 9.09160393e-01 -4.16446131e-01 0.00000000e+00 5.99822047e+01] [ 4.16446131e-01 9.09160393e-01 0.00000000e+00 8.89613511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41678450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.847552017999995 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:60.01, Y:8.91, Z:-0.01 [[ 9.09109444e-01 -4.16557341e-01 0.00000000e+00 6.00130580e+01] [ 4.16557341e-01 9.09109444e-01 0.00000000e+00 8.90768825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95090084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.877552017999996 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:60.04, Y:8.92, Z:-0.01 [[ 9.09147879e-01 -4.16473450e-01 0.00000000e+00 6.00421592e+01] [ 4.16473450e-01 9.09147879e-01 0.00000000e+00 8.91967313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43535532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.907552018 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:60.07, Y:8.93, Z:-0.00 [[ 9.08946540e-01 -4.16912685e-01 0.00000000e+00 6.00711664e+01] [ 4.16912685e-01 9.08946540e-01 0.00000000e+00 8.93264648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62097550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.937552018 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:60.10, Y:8.94, Z:-0.01 [[ 9.09096418e-01 -4.16585769e-01 0.00000000e+00 6.01022604e+01] [ 4.16585769e-01 9.09096418e-01 0.00000000e+00 8.94402031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36035482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.967552018 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:60.13, Y:8.95, Z:-0.01 [[ 9.09684956e-01 -4.15299026e-01 0.00000000e+00 6.01331395e+01] [ 4.15299026e-01 9.09684956e-01 0.00000000e+00 8.95374813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12073229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99755201799999 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:60.16, Y:8.97, Z:-0.01 [[ 9.09236176e-01 -4.16280645e-01 0.00000000e+00 6.01635283e+01] [ 4.16280645e-01 9.09236176e-01 0.00000000e+00 8.96628534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48660278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.027552017999994 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:60.20, Y:8.98, Z:-0.01 [[ 9.09745373e-01 -4.15166661e-01 0.00000000e+00 6.01951349e+01] [ 4.15166661e-01 9.09745373e-01 0.00000000e+00 8.98003456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28369112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.057552017999996 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:60.23, Y:8.99, Z:-0.01 [[ 9.09798079e-01 -4.15051147e-01 0.00000000e+00 6.02252296e+01] [ 4.15051147e-01 9.09798079e-01 0.00000000e+00 8.99250349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25708676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.087552018 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:60.25, Y:9.00, Z:-0.01 [[ 9.09745810e-01 -4.15165703e-01 0.00000000e+00 6.02534621e+01] [ 4.15165703e-01 9.09745810e-01 0.00000000e+00 9.00454138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60454945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.117552018 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:60.28, Y:9.02, Z:-0.01 [[ 9.09998844e-01 -4.14610786e-01 0.00000000e+00 6.02845255e+01] [ 4.14610786e-01 9.09998844e-01 0.00000000e+00 9.01581621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09510935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.147552018 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:60.31, Y:9.03, Z:-0.01 [[ 9.09640414e-01 -4.15396578e-01 0.00000000e+00 6.03140478e+01] [ 4.15396578e-01 9.09640414e-01 0.00000000e+00 9.02620504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88775655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17755201799999 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:60.34, Y:9.04, Z:-0.01 [[ 9.09061928e-01 -4.16661027e-01 0.00000000e+00 6.03442504e+01] [ 4.16661027e-01 9.09061928e-01 0.00000000e+00 9.03750419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43831995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.207552017999994 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:60.37, Y:9.05, Z:-0.01 [[ 9.08575773e-01 -4.17720080e-01 0.00000000e+00 6.03720883e+01] [ 4.17720080e-01 9.08575773e-01 0.00000000e+00 9.05007030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63519194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237552017999995 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:60.40, Y:9.06, Z:-0.01 [[ 9.08540359e-01 -4.17797099e-01 0.00000000e+00 6.04017496e+01] [ 4.17797099e-01 9.08540359e-01 0.00000000e+00 9.06248159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73750947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267552017999996 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:60.43, Y:9.07, Z:-0.01 [[ 9.08505987e-01 -4.17871837e-01 0.00000000e+00 6.04310790e+01] [ 4.17871837e-01 9.08505987e-01 0.00000000e+00 9.07451635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77710639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297552018 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:60.46, Y:9.09, Z:-0.01 [[ 9.08642410e-01 -4.17575108e-01 0.00000000e+00 6.04604418e+01] [ 4.17575108e-01 9.08642410e-01 0.00000000e+00 9.08631213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25340778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.327552018 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:60.49, Y:9.10, Z:-0.01 [[ 9.09254301e-01 -4.16241056e-01 0.00000000e+00 6.04900895e+01] [ 4.16241056e-01 9.09254301e-01 0.00000000e+00 9.09735111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91160546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35755201799999 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:60.52, Y:9.11, Z:-0.01 [[ 9.09400069e-01 -4.15922486e-01 0.00000000e+00 6.05195404e+01] [ 4.15922486e-01 9.09400069e-01 0.00000000e+00 9.10968568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33377804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.387552017999994 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:60.55, Y:9.12, Z:-0.01 [[ 9.10118034e-01 -4.14349084e-01 0.00000000e+00 6.05510645e+01] [ 4.14349084e-01 9.10118034e-01 0.00000000e+00 9.12145431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01285876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.417552017999995 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:60.58, Y:9.13, Z:-0.01 [[ 9.10833644e-01 -4.12773633e-01 0.00000000e+00 6.05795494e+01] [ 4.12773633e-01 9.10833644e-01 0.00000000e+00 9.13196390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35728174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.447552017999996 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:60.61, Y:9.14, Z:-0.01 [[ 9.11570683e-01 -4.11143393e-01 0.00000000e+00 6.06064626e+01] [ 4.11143393e-01 9.11570683e-01 0.00000000e+00 9.14454754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75808457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.477552018 meters Centerline goodness : 0.990928 Centerline is valid? [True, True] Translation: X:60.64, Y:9.16, Z:-0.01 [[ 9.12094639e-01 -4.09979718e-01 0.00000000e+00 6.06353880e+01] [ 4.09979718e-01 9.12094639e-01 0.00000000e+00 9.15626525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75145457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.507552018 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:60.67, Y:9.17, Z:-0.01 [[ 9.12255381e-01 -4.09621923e-01 0.00000000e+00 6.06650071e+01] [ 4.09621923e-01 9.12255381e-01 0.00000000e+00 9.16870206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47920090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.537552018 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:60.70, Y:9.18, Z:-0.01 [[ 9.12558517e-01 -4.08946149e-01 0.00000000e+00 6.06950070e+01] [ 4.08946149e-01 9.12558517e-01 0.00000000e+00 9.18011676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82485036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56755201799999 meters Centerline goodness : 0.991795 Centerline is valid? [True, True] Translation: X:60.73, Y:9.19, Z:-0.01 [[ 9.12756192e-01 -4.08504754e-01 0.00000000e+00 6.07251349e+01] [ 4.08504754e-01 9.12756192e-01 0.00000000e+00 9.19019790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91735562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.597552017999995 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:60.75, Y:9.20, Z:-0.01 [[ 9.12778384e-01 -4.08455164e-01 0.00000000e+00 6.07540766e+01] [ 4.08455164e-01 9.12778384e-01 0.00000000e+00 9.19950022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03264046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.627552017999996 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:60.79, Y:9.21, Z:-0.01 [[ 9.12798335e-01 -4.08410577e-01 0.00000000e+00 6.07853994e+01] [ 4.08410577e-01 9.12798335e-01 0.00000000e+00 9.21148641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03264046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.657552018 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:60.81, Y:9.22, Z:-0.01 [[ 9.12763616e-01 -4.08488166e-01 0.00000000e+00 6.08143033e+01] [ 4.08488166e-01 9.12763616e-01 0.00000000e+00 9.22258780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78801874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.687552018 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:60.85, Y:9.23, Z:-0.01 [[ 9.12905270e-01 -4.08171494e-01 0.00000000e+00 6.08457816e+01] [ 4.08171494e-01 9.12905270e-01 0.00000000e+00 9.23468837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35635557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.717552018 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:60.87, Y:9.25, Z:-0.01 [[ 9.13100183e-01 -4.07735278e-01 0.00000000e+00 6.08730478e+01] [ 4.07735278e-01 9.13100183e-01 0.00000000e+00 9.24710239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10640048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74755201799999 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:60.90, Y:9.26, Z:-0.00 [[ 9.13625048e-01 -4.06557834e-01 0.00000000e+00 6.09049661e+01] [ 4.06557834e-01 9.13625048e-01 0.00000000e+00 9.25756226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21050085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.777552017999994 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:60.93, Y:9.27, Z:-0.00 [[ 9.13850144e-01 -4.06051614e-01 0.00000000e+00 6.09342706e+01] [ 4.06051614e-01 9.13850144e-01 0.00000000e+00 9.26794650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78668368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.807552017999996 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:60.97, Y:9.28, Z:-0.00 [[ 9.14231512e-01 -4.05192230e-01 0.00000000e+00 6.09652785e+01] [ 4.05192230e-01 9.14231512e-01 0.00000000e+00 9.27799094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88140382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.837552018 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:61.00, Y:9.29, Z:-0.01 [[ 9.14982479e-01 -4.03493573e-01 0.00000000e+00 6.09951264e+01] [ 4.03493573e-01 9.14982479e-01 0.00000000e+00 9.28846105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12690016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.867552018 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:61.03, Y:9.30, Z:-0.00 [[ 9.15675542e-01 -4.01918278e-01 0.00000000e+00 6.10270223e+01] [ 4.01918278e-01 9.15675542e-01 0.00000000e+00 9.30055546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59229730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.897552018 meters Centerline goodness : 0.991183 Centerline is valid? [True, True] Translation: X:61.06, Y:9.31, Z:-0.00 [[ 9.15783245e-01 -4.01672812e-01 0.00000000e+00 6.10556333e+01] [ 4.01672812e-01 9.15783245e-01 0.00000000e+00 9.31271528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81475237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92755201799999 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:61.08, Y:9.32, Z:-0.00 [[ 9.17370049e-01 -3.98035418e-01 0.00000000e+00 6.10847230e+01] [ 3.98035418e-01 9.17370049e-01 0.00000000e+00 9.32247133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03266107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.957552017999994 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:61.12, Y:9.33, Z:-0.00 [[ 9.17574006e-01 -3.97565018e-01 0.00000000e+00 6.11183473e+01] [ 3.97565018e-01 9.17574006e-01 0.00000000e+00 9.33276230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75634045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.987552017999995 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:61.15, Y:9.34, Z:-0.00 [[ 9.17295357e-01 -3.98207519e-01 0.00000000e+00 6.11478093e+01] [ 3.98207519e-01 9.17295357e-01 0.00000000e+00 9.34357873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81515535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.017552017999996 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:61.18, Y:9.35, Z:-0.00 [[ 9.18072385e-01 -3.96412786e-01 0.00000000e+00 6.11800014e+01] [ 3.96412786e-01 9.18072385e-01 0.00000000e+00 9.35447531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76254054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047552018 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:61.21, Y:9.37, Z:-0.00 [[ 9.17768378e-01 -3.97116109e-01 0.00000000e+00 6.12085734e+01] [ 3.97116109e-01 9.17768378e-01 0.00000000e+00 9.36700460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.93216817e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.077552018 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:61.24, Y:9.38, Z:0.00 [[ 9.17925143e-01 -3.96753616e-01 0.00000000e+00 6.12400176e+01] [ 3.96753616e-01 9.17925143e-01 0.00000000e+00 9.37735500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50752592e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10755201799999 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:61.27, Y:9.39, Z:-0.00 [[ 9.18064901e-01 -3.96430118e-01 0.00000000e+00 6.12698116e+01] [ 3.96430118e-01 9.18064901e-01 0.00000000e+00 9.38701251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01871585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.137552017999994 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:61.30, Y:9.40, Z:-0.00 [[ 9.18036394e-01 -3.96496128e-01 0.00000000e+00 6.13004610e+01] [ 3.96496128e-01 9.18036394e-01 0.00000000e+00 9.39695476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64876017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167552017999995 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:61.33, Y:9.41, Z:-0.00 [[ 9.17667858e-01 -3.97348338e-01 0.00000000e+00 6.13313839e+01] [ 3.97348338e-01 9.17667858e-01 0.00000000e+00 9.40780095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05523460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197552017999996 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:61.36, Y:9.42, Z:-0.00 [[ 9.17301190e-01 -3.98194083e-01 0.00000000e+00 6.13615423e+01] [ 3.98194083e-01 9.17301190e-01 0.00000000e+00 9.41769676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17665282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227552018 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:61.39, Y:9.43, Z:-0.00 [[ 9.17063582e-01 -3.98741002e-01 0.00000000e+00 6.13917718e+01] [ 3.98741002e-01 9.17063582e-01 0.00000000e+00 9.42863043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35585320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.257552018 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:61.42, Y:9.44, Z:-0.00 [[ 9.16832058e-01 -3.99273062e-01 0.00000000e+00 6.14236046e+01] [ 3.99273062e-01 9.16832058e-01 0.00000000e+00 9.43984825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24043479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.287552018 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:61.45, Y:9.45, Z:-0.01 [[ 9.15936516e-01 -4.01323185e-01 0.00000000e+00 6.14547879e+01] [ 4.01323185e-01 9.15936516e-01 0.00000000e+00 9.44965058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56220117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31755201799999 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:61.48, Y:9.46, Z:-0.00 [[ 9.15136334e-01 -4.03144502e-01 0.00000000e+00 6.14838958e+01] [ 4.03144502e-01 9.15136334e-01 0.00000000e+00 9.46115258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78246156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.347552017999995 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:61.51, Y:9.47, Z:-0.00 [[ 9.14769179e-01 -4.03976917e-01 0.00000000e+00 6.15149558e+01] [ 4.03976917e-01 9.14769179e-01 0.00000000e+00 9.47308889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70737581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377552017999996 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:61.55, Y:9.48, Z:-0.00 [[ 9.14642473e-01 -4.04263709e-01 0.00000000e+00 6.15457226e+01] [ 4.04263709e-01 9.14642473e-01 0.00000000e+00 9.48458880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90140117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407552018 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:61.58, Y:9.50, Z:-0.00 [[ 9.14289471e-01 -4.05061432e-01 0.00000000e+00 6.15750560e+01] [ 4.05061432e-01 9.14289471e-01 0.00000000e+00 9.49655313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40923588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.437552018 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:61.60, Y:9.51, Z:-0.00 [[ 9.14673335e-01 -4.04193877e-01 0.00000000e+00 6.16046946e+01] [ 4.04193877e-01 9.14673335e-01 0.00000000e+00 9.50788731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54747475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.467552018 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:61.64, Y:9.52, Z:-0.00 [[ 9.14670398e-01 -4.04200523e-01 0.00000000e+00 6.16352185e+01] [ 4.04200523e-01 9.14670398e-01 0.00000000e+00 9.51967732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93936311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49755201799999 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:61.66, Y:9.53, Z:-0.01 [[ 9.14939366e-01 -4.03591323e-01 0.00000000e+00 6.16647096e+01] [ 4.03591323e-01 9.14939366e-01 0.00000000e+00 9.53139025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01914304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.527552017999994 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:61.69, Y:9.54, Z:-0.00 [[ 9.15015265e-01 -4.03419216e-01 0.00000000e+00 6.16939538e+01] [ 4.03419216e-01 9.15015265e-01 0.00000000e+00 9.54344101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34021023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557552017999996 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:61.72, Y:9.56, Z:-0.00 [[ 9.15876244e-01 -4.01460715e-01 0.00000000e+00 6.17235715e+01] [ 4.01460715e-01 9.15876244e-01 0.00000000e+00 9.55515601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66740524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.587552018 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:61.75, Y:9.57, Z:-0.00 [[ 9.16105364e-01 -4.00937603e-01 0.00000000e+00 6.17528601e+01] [ 4.00937603e-01 9.16105364e-01 0.00000000e+00 9.56798815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09162271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.617552018 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:61.78, Y:9.58, Z:-0.00 [[ 9.16644936e-01 -3.99702466e-01 0.00000000e+00 6.17810457e+01] [ 3.99702466e-01 9.16644936e-01 0.00000000e+00 9.58010407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49035632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.647552018 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:61.81, Y:9.59, Z:-0.00 [[ 9.18241173e-01 -3.96021651e-01 0.00000000e+00 6.18085052e+01] [ 3.96021651e-01 9.18241173e-01 0.00000000e+00 9.59093840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78489353e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67755201799999 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:61.84, Y:9.61, Z:-0.00 [[ 9.17984765e-01 -3.96615646e-01 0.00000000e+00 6.18432417e+01] [ 3.96615646e-01 9.17984765e-01 0.00000000e+00 9.60509287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32648315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.707552017999994 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:61.87, Y:9.62, Z:-0.00 [[ 9.17942585e-01 -3.96713261e-01 0.00000000e+00 6.18741003e+01] [ 3.96713261e-01 9.17942585e-01 0.00000000e+00 9.61778678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50144811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737552017999995 meters Centerline goodness : 0.990629 Centerline is valid? [True, True] Translation: X:61.90, Y:9.63, Z:0.00 [[ 9.18934705e-01 -3.94409695e-01 0.00000000e+00 6.18982880e+01] [ 3.94409695e-01 9.18934705e-01 0.00000000e+00 9.62746989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93522026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767552017999996 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:61.93, Y:9.64, Z:0.00 [[ 9.18593563e-01 -3.95203576e-01 0.00000000e+00 6.19272979e+01] [ 3.95203576e-01 9.18593563e-01 0.00000000e+00 9.63770597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41219159e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.797552018 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:61.96, Y:9.65, Z:-0.00 [[ 9.16612676e-01 -3.99776441e-01 0.00000000e+00 6.19614870e+01] [ 3.99776441e-01 9.16612676e-01 0.00000000e+00 9.64993290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64743799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.827552018 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:61.99, Y:9.66, Z:-0.00 [[ 9.17282238e-01 -3.98237737e-01 0.00000000e+00 6.19855644e+01] [ 3.98237737e-01 9.17282238e-01 0.00000000e+00 9.65882740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73513494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85755201799999 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:62.01, Y:9.67, Z:-0.00 [[ 9.15833757e-01 -4.01557628e-01 0.00000000e+00 6.20130642e+01] [ 4.01557628e-01 9.15833757e-01 0.00000000e+00 9.66998512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50389675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.887552017999994 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:62.05, Y:9.68, Z:-0.00 [[ 9.15021910e-01 -4.03404144e-01 0.00000000e+00 6.20459409e+01] [ 4.03404144e-01 9.15021910e-01 0.00000000e+00 9.68380811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11728102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917552017999995 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:62.08, Y:9.70, Z:-0.00 [[ 9.13266693e-01 -4.07362182e-01 0.00000000e+00 6.20783117e+01] [ 4.07362182e-01 9.13266693e-01 0.00000000e+00 9.69705751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61632664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947552017999996 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:62.11, Y:9.71, Z:-0.00 [[ 9.12668026e-01 -4.08701694e-01 0.00000000e+00 6.21068126e+01] [ 4.08701694e-01 9.12668026e-01 0.00000000e+00 9.70848387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22086341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977552018 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:62.14, Y:9.72, Z:-0.00 [[ 9.12761323e-01 -4.08493289e-01 0.00000000e+00 6.21350140e+01] [ 4.08493289e-01 9.12761323e-01 0.00000000e+00 9.71551753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82304691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.007552018 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:62.17, Y:9.73, Z:-0.01 [[ 9.10700063e-01 -4.13068269e-01 0.00000000e+00 6.21689626e+01] [ 4.13068269e-01 9.10700063e-01 0.00000000e+00 9.72775175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74563393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.037552018 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:62.19, Y:9.74, Z:-0.01 [[ 9.10895408e-01 -4.12637317e-01 0.00000000e+00 6.21924758e+01] [ 4.12637317e-01 9.10895408e-01 0.00000000e+00 9.73644332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09194391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06755201799999 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:62.23, Y:9.75, Z:-0.00 [[ 9.09910019e-01 -4.14805685e-01 0.00000000e+00 6.22254879e+01] [ 4.14805685e-01 9.09910019e-01 0.00000000e+00 9.75126523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91107861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.097552017999995 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:62.26, Y:9.76, Z:-0.00 [[ 9.09936064e-01 -4.14748549e-01 0.00000000e+00 6.22566959e+01] [ 4.14748549e-01 9.09936064e-01 0.00000000e+00 9.76341877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10303028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127552017999996 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:62.29, Y:9.78, Z:-0.00 [[ 9.09110594e-01 -4.16554832e-01 0.00000000e+00 6.22909247e+01] [ 4.16554832e-01 9.09110594e-01 0.00000000e+00 9.77700558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72748447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.157552018 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:62.32, Y:9.79, Z:-0.00 [[ 9.09354679e-01 -4.16021715e-01 0.00000000e+00 6.23206215e+01] [ 4.16021715e-01 9.09354679e-01 0.00000000e+00 9.78963603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96990821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.187552018 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:62.35, Y:9.80, Z:-0.00 [[ 9.09555119e-01 -4.15583307e-01 0.00000000e+00 6.23509043e+01] [ 4.15583307e-01 9.09555119e-01 0.00000000e+00 9.80181067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18860496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.217552018 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:62.38, Y:9.81, Z:-0.00 [[ 9.10384933e-01 -4.13762340e-01 0.00000000e+00 6.23792346e+01] [ 4.13762340e-01 9.10384933e-01 0.00000000e+00 9.81305350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37982646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24755201799999 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:62.41, Y:9.83, Z:-0.00 [[ 9.10488341e-01 -4.13534740e-01 0.00000000e+00 6.24098647e+01] [ 4.13534740e-01 9.10488341e-01 0.00000000e+00 9.82727446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44765262e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.277552017999994 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:62.44, Y:9.84, Z:-0.00 [[ 9.10930811e-01 -4.12559157e-01 0.00000000e+00 6.24383668e+01] [ 4.12559157e-01 9.10930811e-01 0.00000000e+00 9.83924884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22242852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.307552017999996 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:62.47, Y:9.85, Z:-0.00 [[ 9.11021239e-01 -4.12359432e-01 0.00000000e+00 6.24694352e+01] [ 4.12359432e-01 9.11021239e-01 0.00000000e+00 9.85115411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59145771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.337552018 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:62.50, Y:9.86, Z:-0.00 [[ 9.11774498e-01 -4.10691203e-01 0.00000000e+00 6.25002811e+01] [ 4.10691203e-01 9.11774498e-01 0.00000000e+00 9.86328916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63491271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.367552018 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:62.53, Y:9.88, Z:-0.00 [[ 9.12084999e-01 -4.10001165e-01 0.00000000e+00 6.25314034e+01] [ 4.10001165e-01 9.12084999e-01 0.00000000e+00 9.87513809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56630094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.397552018 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:62.55, Y:9.89, Z:-0.00 [[ 9.12865274e-01 -4.08260935e-01 0.00000000e+00 6.25544769e+01] [ 4.08260935e-01 9.12865274e-01 0.00000000e+00 9.88538296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59879768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42755201799999 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:62.59, Y:9.90, Z:-0.00 [[ 9.11677651e-01 -4.10906145e-01 0.00000000e+00 6.25890171e+01] [ 4.10906145e-01 9.11677651e-01 0.00000000e+00 9.89917755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77441339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.457552017999994 meters Centerline goodness : 0.991163 Centerline is valid? [True, True] Translation: X:62.62, Y:9.91, Z:-0.00 [[ 9.11727540e-01 -4.10795439e-01 0.00000000e+00 6.26184856e+01] [ 4.10795439e-01 9.11727540e-01 0.00000000e+00 9.91118957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22021367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.487552017999995 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:62.65, Y:9.92, Z:-0.00 [[ 9.10870616e-01 -4.12692040e-01 0.00000000e+00 6.26467786e+01] [ 4.12692040e-01 9.10870616e-01 0.00000000e+00 9.92389631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19172208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.517552017999996 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:62.68, Y:9.93, Z:-0.00 [[ 9.10970903e-01 -4.12470621e-01 0.00000000e+00 6.26762884e+01] [ 4.12470621e-01 9.10970903e-01 0.00000000e+00 9.93452855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92470250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547552018 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:62.71, Y:9.95, Z:-0.00 [[ 9.10819085e-01 -4.12805760e-01 0.00000000e+00 6.27065093e+01] [ 4.12805760e-01 9.10819085e-01 0.00000000e+00 9.94655188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92470250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.577552018 meters Centerline goodness : 0.990705 Centerline is valid? [True, True] Translation: X:62.74, Y:9.96, Z:-0.00 [[ 9.09489833e-01 -4.15726165e-01 0.00000000e+00 6.27366686e+01] [ 4.15726165e-01 9.09489833e-01 0.00000000e+00 9.95773201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93288534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60755201799999 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:62.77, Y:9.97, Z:-0.00 [[ 9.09366189e-01 -4.15996555e-01 0.00000000e+00 6.27663903e+01] [ 4.15996555e-01 9.09366189e-01 0.00000000e+00 9.96896354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15618482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.637552017999994 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:62.80, Y:9.98, Z:-0.00 [[ 9.08519145e-01 -4.17843228e-01 0.00000000e+00 6.27970629e+01] [ 4.17843228e-01 9.08519145e-01 0.00000000e+00 9.98167481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67072744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.667552017999995 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:62.82, Y:9.99, Z:-0.00 [[ 9.08300410e-01 -4.18318497e-01 0.00000000e+00 6.28210424e+01] [ 4.18318497e-01 9.08300410e-01 0.00000000e+00 9.99205632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18497137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.697552017999996 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:62.85, Y:10.00, Z:-0.00 [[ 9.07876469e-01 -4.19237781e-01 0.00000000e+00 6.28510158e+01] [ 4.19237781e-01 9.07876469e-01 0.00000000e+00 1.00041903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34850971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727552018 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:62.88, Y:10.02, Z:-0.00 [[ 9.06818066e-01 -4.21522237e-01 0.00000000e+00 6.28836121e+01] [ 4.21522237e-01 9.06818066e-01 0.00000000e+00 1.00168573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56460078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.757552018 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:62.91, Y:10.03, Z:-0.00 [[ 9.07735912e-01 -4.19542029e-01 0.00000000e+00 6.29093130e+01] [ 4.19542029e-01 9.07735912e-01 0.00000000e+00 1.00260478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87315288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.787552018 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:62.94, Y:10.04, Z:-0.00 [[ 9.06728913e-01 -4.21713977e-01 0.00000000e+00 6.29426372e+01] [ 4.21713977e-01 9.06728913e-01 0.00000000e+00 1.00390304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88967952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81755201799999 meters Centerline goodness : 0.991284 Centerline is valid? [True, True] Translation: X:62.97, Y:10.05, Z:-0.00 [[ 9.06794347e-01 -4.21573258e-01 0.00000000e+00 6.29702281e+01] [ 4.21573258e-01 9.06794347e-01 0.00000000e+00 1.00514591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92460349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.847552017999995 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:63.00, Y:10.06, Z:-0.00 [[ 9.07464694e-01 -4.20128349e-01 0.00000000e+00 6.30016829e+01] [ 4.20128349e-01 9.07464694e-01 0.00000000e+00 1.00636969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80764892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877552017999996 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:63.03, Y:10.08, Z:-0.00 [[ 9.08104409e-01 -4.18743815e-01 0.00000000e+00 6.30300575e+01] [ 4.18743815e-01 9.08104409e-01 0.00000000e+00 1.00767884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46419781e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907552018 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:63.06, Y:10.09, Z:-0.00 [[ 9.08623485e-01 -4.17616286e-01 0.00000000e+00 6.30585190e+01] [ 4.17616286e-01 9.08623485e-01 0.00000000e+00 1.00887163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33879877e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.937552018 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:63.09, Y:10.10, Z:-0.00 [[ 9.09547088e-01 -4.15600885e-01 0.00000000e+00 6.30894863e+01] [ 4.15600885e-01 9.09547088e-01 0.00000000e+00 1.01004504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79614450e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.967552018 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:63.12, Y:10.11, Z:0.00 [[ 9.11424367e-01 -4.11467645e-01 0.00000000e+00 6.31190553e+01] [ 4.11467645e-01 9.11424367e-01 0.00000000e+00 1.01134335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37755151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99755201799999 meters Centerline goodness : 0.991309 Centerline is valid? [True, True] Translation: X:63.15, Y:10.13, Z:0.00 [[ 9.12286440e-01 -4.09552746e-01 0.00000000e+00 6.31481080e+01] [ 4.09552746e-01 9.12286440e-01 0.00000000e+00 1.01262582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41328255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.027552018 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:63.18, Y:10.14, Z:0.00 [[ 9.13316231e-01 -4.07251105e-01 0.00000000e+00 6.31783059e+01] [ 4.07251105e-01 9.13316231e-01 0.00000000e+00 1.01387046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95285399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.057552018 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:63.21, Y:10.15, Z:0.00 [[ 9.15071772e-01 -4.03291026e-01 0.00000000e+00 6.32090177e+01] [ 4.03291026e-01 9.15071772e-01 0.00000000e+00 1.01496667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00614832e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.087552018 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:63.24, Y:10.16, Z:0.00 [[ 9.15677114e-01 -4.01914696e-01 0.00000000e+00 6.32375533e+01] [ 4.01914696e-01 9.15677114e-01 0.00000000e+00 1.01601176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19970219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.117552018 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:63.27, Y:10.17, Z:0.00 [[ 9.15960108e-01 -4.01269336e-01 0.00000000e+00 6.32677145e+01] [ 4.01269336e-01 9.15960108e-01 0.00000000e+00 1.01716751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09477133e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.147552018 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:63.30, Y:10.18, Z:-0.00 [[ 9.17639811e-01 -3.97413107e-01 0.00000000e+00 6.32980952e+01] [ 3.97413107e-01 9.17639811e-01 0.00000000e+00 1.01813187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41866165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.177552018 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:63.33, Y:10.19, Z:-0.00 [[ 9.18583856e-01 -3.95226138e-01 0.00000000e+00 6.33268417e+01] [ 3.95226138e-01 9.18583856e-01 0.00000000e+00 1.01921195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95491749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.207552018 meters Centerline goodness : 0.991223 Centerline is valid? [True, True] Translation: X:63.36, Y:10.20, Z:-0.00 [[ 9.18971953e-01 -3.94322899e-01 0.00000000e+00 6.33574374e+01] [ 3.94322899e-01 9.18971953e-01 0.00000000e+00 1.02045776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42950877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.237552018 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:63.39, Y:10.22, Z:-0.00 [[ 9.19141295e-01 -3.93928013e-01 0.00000000e+00 6.33904796e+01] [ 3.93928013e-01 9.19141295e-01 0.00000000e+00 1.02163934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20998533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26755201799999 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:63.42, Y:10.23, Z:-0.00 [[ 9.18538232e-01 -3.95332160e-01 0.00000000e+00 6.34198120e+01] [ 3.95332160e-01 9.18538232e-01 0.00000000e+00 1.02277608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34250931e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29755201799999 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:63.45, Y:10.24, Z:-0.00 [[ 9.18187607e-01 -3.96145831e-01 0.00000000e+00 6.34513990e+01] [ 3.96145831e-01 9.18187607e-01 0.00000000e+00 1.02381576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99009927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32755201799999 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:63.48, Y:10.25, Z:-0.00 [[ 9.17401076e-01 -3.97963899e-01 0.00000000e+00 6.34811866e+01] [ 3.97963899e-01 9.17401076e-01 0.00000000e+00 1.02486104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82139354e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35755201799999 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:63.51, Y:10.26, Z:-0.00 [[ 9.15879168e-01 -4.01454044e-01 0.00000000e+00 6.35118490e+01] [ 4.01454044e-01 9.15879168e-01 0.00000000e+00 1.02571314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79321778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.387552018 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:63.54, Y:10.27, Z:-0.00 [[ 9.14754265e-01 -4.04010686e-01 0.00000000e+00 6.35434861e+01] [ 4.04010686e-01 9.14754265e-01 0.00000000e+00 1.02673083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91004381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.417552018 meters Centerline goodness : 0.991163 Centerline is valid? [True, True] Translation: X:63.58, Y:10.28, Z:-0.00 [[ 9.13549216e-01 -4.06728201e-01 0.00000000e+00 6.35750553e+01] [ 4.06728201e-01 9.13549216e-01 0.00000000e+00 1.02773737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60240087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.447552018 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:63.60, Y:10.29, Z:-0.00 [[ 9.11289330e-01 -4.11766630e-01 0.00000000e+00 6.36043547e+01] [ 4.11766630e-01 9.11289330e-01 0.00000000e+00 1.02855775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10605520e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.477552018 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:63.64, Y:10.30, Z:-0.00 [[ 9.10642444e-01 -4.13195279e-01 0.00000000e+00 6.36367524e+01] [ 4.13195279e-01 9.10642444e-01 0.00000000e+00 1.02964417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07604470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.507552018 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:63.67, Y:10.31, Z:-0.00 [[ 9.09524635e-01 -4.15650020e-01 0.00000000e+00 6.36671843e+01] [ 4.15650020e-01 9.09524635e-01 0.00000000e+00 1.03078591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33434296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.537552018 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:63.70, Y:10.32, Z:-0.00 [[ 9.08326046e-01 -4.18262829e-01 0.00000000e+00 6.36989951e+01] [ 4.18262829e-01 9.08326046e-01 0.00000000e+00 1.03176733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87675670e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.567552018 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:63.73, Y:10.33, Z:-0.00 [[ 9.07758905e-01 -4.19492278e-01 0.00000000e+00 6.37280994e+01] [ 4.19492278e-01 9.07758905e-01 0.00000000e+00 1.03279094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04103434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.597552018 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:63.76, Y:10.34, Z:-0.00 [[ 9.06086826e-01 -4.23091791e-01 0.00000000e+00 6.37598131e+01] [ 4.23091791e-01 9.06086826e-01 0.00000000e+00 1.03378244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92192178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.627552018 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:63.79, Y:10.35, Z:-0.00 [[ 9.05399521e-01 -4.24560605e-01 0.00000000e+00 6.37879942e+01] [ 4.24560605e-01 9.05399521e-01 0.00000000e+00 1.03485068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85412013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65755201799999 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:63.82, Y:10.36, Z:-0.00 [[ 9.05321615e-01 -4.24726705e-01 0.00000000e+00 6.38180443e+01] [ 4.24726705e-01 9.05321615e-01 0.00000000e+00 1.03587780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43079347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68755201799999 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:63.85, Y:10.37, Z:-0.00 [[ 9.04966134e-01 -4.25483604e-01 0.00000000e+00 6.38483657e+01] [ 4.25483604e-01 9.04966134e-01 0.00000000e+00 1.03711632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16220293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71755201799999 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:63.88, Y:10.38, Z:-0.00 [[ 9.05267986e-01 -4.24840998e-01 0.00000000e+00 6.38773275e+01] [ 4.24840998e-01 9.05267986e-01 0.00000000e+00 1.03836075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10458627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.747552018 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:63.91, Y:10.40, Z:-0.00 [[ 9.05554486e-01 -4.24229975e-01 0.00000000e+00 6.39077043e+01] [ 4.24229975e-01 9.05554486e-01 0.00000000e+00 1.03957459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64288177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.777552018 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:63.94, Y:10.41, Z:-0.00 [[ 9.06396108e-01 -4.22428806e-01 0.00000000e+00 6.39401140e+01] [ 4.22428806e-01 9.06396108e-01 0.00000000e+00 1.04074439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60016708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.807552018 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:63.95, Y:10.42, Z:0.00 [[ 9.03108093e-01 -4.29413289e-01 0.00000000e+00 6.39524137e+01] [ 4.29413289e-01 9.03108093e-01 0.00000000e+00 1.04230792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56981977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.837552018 meters Centerline goodness : 0.990623 Centerline is valid? [True, True] Translation: X:63.99, Y:10.43, Z:-0.00 [[ 9.06785302e-01 -4.21592714e-01 0.00000000e+00 6.39904646e+01] [ 4.21592714e-01 9.06785302e-01 0.00000000e+00 1.04277641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53298210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.867552018 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:64.02, Y:10.44, Z:-0.00 [[ 9.04871587e-01 -4.25684638e-01 0.00000000e+00 6.40245473e+01] [ 4.25684638e-01 9.04871587e-01 0.00000000e+00 1.04429495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67893584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.897552018 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:64.05, Y:10.46, Z:-0.00 [[ 9.04290250e-01 -4.26918194e-01 0.00000000e+00 6.40528781e+01] [ 4.26918194e-01 9.04290250e-01 0.00000000e+00 1.04553638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52450473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.927552018 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:64.08, Y:10.47, Z:-0.00 [[ 9.02526575e-01 -4.30634162e-01 0.00000000e+00 6.40836131e+01] [ 4.30634162e-01 9.02526575e-01 0.00000000e+00 1.04678920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73889639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.957552018 meters Centerline goodness : 0.991835 Centerline is valid? [True, True] Translation: X:64.11, Y:10.48, Z:-0.00 [[ 9.01810097e-01 -4.32132559e-01 0.00000000e+00 6.41147017e+01] [ 4.32132559e-01 9.01810097e-01 0.00000000e+00 1.04788701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94945037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.987552018 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:64.14, Y:10.49, Z:-0.00 [[ 9.00866918e-01 -4.34095376e-01 0.00000000e+00 6.41424669e+01] [ 4.34095376e-01 9.00866918e-01 0.00000000e+00 1.04900723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78515058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01755201799999 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:64.17, Y:10.50, Z:-0.00 [[ 8.99085591e-01 -4.37772886e-01 0.00000000e+00 6.41713357e+01] [ 4.37772886e-01 8.99085591e-01 0.00000000e+00 1.05043749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08662370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04755201799999 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:64.20, Y:10.52, Z:-0.00 [[ 8.98472987e-01 -4.39028804e-01 0.00000000e+00 6.42013753e+01] [ 4.39028804e-01 8.98472987e-01 0.00000000e+00 1.05187936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25521804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07755201799999 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:64.23, Y:10.53, Z:-0.00 [[ 8.97712690e-01 -4.40581350e-01 0.00000000e+00 6.42298384e+01] [ 4.40581350e-01 8.97712690e-01 0.00000000e+00 1.05328189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26746326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10755201799999 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:64.26, Y:10.55, Z:0.00 [[ 8.96995465e-01 -4.42039745e-01 0.00000000e+00 6.42565985e+01] [ 4.42039745e-01 8.96995465e-01 0.00000000e+00 1.05465015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30929884e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.137552018 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:64.29, Y:10.56, Z:0.00 [[ 8.96860162e-01 -4.42314199e-01 0.00000000e+00 6.42854392e+01] [ 4.42314199e-01 8.96860162e-01 0.00000000e+00 1.05582057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24869401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.167552018 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:64.31, Y:10.57, Z:0.00 [[ 8.96626226e-01 -4.42788224e-01 0.00000000e+00 6.43148200e+01] [ 4.42788224e-01 8.96626226e-01 0.00000000e+00 1.05704111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26476804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.197552018 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:64.34, Y:10.58, Z:0.00 [[ 8.95263538e-01 -4.45536977e-01 0.00000000e+00 6.43446396e+01] [ 4.45536977e-01 8.95263538e-01 0.00000000e+00 1.05848950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91356247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.227552018 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:64.37, Y:10.60, Z:0.00 [[ 8.94814897e-01 -4.46437341e-01 0.00000000e+00 6.43733444e+01] [ 4.46437341e-01 8.94814897e-01 0.00000000e+00 1.05979458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13998069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.257552018 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:64.40, Y:10.61, Z:0.00 [[ 8.93956204e-01 -4.48154332e-01 0.00000000e+00 6.44013070e+01] [ 4.48154332e-01 8.93956204e-01 0.00000000e+00 1.06108725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14686428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.287552018 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:64.43, Y:10.62, Z:0.00 [[ 8.92958583e-01 -4.50138833e-01 0.00000000e+00 6.44317479e+01] [ 4.50138833e-01 8.92958583e-01 0.00000000e+00 1.06240367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01215546e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.317552018 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:64.46, Y:10.64, Z:-0.00 [[ 8.92672948e-01 -4.50705012e-01 0.00000000e+00 6.44613923e+01] [ 4.50705012e-01 8.92672948e-01 0.00000000e+00 1.06354831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40051076e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.347552018 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:64.49, Y:10.65, Z:-0.00 [[ 8.92583330e-01 -4.50882467e-01 0.00000000e+00 6.44898265e+01] [ 4.50882467e-01 8.92583330e-01 0.00000000e+00 1.06464901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88877027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.377552018 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:64.52, Y:10.66, Z:-0.00 [[ 8.91983726e-01 -4.52067508e-01 0.00000000e+00 6.45208129e+01] [ 4.52067508e-01 8.91983726e-01 0.00000000e+00 1.06594307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37990930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40755201799999 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:64.55, Y:10.67, Z:-0.00 [[ 8.91547133e-01 -4.52927929e-01 0.00000000e+00 6.45490574e+01] [ 4.52927929e-01 8.91547133e-01 0.00000000e+00 1.06727220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60986618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43755201799999 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:64.58, Y:10.69, Z:-0.00 [[ 8.91338919e-01 -4.53337546e-01 0.00000000e+00 6.45789995e+01] [ 4.53337546e-01 8.91338919e-01 0.00000000e+00 1.06853425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60986618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46755201799999 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:64.61, Y:10.70, Z:-0.00 [[ 8.91120480e-01 -4.53766780e-01 0.00000000e+00 6.46091957e+01] [ 4.53766780e-01 8.91120480e-01 0.00000000e+00 1.06995379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25171047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.497552018 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:64.64, Y:10.71, Z:-0.00 [[ 8.91151765e-01 -4.53705335e-01 0.00000000e+00 6.46391069e+01] [ 4.53705335e-01 8.91151765e-01 0.00000000e+00 1.07132995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69242786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.527552018 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:64.67, Y:10.73, Z:-0.00 [[ 8.91827969e-01 -4.52374705e-01 0.00000000e+00 6.46659207e+01] [ 4.52374705e-01 8.91827969e-01 0.00000000e+00 1.07250161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64036984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.557552018 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:64.70, Y:10.74, Z:-0.00 [[ 8.92322792e-01 -4.51397867e-01 0.00000000e+00 6.46960824e+01] [ 4.51397867e-01 8.92322792e-01 0.00000000e+00 1.07375714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05394136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.587552018 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:64.73, Y:10.75, Z:-0.00 [[ 8.92674654e-01 -4.50701634e-01 0.00000000e+00 6.47263871e+01] [ 4.50701634e-01 8.92674654e-01 0.00000000e+00 1.07506937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23154897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.617552018 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:64.75, Y:10.77, Z:-0.00 [[ 8.92289464e-01 -4.51463745e-01 0.00000000e+00 6.47547841e+01] [ 4.51463745e-01 8.92289464e-01 0.00000000e+00 1.07655347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46478891e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.647552018 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:64.78, Y:10.78, Z:-0.00 [[ 8.92287315e-01 -4.51467991e-01 0.00000000e+00 6.47834188e+01] [ 4.51467991e-01 8.92287315e-01 0.00000000e+00 1.07787744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51574926e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.677552018 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:64.81, Y:10.79, Z:0.00 [[ 8.92002323e-01 -4.52030813e-01 0.00000000e+00 6.48128532e+01] [ 4.52030813e-01 8.92002323e-01 0.00000000e+00 1.07921776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11554754e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.707552018 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:64.84, Y:10.80, Z:0.00 [[ 8.92006404e-01 -4.52022760e-01 0.00000000e+00 6.48414298e+01] [ 4.52022760e-01 8.92006404e-01 0.00000000e+00 1.08046495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02584843e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.737552018 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:64.87, Y:10.82, Z:-0.00 [[ 8.92342816e-01 -4.51358283e-01 0.00000000e+00 6.48707739e+01] [ 4.51358283e-01 8.92342816e-01 0.00000000e+00 1.08160791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51779903e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76755201799999 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:64.90, Y:10.83, Z:-0.00 [[ 8.92420177e-01 -4.51205306e-01 0.00000000e+00 6.49000368e+01] [ 4.51205306e-01 8.92420177e-01 0.00000000e+00 1.08291696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49645497e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79755201799999 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:64.93, Y:10.84, Z:-0.00 [[ 8.92278504e-01 -4.51485405e-01 0.00000000e+00 6.49304350e+01] [ 4.51485405e-01 8.92278504e-01 0.00000000e+00 1.08434772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18298478e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82755201799999 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:64.96, Y:10.86, Z:0.00 [[ 8.92380014e-01 -4.51284732e-01 0.00000000e+00 6.49593235e+01] [ 4.51284732e-01 8.92380014e-01 0.00000000e+00 1.08586737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11848706e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85755201799999 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:64.99, Y:10.87, Z:-0.00 [[ 8.92229823e-01 -4.51581603e-01 0.00000000e+00 6.49894198e+01] [ 4.51581603e-01 8.92229823e-01 0.00000000e+00 1.08717403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69384352e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.887552018 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:65.02, Y:10.88, Z:-0.00 [[ 8.92349702e-01 -4.51344667e-01 0.00000000e+00 6.50193486e+01] [ 4.51344667e-01 8.92349702e-01 0.00000000e+00 1.08842235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37655191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.917552018 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:65.05, Y:10.90, Z:-0.00 [[ 8.92062009e-01 -4.51913014e-01 0.00000000e+00 6.50482649e+01] [ 4.51913014e-01 8.92062009e-01 0.00000000e+00 1.08971368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64831141e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.947552018 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:65.08, Y:10.91, Z:0.00 [[ 8.91785123e-01 -4.52459164e-01 0.00000000e+00 6.50771089e+01] [ 4.52459164e-01 8.91785123e-01 0.00000000e+00 1.09113995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04974464e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.977552018 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:65.10, Y:10.92, Z:0.00 [[ 8.92383856e-01 -4.51277136e-01 0.00000000e+00 6.51032707e+01] [ 4.51277136e-01 8.92383856e-01 0.00000000e+00 1.09237984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34202560e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.007552018 meters Centerline goodness : 0.991451 Centerline is valid? [True, True] Translation: X:65.14, Y:10.94, Z:0.00 [[ 8.91880004e-01 -4.52272106e-01 0.00000000e+00 6.51350717e+01] [ 4.52272106e-01 8.91880004e-01 0.00000000e+00 1.09385770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67040927e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.037552018 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:65.17, Y:10.95, Z:0.00 [[ 8.91570078e-01 -4.52882762e-01 0.00000000e+00 6.51650076e+01] [ 4.52882762e-01 8.91570078e-01 0.00000000e+00 1.09525789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45805014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.067552018 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:65.19, Y:10.97, Z:0.00 [[ 8.91571552e-01 -4.52879859e-01 0.00000000e+00 6.51927689e+01] [ 4.52879859e-01 8.91571552e-01 0.00000000e+00 1.09675734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37835252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.097552018 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:65.22, Y:10.98, Z:0.00 [[ 8.91413663e-01 -4.53190558e-01 0.00000000e+00 6.52217751e+01] [ 4.53190558e-01 8.91413663e-01 0.00000000e+00 1.09814966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07603451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.127552018 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:65.25, Y:10.99, Z:-0.00 [[ 8.91306758e-01 -4.53400775e-01 0.00000000e+00 6.52500037e+01] [ 4.53400775e-01 8.91306758e-01 0.00000000e+00 1.09945389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61310869e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15755201799999 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:65.28, Y:11.01, Z:0.00 [[ 8.90188977e-01 -4.55591468e-01 0.00000000e+00 6.52796640e+01] [ 4.55591468e-01 8.90188977e-01 0.00000000e+00 1.10089826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81287659e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18755201799999 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:65.31, Y:11.02, Z:-0.00 [[ 8.89866941e-01 -4.56220152e-01 0.00000000e+00 6.53089944e+01] [ 4.56220152e-01 8.89866941e-01 0.00000000e+00 1.10218382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52775912e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21755201799999 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:65.34, Y:11.04, Z:0.00 [[ 8.88657894e-01 -4.58570766e-01 0.00000000e+00 6.53375868e+01] [ 4.58570766e-01 8.88657894e-01 0.00000000e+00 1.10359390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33340181e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.247552018 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:65.37, Y:11.05, Z:-0.00 [[ 8.88714859e-01 -4.58460358e-01 0.00000000e+00 6.53658688e+01] [ 4.58460358e-01 8.88714859e-01 0.00000000e+00 1.10481644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56193090e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.277552018 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:65.40, Y:11.06, Z:-0.00 [[ 8.88851114e-01 -4.58196134e-01 0.00000000e+00 6.53962775e+01] [ 4.58196134e-01 8.88851114e-01 0.00000000e+00 1.10610568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30850529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.307552018 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:65.43, Y:11.07, Z:-0.00 [[ 8.89036520e-01 -4.57836288e-01 0.00000000e+00 6.54262911e+01] [ 4.57836288e-01 8.89036520e-01 0.00000000e+00 1.10742302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85670587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.337552018 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:65.45, Y:11.09, Z:-0.00 [[ 8.89723896e-01 -4.56499057e-01 0.00000000e+00 6.54524814e+01] [ 4.56499057e-01 8.89723896e-01 0.00000000e+00 1.10891210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48363737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.367552018 meters Centerline goodness : 0.991636 Centerline is valid? [True, True] Translation: X:65.48, Y:11.10, Z:-0.00 [[ 8.90210901e-01 -4.55548627e-01 0.00000000e+00 6.54825390e+01] [ 4.55548627e-01 8.90210901e-01 0.00000000e+00 1.11028413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76366368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.397552018 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:65.51, Y:11.12, Z:-0.00 [[ 8.90380608e-01 -4.55216842e-01 0.00000000e+00 6.55102746e+01] [ 4.55216842e-01 8.90380608e-01 0.00000000e+00 1.11162724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64333072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.427552018 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:65.54, Y:11.13, Z:0.00 [[ 8.91551849e-01 -4.52918646e-01 0.00000000e+00 6.55388323e+01] [ 4.52918646e-01 8.91551849e-01 0.00000000e+00 1.11293800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28487034e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.457552018 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:65.57, Y:11.14, Z:0.00 [[ 8.92107691e-01 -4.51822828e-01 0.00000000e+00 6.55680421e+01] [ 4.51822828e-01 8.92107691e-01 0.00000000e+00 1.11421371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49398251e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.487552018 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:65.60, Y:11.16, Z:0.00 [[ 8.92836008e-01 -4.50381908e-01 0.00000000e+00 6.55984387e+01] [ 4.50381908e-01 8.92836008e-01 0.00000000e+00 1.11553629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92855944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51755201799999 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:65.63, Y:11.17, Z:-0.00 [[ 8.94610593e-01 -4.46846604e-01 0.00000000e+00 6.56300955e+01] [ 4.46846604e-01 8.94610593e-01 0.00000000e+00 1.11676720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41386403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54755201799999 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:65.66, Y:11.18, Z:-0.00 [[ 8.94953392e-01 -4.46159641e-01 0.00000000e+00 6.56589846e+01] [ 4.46159641e-01 8.94953392e-01 0.00000000e+00 1.11803816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71942800e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57755201799999 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:65.69, Y:11.19, Z:-0.00 [[ 8.95282655e-01 -4.45498560e-01 0.00000000e+00 6.56894554e+01] [ 4.45498560e-01 8.95282655e-01 0.00000000e+00 1.11928044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34096734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60755201799999 meters Centerline goodness : 0.991450 Centerline is valid? [True, True] Translation: X:65.72, Y:11.21, Z:-0.00 [[ 8.95187070e-01 -4.45690598e-01 0.00000000e+00 6.57202806e+01] [ 4.45690598e-01 8.95187070e-01 0.00000000e+00 1.12051479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03295876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.637552018 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:65.75, Y:11.22, Z:-0.00 [[ 8.95208746e-01 -4.45647058e-01 0.00000000e+00 6.57517238e+01] [ 4.45647058e-01 8.95208746e-01 0.00000000e+00 1.12158160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42717769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.667552018 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:65.78, Y:11.23, Z:-0.00 [[ 8.94788367e-01 -4.46490513e-01 0.00000000e+00 6.57802285e+01] [ 4.46490513e-01 8.94788367e-01 0.00000000e+00 1.12276713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03932735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.697552018 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:65.81, Y:11.24, Z:-0.00 [[ 8.94870165e-01 -4.46326549e-01 0.00000000e+00 6.58120801e+01] [ 4.46326549e-01 8.94870165e-01 0.00000000e+00 1.12392403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51266892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.727552018 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:65.84, Y:11.25, Z:-0.00 [[ 8.93516311e-01 -4.49030736e-01 0.00000000e+00 6.58389416e+01] [ 4.49030736e-01 8.93516311e-01 0.00000000e+00 1.12513706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90747910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.757552018 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:65.87, Y:11.26, Z:-0.00 [[ 8.93333796e-01 -4.49393735e-01 0.00000000e+00 6.58697405e+01] [ 4.49393735e-01 8.93333796e-01 0.00000000e+00 1.12623611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39627786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.787552018 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:65.90, Y:11.27, Z:-0.00 [[ 8.92569433e-01 -4.50909978e-01 0.00000000e+00 6.58991490e+01] [ 4.50909978e-01 8.92569433e-01 0.00000000e+00 1.12739959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18787040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.817552018 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:65.93, Y:11.28, Z:-0.00 [[ 8.91191649e-01 -4.53626988e-01 0.00000000e+00 6.59308055e+01] [ 4.53626988e-01 8.91191649e-01 0.00000000e+00 1.12840921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68171655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.847552018 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:65.96, Y:11.29, Z:-0.00 [[ 8.91087128e-01 -4.53832271e-01 0.00000000e+00 6.59607636e+01] [ 4.53832271e-01 8.91087128e-01 0.00000000e+00 1.12946471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61620031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.877552018 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:65.99, Y:11.31, Z:-0.00 [[ 8.90268919e-01 -4.55435234e-01 0.00000000e+00 6.59907570e+01] [ 4.55435234e-01 8.90268919e-01 0.00000000e+00 1.13067462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56262294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90755201799999 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:66.02, Y:11.32, Z:-0.00 [[ 8.89959476e-01 -4.56039616e-01 0.00000000e+00 6.60216641e+01] [ 4.56039616e-01 8.89959476e-01 0.00000000e+00 1.13190273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87640483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93755201799999 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:66.05, Y:11.33, Z:-0.00 [[ 8.89810910e-01 -4.56329425e-01 0.00000000e+00 6.60500383e+01] [ 4.56329425e-01 8.89810910e-01 0.00000000e+00 1.13303225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73380056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96755201799999 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:66.08, Y:11.34, Z:-0.00 [[ 8.89623427e-01 -4.56694820e-01 0.00000000e+00 6.60805857e+01] [ 4.56694820e-01 8.89623427e-01 0.00000000e+00 1.13430599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07298779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.997552018 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:66.11, Y:11.36, Z:-0.00 [[ 8.89351582e-01 -4.57223975e-01 0.00000000e+00 6.61107924e+01] [ 4.57223975e-01 8.89351582e-01 0.00000000e+00 1.13551177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37992517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.027552018 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:66.14, Y:11.36, Z:-0.01 [[ 8.89055794e-01 -4.57798860e-01 0.00000000e+00 6.61408061e+01] [ 4.57798860e-01 8.89055794e-01 0.00000000e+00 1.13643618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49710475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.057552018 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:66.17, Y:11.38, Z:-0.01 [[ 8.88744747e-01 -4.58402415e-01 0.00000000e+00 6.61710585e+01] [ 4.58402415e-01 8.88744747e-01 0.00000000e+00 1.13764134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69701794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.087552018 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:66.20, Y:11.39, Z:-0.01 [[ 8.88329429e-01 -4.59206735e-01 0.00000000e+00 6.62018294e+01] [ 4.59206735e-01 8.88329429e-01 0.00000000e+00 1.13887710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35891447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.117552018 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:66.23, Y:11.40, Z:-0.01 [[ 8.87856674e-01 -4.60120121e-01 0.00000000e+00 6.62306684e+01] [ 4.60120121e-01 8.87856674e-01 0.00000000e+00 1.14007342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04885445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.147552018 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:66.26, Y:11.41, Z:-0.00 [[ 8.87898611e-01 -4.60039190e-01 0.00000000e+00 6.62617794e+01] [ 4.60039190e-01 8.87898611e-01 0.00000000e+00 1.14126761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99880818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.177552018 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:66.29, Y:11.42, Z:-0.00 [[ 8.87621141e-01 -4.60574327e-01 0.00000000e+00 6.62925505e+01] [ 4.60574327e-01 8.87621141e-01 0.00000000e+00 1.14246736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92025888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.207552018 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:66.32, Y:11.43, Z:-0.01 [[ 8.86955965e-01 -4.61853998e-01 0.00000000e+00 6.63243616e+01] [ 4.61853998e-01 8.86955965e-01 0.00000000e+00 1.14331627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56061831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.237552018 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:66.36, Y:11.44, Z:-0.01 [[ 8.86390055e-01 -4.62939165e-01 0.00000000e+00 6.63553316e+01] [ 4.62939165e-01 8.86390055e-01 0.00000000e+00 1.14438482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83562719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26755201799999 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:66.38, Y:11.45, Z:-0.01 [[ 8.85624350e-01 -4.64402316e-01 0.00000000e+00 6.63849084e+01] [ 4.64402316e-01 8.85624350e-01 0.00000000e+00 1.14545154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74656159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29755201799999 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:66.42, Y:11.46, Z:-0.01 [[ 8.84047199e-01 -4.67397635e-01 0.00000000e+00 6.64166771e+01] [ 4.67397635e-01 8.84047199e-01 0.00000000e+00 1.14648781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27412215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32755201799999 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:66.45, Y:11.48, Z:-0.01 [[ 8.83236927e-01 -4.68926999e-01 0.00000000e+00 6.64454754e+01] [ 4.68926999e-01 8.83236927e-01 0.00000000e+00 1.14750645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41538238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35755201799999 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:66.48, Y:11.49, Z:-0.01 [[ 8.83126711e-01 -4.69134535e-01 0.00000000e+00 6.64753921e+01] [ 4.69134535e-01 8.83126711e-01 0.00000000e+00 1.14879684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41538238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.387552018 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:66.51, Y:11.50, Z:-0.01 [[ 8.82170131e-01 -4.70930844e-01 0.00000000e+00 6.65065138e+01] [ 4.70930844e-01 8.82170131e-01 0.00000000e+00 1.14978806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75090595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.417552018 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:66.54, Y:11.51, Z:-0.01 [[ 8.81099425e-01 -4.72931077e-01 0.00000000e+00 6.65363708e+01] [ 4.72931077e-01 8.81099425e-01 0.00000000e+00 1.15079257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86472089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.447552018 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:66.56, Y:11.52, Z:-0.01 [[ 8.78240113e-01 -4.78219933e-01 0.00000000e+00 6.65594724e+01] [ 4.78219933e-01 8.78240113e-01 0.00000000e+00 1.15176446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15816725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.477552018 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:66.60, Y:11.53, Z:-0.01 [[ 8.79223024e-01 -4.76410404e-01 0.00000000e+00 6.65976907e+01] [ 4.76410404e-01 8.79223024e-01 0.00000000e+00 1.15258574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94522426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.507552018 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:66.63, Y:11.54, Z:-0.01 [[ 8.78358086e-01 -4.78003214e-01 0.00000000e+00 6.66283940e+01] [ 4.78003214e-01 8.78358086e-01 0.00000000e+00 1.15375634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90767052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.537552018 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:66.66, Y:11.55, Z:-0.01 [[ 8.77733041e-01 -4.79149986e-01 0.00000000e+00 6.66596879e+01] [ 4.79149986e-01 8.77733041e-01 0.00000000e+00 1.15476288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93217458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.567552018 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:66.69, Y:11.56, Z:-0.01 [[ 8.77468100e-01 -4.79635001e-01 0.00000000e+00 6.66899063e+01] [ 4.79635001e-01 8.77468100e-01 0.00000000e+00 1.15593725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83493454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.597552018 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:66.72, Y:11.57, Z:-0.01 [[ 8.77691474e-01 -4.79226122e-01 0.00000000e+00 6.67207940e+01] [ 4.79226122e-01 8.77691474e-01 0.00000000e+00 1.15705443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51368542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.627552018 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:66.75, Y:11.58, Z:-0.01 [[ 8.78415352e-01 -4.77897970e-01 0.00000000e+00 6.67514573e+01] [ 4.77897970e-01 8.78415352e-01 0.00000000e+00 1.15822055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35980223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65755201799999 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:66.78, Y:11.59, Z:-0.01 [[ 8.81053766e-01 -4.73016132e-01 0.00000000e+00 6.67797930e+01] [ 4.73016132e-01 8.81053766e-01 0.00000000e+00 1.15931454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35964685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68755201799999 meters Centerline goodness : 0.991387 Centerline is valid? [True, True] Translation: X:66.81, Y:11.61, Z:-0.01 [[ 8.82467668e-01 -4.70373059e-01 0.00000000e+00 6.68097142e+01] [ 4.70373059e-01 8.82467668e-01 0.00000000e+00 1.16060055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02862433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71755201799999 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:66.84, Y:11.62, Z:-0.01 [[ 8.83721699e-01 -4.68012777e-01 0.00000000e+00 6.68396582e+01] [ 4.68012777e-01 8.83721699e-01 0.00000000e+00 1.16197271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93410279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.747552018 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:66.87, Y:11.63, Z:-0.01 [[ 8.86667141e-01 -4.62408241e-01 0.00000000e+00 6.68695433e+01] [ 4.62408241e-01 8.86667141e-01 0.00000000e+00 1.16334392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08533449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.777552018 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:66.90, Y:11.65, Z:-0.01 [[ 8.88117385e-01 -4.59616699e-01 0.00000000e+00 6.68983651e+01] [ 4.59616699e-01 8.88117385e-01 0.00000000e+00 1.16465343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22184843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.807552018 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:66.93, Y:11.66, Z:-0.01 [[ 8.89290653e-01 -4.57342469e-01 0.00000000e+00 6.69276948e+01] [ 4.57342469e-01 8.89290653e-01 0.00000000e+00 1.16599476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97741017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.837552018 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:66.96, Y:11.67, Z:-0.01 [[ 8.90824788e-01 -4.54347001e-01 0.00000000e+00 6.69576617e+01] [ 4.54347001e-01 8.90824788e-01 0.00000000e+00 1.16735962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23391733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.867552018 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:66.99, Y:11.69, Z:-0.01 [[ 8.93567802e-01 -4.48928261e-01 0.00000000e+00 6.69855533e+01] [ 4.48928261e-01 8.93567802e-01 0.00000000e+00 1.16872738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43994846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.897552018 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:67.02, Y:11.70, Z:-0.01 [[ 8.94897300e-01 -4.46272140e-01 0.00000000e+00 6.70163679e+01] [ 4.46272140e-01 8.94897300e-01 0.00000000e+00 1.17000554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27462592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.927552018 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:67.04, Y:11.71, Z:-0.01 [[ 8.95914108e-01 -4.44227319e-01 0.00000000e+00 6.70444497e+01] [ 4.44227319e-01 8.95914108e-01 0.00000000e+00 1.17137630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17071207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.957552018 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:67.07, Y:11.73, Z:-0.01 [[ 8.95952011e-01 -4.44150869e-01 0.00000000e+00 6.70737224e+01] [ 4.44150869e-01 8.95952011e-01 0.00000000e+00 1.17278827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66883838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.987552018 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:67.09, Y:11.74, Z:-0.01 [[ 8.93881312e-01 -4.48303693e-01 0.00000000e+00 6.70901544e+01] [ 4.48303693e-01 8.93881312e-01 0.00000000e+00 1.17439988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36653586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01755201799999 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:67.13, Y:11.75, Z:-0.01 [[ 8.96513113e-01 -4.43017198e-01 0.00000000e+00 6.71299189e+01] [ 4.43017198e-01 8.96513113e-01 0.00000000e+00 1.17532542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68743936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04755201799999 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:67.16, Y:11.77, Z:-0.01 [[ 8.96665107e-01 -4.42709482e-01 0.00000000e+00 6.71591612e+01] [ 4.42709482e-01 8.96665107e-01 0.00000000e+00 1.17658758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89533233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07755201799999 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:67.18, Y:11.78, Z:-0.00 [[ 8.94130604e-01 -4.47806278e-01 0.00000000e+00 6.71771687e+01] [ 4.47806278e-01 8.94130604e-01 0.00000000e+00 1.17820866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92561750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10755201799999 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:67.22, Y:11.79, Z:-0.00 [[ 8.96077175e-01 -4.43898295e-01 0.00000000e+00 6.72167266e+01] [ 4.43898295e-01 8.96077175e-01 0.00000000e+00 1.17924629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57035798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.137552018 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:67.24, Y:11.81, Z:-0.00 [[ 8.95351800e-01 -4.45359578e-01 0.00000000e+00 6.72449934e+01] [ 4.45359578e-01 8.95351800e-01 0.00000000e+00 1.18063101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94982711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.167552018 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:67.27, Y:11.82, Z:-0.00 [[ 8.95313266e-01 -4.45437040e-01 0.00000000e+00 6.72723546e+01] [ 4.45437040e-01 8.95313266e-01 0.00000000e+00 1.18180811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07662498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.197552018 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:67.30, Y:11.83, Z:-0.00 [[ 8.93492934e-01 -4.49077251e-01 0.00000000e+00 6.73037022e+01] [ 4.49077251e-01 8.93492934e-01 0.00000000e+00 1.18315231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08820549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.227552018 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:67.33, Y:11.84, Z:-0.01 [[ 8.92962624e-01 -4.50130816e-01 0.00000000e+00 6.73347006e+01] [ 4.50130816e-01 8.92962624e-01 0.00000000e+00 1.18428335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35182572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.257552018 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:67.36, Y:11.86, Z:-0.01 [[ 8.91259930e-01 -4.53492820e-01 0.00000000e+00 6.73645991e+01] [ 4.53492820e-01 8.91259930e-01 0.00000000e+00 1.18555954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15613266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.287552018 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:67.40, Y:11.87, Z:-0.01 [[ 8.89546605e-01 -4.56844434e-01 0.00000000e+00 6.73955624e+01] [ 4.56844434e-01 8.89546605e-01 0.00000000e+00 1.18676131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31597294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.317552018 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:67.43, Y:11.88, Z:-0.00 [[ 8.88640188e-01 -4.58605077e-01 0.00000000e+00 6.74254754e+01] [ 4.58605077e-01 8.88640188e-01 0.00000000e+00 1.18809723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99475518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.347552018 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:67.46, Y:11.89, Z:-0.00 [[ 8.88213638e-01 -4.59430663e-01 0.00000000e+00 6.74562067e+01] [ 4.59430663e-01 8.88213638e-01 0.00000000e+00 1.18938737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98849952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.377552018 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:67.48, Y:11.91, Z:-0.01 [[ 8.88281973e-01 -4.59298526e-01 0.00000000e+00 6.74847272e+01] [ 4.59298526e-01 8.88281973e-01 0.00000000e+00 1.19058516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60614705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40755201799999 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:67.51, Y:11.92, Z:-0.01 [[ 8.88333960e-01 -4.59197970e-01 0.00000000e+00 6.75146119e+01] [ 4.59197970e-01 8.88333960e-01 0.00000000e+00 1.19181778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32010828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43755201799999 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:67.55, Y:11.93, Z:-0.01 [[ 8.88220258e-01 -4.59417864e-01 0.00000000e+00 6.75450364e+01] [ 4.59417864e-01 8.88220258e-01 0.00000000e+00 1.19320734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87162590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46755201799999 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:67.57, Y:11.95, Z:-0.00 [[ 8.88531065e-01 -4.58816462e-01 0.00000000e+00 6.75740755e+01] [ 4.58816462e-01 8.88531065e-01 0.00000000e+00 1.19452162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48467167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.497552018 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:67.60, Y:11.96, Z:-0.00 [[ 8.88705090e-01 -4.58479293e-01 0.00000000e+00 6.76047840e+01] [ 4.58479293e-01 8.88705090e-01 0.00000000e+00 1.19574794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57343852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.527552018 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:67.63, Y:11.97, Z:-0.00 [[ 8.89022691e-01 -4.57863140e-01 0.00000000e+00 6.76342741e+01] [ 4.57863140e-01 8.89022691e-01 0.00000000e+00 1.19696621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79597696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.557552018 meters Centerline goodness : 0.990157 Centerline is valid? [True, True] Translation: X:67.66, Y:11.98, Z:-0.00 [[ 8.89757377e-01 -4.56433795e-01 0.00000000e+00 6.76619584e+01] [ 4.56433795e-01 8.89757377e-01 0.00000000e+00 1.19813833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90370862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.587552018 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:67.69, Y:12.00, Z:-0.00 [[ 8.89732170e-01 -4.56482930e-01 0.00000000e+00 6.76914440e+01] [ 4.56482930e-01 8.89732170e-01 0.00000000e+00 1.19973617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53705775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.617552018 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:67.72, Y:12.01, Z:-0.00 [[ 8.89883078e-01 -4.56188675e-01 0.00000000e+00 6.77205253e+01] [ 4.56188675e-01 8.89883078e-01 0.00000000e+00 1.20112250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90025984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.647552018 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:67.75, Y:12.02, Z:-0.01 [[ 8.90332327e-01 -4.55311265e-01 0.00000000e+00 6.77495918e+01] [ 4.55311265e-01 8.90332327e-01 0.00000000e+00 1.20236932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17792819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.677552018 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:67.78, Y:12.04, Z:-0.01 [[ 8.89726004e-01 -4.56494948e-01 0.00000000e+00 6.77799143e+01] [ 4.56494948e-01 8.89726004e-01 0.00000000e+00 1.20360712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15039657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.707552018 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:67.81, Y:12.05, Z:-0.01 [[ 8.89457358e-01 -4.57018170e-01 0.00000000e+00 6.78087439e+01] [ 4.57018170e-01 8.89457358e-01 0.00000000e+00 1.20491008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55842826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.737552018 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:67.84, Y:12.06, Z:-0.01 [[ 8.88752419e-01 -4.58387541e-01 0.00000000e+00 6.78385807e+01] [ 4.58387541e-01 8.88752419e-01 0.00000000e+00 1.20633984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64717974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76755201799999 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:67.87, Y:12.08, Z:-0.01 [[ 8.87898507e-01 -4.60039391e-01 0.00000000e+00 6.78675162e+01] [ 4.60039391e-01 8.87898507e-01 0.00000000e+00 1.20778652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74546405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79755201799999 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:67.90, Y:12.09, Z:-0.01 [[ 8.86872483e-01 -4.62014285e-01 0.00000000e+00 6.78970291e+01] [ 4.62014285e-01 8.86872483e-01 0.00000000e+00 1.20913427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41931246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82755201799999 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:67.92, Y:12.10, Z:-0.01 [[ 8.87108984e-01 -4.61560018e-01 0.00000000e+00 6.79245891e+01] [ 4.61560018e-01 8.87108984e-01 0.00000000e+00 1.21017331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37831830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85755201799999 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:67.95, Y:12.12, Z:-0.01 [[ 8.85904377e-01 -4.63867907e-01 0.00000000e+00 6.79545043e+01] [ 4.63867907e-01 8.85904377e-01 0.00000000e+00 1.21152277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54020935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.887552018 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:67.98, Y:12.13, Z:-0.00 [[ 8.85151202e-01 -4.65303503e-01 0.00000000e+00 6.79845932e+01] [ 4.65303503e-01 8.85151202e-01 0.00000000e+00 1.21284289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90058702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.917552018 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:68.01, Y:12.14, Z:-0.00 [[ 8.84266885e-01 -4.66981880e-01 0.00000000e+00 6.80119777e+01] [ 4.66981880e-01 8.84266885e-01 0.00000000e+00 1.21428244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07426748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.947552018 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:68.04, Y:12.16, Z:-0.00 [[ 8.83938420e-01 -4.67603324e-01 0.00000000e+00 6.80419404e+01] [ 4.67603324e-01 8.83938420e-01 0.00000000e+00 1.21572843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92565527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.977552018 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:68.07, Y:12.17, Z:-0.01 [[ 8.84353186e-01 -4.66818425e-01 0.00000000e+00 6.80700676e+01] [ 4.66818425e-01 8.84353186e-01 0.00000000e+00 1.21699266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20153099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.007552018 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:68.10, Y:12.18, Z:-0.00 [[ 8.84370334e-01 -4.66785939e-01 0.00000000e+00 6.80997171e+01] [ 4.66785939e-01 8.84370334e-01 0.00000000e+00 1.21838009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99669722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.037552018 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:68.13, Y:12.20, Z:-0.00 [[ 8.84185477e-01 -4.67135999e-01 0.00000000e+00 6.81294113e+01] [ 4.67135999e-01 8.84185477e-01 0.00000000e+00 1.21981489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84344651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.067552018 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:68.16, Y:12.21, Z:-0.00 [[ 8.84493911e-01 -4.66551735e-01 0.00000000e+00 6.81569267e+01] [ 4.66551735e-01 8.84493911e-01 0.00000000e+00 1.22129879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30465137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.097552018 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:68.19, Y:12.23, Z:-0.00 [[ 8.84095482e-01 -4.67306301e-01 0.00000000e+00 6.81859129e+01] [ 4.67306301e-01 8.84095482e-01 0.00000000e+00 1.22273308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60221443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.127552018 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:68.21, Y:12.24, Z:-0.00 [[ 8.83675594e-01 -4.68099823e-01 0.00000000e+00 6.82143248e+01] [ 4.68099823e-01 8.83675594e-01 0.00000000e+00 1.22415430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03897395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15755201799999 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:68.24, Y:12.25, Z:-0.00 [[ 8.83246175e-01 -4.68909579e-01 0.00000000e+00 6.82407683e+01] [ 4.68909579e-01 8.83246175e-01 0.00000000e+00 1.22534828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25190100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18755201799999 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:68.27, Y:12.27, Z:-0.00 [[ 8.82774033e-01 -4.69797836e-01 0.00000000e+00 6.82683012e+01] [ 4.69797836e-01 8.82774033e-01 0.00000000e+00 1.22659260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23367997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21755201799999 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:68.30, Y:12.28, Z:-0.01 [[ 8.82188837e-01 -4.70895802e-01 0.00000000e+00 6.82995114e+01] [ 4.70895802e-01 8.82188837e-01 0.00000000e+00 1.22797273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06772357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.247552018 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:68.33, Y:12.29, Z:-0.01 [[ 8.82030700e-01 -4.71191940e-01 0.00000000e+00 6.83291981e+01] [ 4.71191940e-01 8.82030700e-01 0.00000000e+00 1.22930652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06772357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.277552018 meters Centerline goodness : 0.990475 Centerline is valid? [True, True] Translation: X:68.36, Y:12.31, Z:-0.00 [[ 8.81385714e-01 -4.72397315e-01 0.00000000e+00 6.83562994e+01] [ 4.72397315e-01 8.81385714e-01 0.00000000e+00 1.23079315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08528995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.307552018 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:68.39, Y:12.32, Z:-0.00 [[ 8.80902712e-01 -4.73297383e-01 0.00000000e+00 6.83856962e+01] [ 4.73297383e-01 8.80902712e-01 0.00000000e+00 1.23216729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87365997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.337552018 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:68.42, Y:12.33, Z:-0.00 [[ 8.80410619e-01 -4.74212127e-01 0.00000000e+00 6.84154825e+01] [ 4.74212127e-01 8.80410619e-01 0.00000000e+00 1.23348377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26702199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.367552018 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:68.44, Y:12.35, Z:-0.00 [[ 8.80782559e-01 -4.73520944e-01 0.00000000e+00 6.84411197e+01] [ 4.73520944e-01 8.80782559e-01 0.00000000e+00 1.23459104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42268547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.397552018 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:68.47, Y:12.36, Z:-0.00 [[ 8.78869115e-01 -4.77062972e-01 0.00000000e+00 6.84740231e+01] [ 4.77062972e-01 8.78869115e-01 0.00000000e+00 1.23597417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99418486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.427552018 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:68.50, Y:12.37, Z:-0.00 [[ 8.78803810e-01 -4.77183260e-01 0.00000000e+00 6.85016935e+01] [ 4.77183260e-01 8.78803810e-01 0.00000000e+00 1.23717712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74049219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.457552018 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:68.53, Y:12.38, Z:-0.00 [[ 8.79118228e-01 -4.76603757e-01 0.00000000e+00 6.85263056e+01] [ 4.76603757e-01 8.79118228e-01 0.00000000e+00 1.23831238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08251362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.487552018 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:68.56, Y:12.40, Z:-0.00 [[ 8.77909344e-01 -4.78826883e-01 0.00000000e+00 6.85585917e+01] [ 4.78826883e-01 8.77909344e-01 0.00000000e+00 1.23982820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10356549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51755201799999 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:68.59, Y:12.41, Z:-0.00 [[ 8.77768836e-01 -4.79084409e-01 0.00000000e+00 6.85874581e+01] [ 4.79084409e-01 8.77768836e-01 0.00000000e+00 1.24110501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84021207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54755201799999 meters Centerline goodness : 0.990352 Centerline is valid? [True, True] Translation: X:68.61, Y:12.42, Z:-0.01 [[ 8.78925207e-01 -4.76959621e-01 0.00000000e+00 6.86143857e+01] [ 4.76959621e-01 8.78925207e-01 0.00000000e+00 1.24211250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09996571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57755201799999 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:68.65, Y:12.44, Z:-0.00 [[ 8.78448107e-01 -4.77837757e-01 0.00000000e+00 6.86467439e+01] [ 4.77837757e-01 8.78448107e-01 0.00000000e+00 1.24354349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48875573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60755201799999 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:68.68, Y:12.45, Z:-0.00 [[ 8.79172637e-01 -4.76503383e-01 0.00000000e+00 6.86763894e+01] [ 4.76503383e-01 8.79172637e-01 0.00000000e+00 1.24494482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84406420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.637552018 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:68.71, Y:12.46, Z:-0.00 [[ 8.79803143e-01 -4.75338226e-01 0.00000000e+00 6.87050019e+01] [ 4.75338226e-01 8.79803143e-01 0.00000000e+00 1.24645816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31010847e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.667552018 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:68.73, Y:12.48, Z:0.00 [[ 8.81992496e-01 -4.71263448e-01 0.00000000e+00 6.87346896e+01] [ 4.71263448e-01 8.81992496e-01 0.00000000e+00 1.24799674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42641237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.697552018 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:68.76, Y:12.49, Z:-0.00 [[ 8.82774495e-01 -4.69796968e-01 0.00000000e+00 6.87644885e+01] [ 4.69796968e-01 8.82774495e-01 0.00000000e+00 1.24932044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11308604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.727552018 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:68.80, Y:12.51, Z:-0.00 [[ 8.84198200e-01 -4.67111916e-01 0.00000000e+00 6.87951851e+01] [ 4.67111916e-01 8.84198200e-01 0.00000000e+00 1.25063091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75357801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.757552018 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:68.83, Y:12.52, Z:-0.00 [[ 8.84741819e-01 -4.66081445e-01 0.00000000e+00 6.88257389e+01] [ 4.66081445e-01 8.84741819e-01 0.00000000e+00 1.25200122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57919401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.787552018 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:68.85, Y:12.53, Z:-0.00 [[ 8.84748889e-01 -4.66068025e-01 0.00000000e+00 6.88535786e+01] [ 4.66068025e-01 8.84748889e-01 0.00000000e+00 1.25343150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09748518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.817552018 meters Centerline goodness : 0.991450 Centerline is valid? [True, True] Translation: X:68.88, Y:12.55, Z:-0.00 [[ 8.85290454e-01 -4.65038506e-01 0.00000000e+00 6.88815496e+01] [ 4.65038506e-01 8.85290454e-01 0.00000000e+00 1.25476833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57391646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.847552018 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:68.91, Y:12.56, Z:-0.00 [[ 8.85460648e-01 -4.64714365e-01 0.00000000e+00 6.89088524e+01] [ 4.64714365e-01 8.85460648e-01 0.00000000e+00 1.25620446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92438390e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87755201799999 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:68.94, Y:12.58, Z:0.00 [[ 8.85233932e-01 -4.65146091e-01 0.00000000e+00 6.89376967e+01] [ 4.65146091e-01 8.85233932e-01 0.00000000e+00 1.25753577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13100293e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90755201799999 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:68.96, Y:12.59, Z:-0.00 [[ 8.86000137e-01 -4.63684977e-01 0.00000000e+00 6.89648151e+01] [ 4.63684977e-01 8.86000137e-01 0.00000000e+00 1.25858261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05534569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93755201799999 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:69.00, Y:12.60, Z:-0.00 [[ 8.84773905e-01 -4.66020534e-01 0.00000000e+00 6.89976682e+01] [ 4.66020534e-01 8.84773905e-01 0.00000000e+00 1.26000806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01598624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96755201799999 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:69.03, Y:12.61, Z:-0.00 [[ 8.84327185e-01 -4.66867679e-01 0.00000000e+00 6.90255603e+01] [ 4.66867679e-01 8.84327185e-01 0.00000000e+00 1.26136017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00592935e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.997552018 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:69.06, Y:12.63, Z:0.00 [[ 8.83884166e-01 -4.67705870e-01 0.00000000e+00 6.90550745e+01] [ 4.67705870e-01 8.83884166e-01 0.00000000e+00 1.26285734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96873393e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.027552018 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:69.08, Y:12.64, Z:0.00 [[ 8.83874217e-01 -4.67724673e-01 0.00000000e+00 6.90830058e+01] [ 4.67724673e-01 8.83874217e-01 0.00000000e+00 1.26418405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10533306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.057552018 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:69.11, Y:12.65, Z:0.00 [[ 8.84010789e-01 -4.67466496e-01 0.00000000e+00 6.91108003e+01] [ 4.67466496e-01 8.84010789e-01 0.00000000e+00 1.26541732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39371736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.087552018 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:69.14, Y:12.67, Z:0.00 [[ 8.83934360e-01 -4.67611000e-01 0.00000000e+00 6.91404212e+01] [ 4.67611000e-01 8.83934360e-01 0.00000000e+00 1.26670984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44656902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.117552018 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:69.17, Y:12.68, Z:0.00 [[ 8.83878534e-01 -4.67716513e-01 0.00000000e+00 6.91706828e+01] [ 4.67716513e-01 8.83878534e-01 0.00000000e+00 1.26803178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87100938e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.147552018 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:69.20, Y:12.69, Z:0.00 [[ 8.84195908e-01 -4.67116256e-01 0.00000000e+00 6.91999236e+01] [ 4.67116256e-01 8.84195908e-01 0.00000000e+00 1.26941317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05093392e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.177552018 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:69.23, Y:12.71, Z:0.00 [[ 8.84345841e-01 -4.66832341e-01 0.00000000e+00 6.92281665e+01] [ 4.66832341e-01 8.84345841e-01 0.00000000e+00 1.27083404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41574303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.207552018 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:69.26, Y:12.72, Z:0.00 [[ 8.85023441e-01 -4.65546462e-01 0.00000000e+00 6.92569039e+01] [ 4.65546462e-01 8.85023441e-01 0.00000000e+00 1.27237412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33536452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.237552018 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:69.29, Y:12.74, Z:-0.00 [[ 8.85486278e-01 -4.64665527e-01 0.00000000e+00 6.92869087e+01] [ 4.64665527e-01 8.85486278e-01 0.00000000e+00 1.27372634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35432590e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26755201799999 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:69.32, Y:12.75, Z:-0.00 [[ 8.85810779e-01 -4.64046617e-01 0.00000000e+00 6.93154538e+01] [ 4.64046617e-01 8.85810779e-01 0.00000000e+00 1.27498473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27639436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29755201799999 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:69.34, Y:12.76, Z:-0.00 [[ 8.85392028e-01 -4.64845089e-01 0.00000000e+00 6.93440380e+01] [ 4.64845089e-01 8.85392028e-01 0.00000000e+00 1.27632001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48980985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32755201799999 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:69.37, Y:12.78, Z:-0.00 [[ 8.85221295e-01 -4.65170139e-01 0.00000000e+00 6.93718767e+01] [ 4.65170139e-01 8.85221295e-01 0.00000000e+00 1.27771788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75733584e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35755201799999 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:69.40, Y:12.79, Z:0.00 [[ 8.84791248e-01 -4.65987604e-01 0.00000000e+00 6.94009319e+01] [ 4.65987604e-01 8.84791248e-01 0.00000000e+00 1.27917521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45005488e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.387552018 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:69.43, Y:12.81, Z:0.00 [[ 8.84439845e-01 -4.66654220e-01 0.00000000e+00 6.94306044e+01] [ 4.66654220e-01 8.84439845e-01 0.00000000e+00 1.28063476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06696212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.417552018 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:69.46, Y:12.82, Z:0.00 [[ 8.83821284e-01 -4.67824687e-01 0.00000000e+00 6.94583330e+01] [ 4.67824687e-01 8.83821284e-01 0.00000000e+00 1.28199106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50547089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.447552018 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:69.49, Y:12.83, Z:0.00 [[ 8.83695992e-01 -4.68061314e-01 0.00000000e+00 6.94871245e+01] [ 4.68061314e-01 8.83695992e-01 0.00000000e+00 1.28330291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18743830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.477552018 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:69.52, Y:12.85, Z:0.00 [[ 8.83065639e-01 -4.69249482e-01 0.00000000e+00 6.95168663e+01] [ 4.69249482e-01 8.83065639e-01 0.00000000e+00 1.28472325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09466270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.507552018 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:69.55, Y:12.86, Z:0.00 [[ 8.82555487e-01 -4.70208265e-01 0.00000000e+00 6.95478777e+01] [ 4.70208265e-01 8.82555487e-01 0.00000000e+00 1.28617925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29463058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.537552018 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:69.58, Y:12.87, Z:0.00 [[ 8.82616391e-01 -4.70093934e-01 0.00000000e+00 6.95763601e+01] [ 4.70093934e-01 8.82616391e-01 0.00000000e+00 1.28744493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02191277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.567552018 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:69.60, Y:12.89, Z:0.00 [[ 8.82649377e-01 -4.70031996e-01 0.00000000e+00 6.96045468e+01] [ 4.70031996e-01 8.82649377e-01 0.00000000e+00 1.28880611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39085926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.597552018 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:69.63, Y:12.91, Z:0.00 [[ 8.82492614e-01 -4.70326254e-01 0.00000000e+00 6.96327762e+01] [ 4.70326254e-01 8.82492614e-01 0.00000000e+00 1.29055660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52694848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62755201799999 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:69.66, Y:12.92, Z:0.01 [[ 8.82750720e-01 -4.69841639e-01 0.00000000e+00 6.96594749e+01] [ 4.69841639e-01 8.82750720e-01 0.00000000e+00 1.29197132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50272484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65755201799999 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:69.69, Y:12.93, Z:0.00 [[ 8.82624914e-01 -4.70077932e-01 0.00000000e+00 6.96885147e+01] [ 4.70077932e-01 8.82624914e-01 0.00000000e+00 1.29344662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64591937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68755201799999 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:69.72, Y:12.95, Z:0.00 [[ 8.82586141e-01 -4.70150725e-01 0.00000000e+00 6.97159997e+01] [ 4.70150725e-01 8.82586141e-01 0.00000000e+00 1.29473213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43542398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71755201799999 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:69.74, Y:12.96, Z:0.00 [[ 8.82020678e-01 -4.71210699e-01 0.00000000e+00 6.97449207e+01] [ 4.71210699e-01 8.82020678e-01 0.00000000e+00 1.29615216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.83906914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.747552018 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:69.77, Y:12.98, Z:0.00 [[ 8.81856643e-01 -4.71517615e-01 0.00000000e+00 6.97747886e+01] [ 4.71517615e-01 8.81856643e-01 0.00000000e+00 1.29758896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31152663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.777552018 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:69.80, Y:12.99, Z:0.00 [[ 8.82247232e-01 -4.70786386e-01 0.00000000e+00 6.98020507e+01] [ 4.70786386e-01 8.82247232e-01 0.00000000e+00 1.29923291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22358215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.807552018 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:69.83, Y:13.01, Z:0.00 [[ 8.82802145e-01 -4.69745008e-01 0.00000000e+00 6.98312896e+01] [ 4.69745008e-01 8.82802145e-01 0.00000000e+00 1.30075290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17794191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.837552018 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:69.86, Y:13.02, Z:0.00 [[ 8.83216916e-01 -4.68964688e-01 0.00000000e+00 6.98600271e+01] [ 4.68964688e-01 8.83216916e-01 0.00000000e+00 1.30227008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16758260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.867552018 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:69.89, Y:13.04, Z:0.00 [[ 8.83984472e-01 -4.67516261e-01 0.00000000e+00 6.98894603e+01] [ 4.67516261e-01 8.83984472e-01 0.00000000e+00 1.30381899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50115908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.897552018 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:69.92, Y:13.05, Z:0.00 [[ 8.84503699e-01 -4.66533178e-01 0.00000000e+00 6.99157539e+01] [ 4.66533178e-01 8.84503699e-01 0.00000000e+00 1.30534156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74490814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.927552018 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:69.94, Y:13.07, Z:0.01 [[ 8.84210125e-01 -4.67089343e-01 0.00000000e+00 6.99449695e+01] [ 4.67089343e-01 8.84210125e-01 0.00000000e+00 1.30674406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50979881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.957552018 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:69.97, Y:13.08, Z:0.01 [[ 8.83995353e-01 -4.67495685e-01 0.00000000e+00 6.99742916e+01] [ 4.67495685e-01 8.83995353e-01 0.00000000e+00 1.30810046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25615858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.987552018 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:70.00, Y:13.09, Z:0.00 [[ 8.82118107e-01 -4.71028286e-01 0.00000000e+00 7.00032474e+01] [ 4.71028286e-01 8.82118107e-01 0.00000000e+00 1.30946670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95276440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01755201799999 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:70.03, Y:13.11, Z:0.00 [[ 8.81805123e-01 -4.71613957e-01 0.00000000e+00 7.00279363e+01] [ 4.71613957e-01 8.81805123e-01 0.00000000e+00 1.31058717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11733413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04755201799999 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:70.06, Y:13.12, Z:0.00 [[ 8.79140738e-01 -4.76562234e-01 0.00000000e+00 7.00606837e+01] [ 4.76562234e-01 8.79140738e-01 0.00000000e+00 1.31202756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88732200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07755201799999 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:70.09, Y:13.13, Z:0.00 [[ 8.78329608e-01 -4.78055541e-01 0.00000000e+00 7.00892227e+01] [ 4.78055541e-01 8.78329608e-01 0.00000000e+00 1.31333107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09087736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10755201799999 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:70.12, Y:13.15, Z:0.00 [[ 8.77943351e-01 -4.78764527e-01 0.00000000e+00 7.01200381e+01] [ 4.78764527e-01 8.77943351e-01 0.00000000e+00 1.31459514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36773449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.137552018 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:70.15, Y:13.16, Z:0.00 [[ 8.78027885e-01 -4.78609479e-01 0.00000000e+00 7.01493946e+01] [ 4.78609479e-01 8.78027885e-01 0.00000000e+00 1.31581385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36630362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.167552018 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:70.18, Y:13.17, Z:0.00 [[ 8.77887941e-01 -4.78866123e-01 0.00000000e+00 7.01789783e+01] [ 4.78866123e-01 8.77887941e-01 0.00000000e+00 1.31717161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36630362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.197552018 meters Centerline goodness : 0.991622 Centerline is valid? [True, True] Translation: X:70.21, Y:13.19, Z:-0.00 [[ 8.78349275e-01 -4.78019404e-01 0.00000000e+00 7.02090764e+01] [ 4.78019404e-01 8.78349275e-01 0.00000000e+00 1.31860774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39288822e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.227552018 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:70.24, Y:13.20, Z:0.00 [[ 8.79114154e-01 -4.76611272e-01 0.00000000e+00 7.02384476e+01] [ 4.76611272e-01 8.79114154e-01 0.00000000e+00 1.32010649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81594287e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.257552018 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:70.27, Y:13.22, Z:0.00 [[ 8.81743508e-01 -4.71729144e-01 0.00000000e+00 7.02691631e+01] [ 4.71729144e-01 8.81743508e-01 0.00000000e+00 1.32163994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86721784e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.287552018 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:70.30, Y:13.23, Z:0.00 [[ 8.83721292e-01 -4.68013545e-01 0.00000000e+00 7.02951373e+01] [ 4.68013545e-01 8.83721292e-01 0.00000000e+00 1.32286784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49231936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.317552018 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:70.33, Y:13.24, Z:0.00 [[ 8.83838927e-01 -4.67791353e-01 0.00000000e+00 7.03259084e+01] [ 4.67791353e-01 8.83838927e-01 0.00000000e+00 1.32436413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56784453e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.347552018 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:70.35, Y:13.26, Z:0.00 [[ 8.85727209e-01 -4.64206108e-01 0.00000000e+00 7.03526340e+01] [ 4.64206108e-01 8.85727209e-01 0.00000000e+00 1.32580873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32318299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37755201799999 meters Centerline goodness : 0.989636 Centerline is valid? [True, True] Translation: X:70.38, Y:13.27, Z:0.00 [[ 8.86082119e-01 -4.63528293e-01 0.00000000e+00 7.03815645e+01] [ 4.63528293e-01 8.86082119e-01 0.00000000e+00 1.32721477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05111440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40755201799999 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:70.41, Y:13.29, Z:0.00 [[ 8.86030426e-01 -4.63627096e-01 0.00000000e+00 7.04091429e+01] [ 4.63627096e-01 8.86030426e-01 0.00000000e+00 1.32867716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65099899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43755201799999 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:70.44, Y:13.30, Z:0.00 [[ 8.86527191e-01 -4.62676496e-01 0.00000000e+00 7.04384104e+01] [ 4.62676496e-01 8.86527191e-01 0.00000000e+00 1.32995259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02179538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46755201799999 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:70.47, Y:13.31, Z:0.00 [[ 8.86283121e-01 -4.63143853e-01 0.00000000e+00 7.04680484e+01] [ 4.63143853e-01 8.86283121e-01 0.00000000e+00 1.33133645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95471301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.497552018 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:70.50, Y:13.33, Z:0.00 [[ 8.85634713e-01 -4.64382552e-01 0.00000000e+00 7.04974769e+01] [ 4.64382552e-01 8.85634713e-01 0.00000000e+00 1.33288001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45576457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.527552018 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:70.53, Y:13.34, Z:-0.00 [[ 8.84769265e-01 -4.66029342e-01 0.00000000e+00 7.05269557e+01] [ 4.66029342e-01 8.84769265e-01 0.00000000e+00 1.33428303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68858375e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.557552018 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:70.56, Y:13.36, Z:-0.00 [[ 8.84075119e-01 -4.67344823e-01 0.00000000e+00 7.05559165e+01] [ 4.67344823e-01 8.84075119e-01 0.00000000e+00 1.33556540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62275715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.587552018 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:70.59, Y:13.37, Z:-0.00 [[ 8.82823030e-01 -4.69705756e-01 0.00000000e+00 7.05850908e+01] [ 4.69705756e-01 8.82823030e-01 0.00000000e+00 1.33696084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91539160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.617552018 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:70.61, Y:13.38, Z:-0.00 [[ 8.81477054e-01 -4.72226856e-01 0.00000000e+00 7.06143797e+01] [ 4.72226856e-01 8.81477054e-01 0.00000000e+00 1.33822130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67677629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.647552018 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:70.64, Y:13.40, Z:-0.00 [[ 8.80460210e-01 -4.74120046e-01 0.00000000e+00 7.06442708e+01] [ 4.74120046e-01 8.80460210e-01 0.00000000e+00 1.33958175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84624113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.677552018 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:70.67, Y:13.41, Z:-0.01 [[ 8.80238478e-01 -4.74531582e-01 0.00000000e+00 7.06739613e+01] [ 4.74531582e-01 8.80238478e-01 0.00000000e+00 1.34084864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21927577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.707552018 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:70.70, Y:13.42, Z:-0.00 [[ 8.78786587e-01 -4.77214978e-01 0.00000000e+00 7.07037142e+01] [ 4.77214978e-01 8.78786587e-01 0.00000000e+00 1.34225479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97677506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.737552018 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:70.73, Y:13.44, Z:-0.00 [[ 8.78082288e-01 -4.78509660e-01 0.00000000e+00 7.07323967e+01] [ 4.78509660e-01 8.78082288e-01 0.00000000e+00 1.34369293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91772922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76755201799999 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:70.76, Y:13.45, Z:-0.00 [[ 8.78197102e-01 -4.78298913e-01 0.00000000e+00 7.07602514e+01] [ 4.78298913e-01 8.78197102e-01 0.00000000e+00 1.34505371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93542810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79755201799999 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:70.79, Y:13.46, Z:-0.00 [[ 8.78946399e-01 -4.76920568e-01 0.00000000e+00 7.07896450e+01] [ 4.76920568e-01 8.78946399e-01 0.00000000e+00 1.34641403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04185304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82755201799999 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:70.82, Y:13.48, Z:-0.00 [[ 8.79571853e-01 -4.75766072e-01 0.00000000e+00 7.08164460e+01] [ 4.75766072e-01 8.79571853e-01 0.00000000e+00 1.34766803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54588639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85755201799999 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:70.85, Y:13.49, Z:-0.00 [[ 8.79667868e-01 -4.75588522e-01 0.00000000e+00 7.08462645e+01] [ 4.75588522e-01 8.79667868e-01 0.00000000e+00 1.34903156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55777021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.887552018 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:70.87, Y:13.51, Z:-0.00 [[ 8.79501704e-01 -4.75895738e-01 0.00000000e+00 7.08749623e+01] [ 4.75895738e-01 8.79501704e-01 0.00000000e+00 1.35051606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61609268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.917552018 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:70.90, Y:13.52, Z:-0.00 [[ 8.79271979e-01 -4.76320047e-01 0.00000000e+00 7.09036415e+01] [ 4.76320047e-01 8.79271979e-01 0.00000000e+00 1.35186843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58864191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.947552018 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:70.93, Y:13.53, Z:-0.00 [[ 8.78739752e-01 -4.77301213e-01 0.00000000e+00 7.09325870e+01] [ 4.77301213e-01 8.78739752e-01 0.00000000e+00 1.35318829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20392381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.977552018 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:70.96, Y:13.54, Z:-0.00 [[ 8.78255106e-01 -4.78192397e-01 0.00000000e+00 7.09613625e+01] [ 4.78192397e-01 8.78255106e-01 0.00000000e+00 1.35441500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29850413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.007552018 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:70.99, Y:13.56, Z:-0.00 [[ 8.77034520e-01 -4.80427362e-01 0.00000000e+00 7.09891104e+01] [ 4.80427362e-01 8.77034520e-01 0.00000000e+00 1.35556144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64463280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.037552018 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:71.02, Y:13.57, Z:-0.00 [[ 8.76333607e-01 -4.81704691e-01 0.00000000e+00 7.10190730e+01] [ 4.81704691e-01 8.76333607e-01 0.00000000e+00 1.35691363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14073618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.067552018 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:71.05, Y:13.58, Z:-0.00 [[ 8.75991808e-01 -4.82325981e-01 0.00000000e+00 7.10489221e+01] [ 4.82325981e-01 8.75991808e-01 0.00000000e+00 1.35833501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42006758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.097552018 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:71.08, Y:13.60, Z:-0.00 [[ 8.75939085e-01 -4.82421723e-01 0.00000000e+00 7.10758281e+01] [ 4.82421723e-01 8.75939085e-01 0.00000000e+00 1.35966359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92095578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12755201799999 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:71.11, Y:13.61, Z:-0.00 [[ 8.76803919e-01 -4.80848092e-01 0.00000000e+00 7.11050215e+01] [ 4.80848092e-01 8.76803919e-01 0.00000000e+00 1.36097930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44574088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15755201799999 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:71.13, Y:13.62, Z:-0.00 [[ 8.77319980e-01 -4.79905880e-01 0.00000000e+00 7.11343966e+01] [ 4.79905880e-01 8.77319980e-01 0.00000000e+00 1.36235033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13992149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18755201799999 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:71.16, Y:13.64, Z:-0.00 [[ 8.77846017e-01 -4.78942972e-01 0.00000000e+00 7.11625526e+01] [ 4.78942972e-01 8.77846017e-01 0.00000000e+00 1.36366559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04077208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21755201799999 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:71.19, Y:13.65, Z:-0.00 [[ 8.78414370e-01 -4.77899774e-01 0.00000000e+00 7.11938641e+01] [ 4.77899774e-01 8.78414370e-01 0.00000000e+00 1.36493204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64537649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.247552018 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:71.22, Y:13.66, Z:-0.00 [[ 8.78082209e-01 -4.78509805e-01 0.00000000e+00 7.12227202e+01] [ 4.78509805e-01 8.78082209e-01 0.00000000e+00 1.36625043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35071750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.277552018 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:71.25, Y:13.68, Z:-0.00 [[ 8.78577766e-01 -4.77599319e-01 0.00000000e+00 7.12528876e+01] [ 4.77599319e-01 8.78577766e-01 0.00000000e+00 1.36754880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67814757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.307552018 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:71.28, Y:13.69, Z:-0.00 [[ 8.79338113e-01 -4.76197946e-01 0.00000000e+00 7.12820257e+01] [ 4.76197946e-01 8.79338113e-01 0.00000000e+00 1.36886895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73051254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.337552018 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:71.31, Y:13.70, Z:-0.00 [[ 8.80024379e-01 -4.74928512e-01 0.00000000e+00 7.13083661e+01] [ 4.74928512e-01 8.80024379e-01 0.00000000e+00 1.36996994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29888505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.367552018 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:71.34, Y:13.71, Z:-0.00 [[ 8.79204145e-01 -4.76445245e-01 0.00000000e+00 7.13405918e+01] [ 4.76445245e-01 8.79204145e-01 0.00000000e+00 1.37141685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67921144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.397552018 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:71.37, Y:13.73, Z:-0.00 [[ 8.79344149e-01 -4.76186799e-01 0.00000000e+00 7.13687543e+01] [ 4.76186799e-01 8.79344149e-01 0.00000000e+00 1.37269884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00938504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.427552018 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:71.40, Y:13.74, Z:-0.00 [[ 8.79434175e-01 -4.76020517e-01 0.00000000e+00 7.13982848e+01] [ 4.76020517e-01 8.79434175e-01 0.00000000e+00 1.37408517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99534697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.457552018 meters Centerline goodness : 0.989681 Centerline is valid? [True, True] Translation: X:71.42, Y:13.75, Z:0.00 [[ 8.81171806e-01 -4.72796201e-01 0.00000000e+00 7.14227309e+01] [ 4.72796201e-01 8.81171806e-01 0.00000000e+00 1.37514561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69430499e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.487552018 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:71.45, Y:13.77, Z:-0.00 [[ 8.80333841e-01 -4.74354643e-01 0.00000000e+00 7.14526717e+01] [ 4.74354643e-01 8.80333841e-01 0.00000000e+00 1.37652453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89706456e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51755201799999 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:71.48, Y:13.78, Z:-0.00 [[ 8.79645191e-01 -4.75630464e-01 0.00000000e+00 7.14834157e+01] [ 4.75630464e-01 8.79645191e-01 0.00000000e+00 1.37761647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66413072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54755201799999 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:71.52, Y:13.79, Z:-0.01 [[ 8.78041839e-01 -4.78583878e-01 0.00000000e+00 7.15156157e+01] [ 4.78583878e-01 8.78041839e-01 0.00000000e+00 1.37903098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31367028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57755201799999 meters Centerline goodness : 0.990449 Centerline is valid? [True, True] Translation: X:71.54, Y:13.80, Z:-0.00 [[ 8.78844361e-01 -4.77108571e-01 0.00000000e+00 7.15424008e+01] [ 4.77108571e-01 8.78844361e-01 0.00000000e+00 1.38015490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94052592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60755201799999 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:71.57, Y:13.82, Z:0.00 [[ 8.78852871e-01 -4.77092895e-01 0.00000000e+00 7.15719597e+01] [ 4.77092895e-01 8.78852871e-01 0.00000000e+00 1.38156013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41323099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.637552018 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:71.60, Y:13.83, Z:0.00 [[ 8.79148785e-01 -4.76547389e-01 0.00000000e+00 7.16000640e+01] [ 4.76547389e-01 8.79148785e-01 0.00000000e+00 1.38292057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60984499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.667552018 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:71.63, Y:13.84, Z:0.00 [[ 8.79299962e-01 -4.76268388e-01 0.00000000e+00 7.16307698e+01] [ 4.76268388e-01 8.79299962e-01 0.00000000e+00 1.38421601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93328833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.697552018 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:71.66, Y:13.85, Z:-0.00 [[ 8.78926075e-01 -4.76958021e-01 0.00000000e+00 7.16646227e+01] [ 4.76958021e-01 8.78926075e-01 0.00000000e+00 1.38538424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47169143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.727552018 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:71.69, Y:13.86, Z:0.00 [[ 8.80081873e-01 -4.74821964e-01 0.00000000e+00 7.16908402e+01] [ 4.74821964e-01 8.80081873e-01 0.00000000e+00 1.38642359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55313133e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.757552018 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:71.72, Y:13.88, Z:-0.00 [[ 8.79998440e-01 -4.74976573e-01 0.00000000e+00 7.17204396e+01] [ 4.74976573e-01 8.79998440e-01 0.00000000e+00 1.38773179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45662908e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.787552018 meters Centerline goodness : 0.991605 Centerline is valid? [True, True] Translation: X:71.75, Y:13.89, Z:-0.00 [[ 8.79621566e-01 -4.75674155e-01 0.00000000e+00 7.17545910e+01] [ 4.75674155e-01 8.79621566e-01 0.00000000e+00 1.38934198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06934806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.817552018 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:71.78, Y:13.91, Z:-0.00 [[ 8.79997739e-01 -4.74977872e-01 0.00000000e+00 7.17848356e+01] [ 4.74977872e-01 8.79997739e-01 0.00000000e+00 1.39069181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04353093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.847552018 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:71.81, Y:13.92, Z:-0.00 [[ 8.81540444e-01 -4.72108511e-01 0.00000000e+00 7.18109075e+01] [ 4.72108511e-01 8.81540444e-01 0.00000000e+00 1.39153669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40794377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87755201799999 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:71.85, Y:13.93, Z:-0.00 [[ 8.80757708e-01 -4.73567164e-01 0.00000000e+00 7.18452666e+01] [ 4.73567164e-01 8.80757708e-01 0.00000000e+00 1.39283278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67802316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90755201799999 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:71.87, Y:13.94, Z:-0.01 [[ 8.80642187e-01 -4.73781953e-01 0.00000000e+00 7.18734959e+01] [ 4.73781953e-01 8.80642187e-01 0.00000000e+00 1.39403864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82002700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93755201799999 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:71.90, Y:13.95, Z:-0.01 [[ 8.80288802e-01 -4.74438221e-01 0.00000000e+00 7.19027062e+01] [ 4.74438221e-01 8.80288802e-01 0.00000000e+00 1.39542922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35049981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96755201799999 meters Centerline goodness : 0.990132 Centerline is valid? [True, True] Translation: X:71.92, Y:13.97, Z:-0.00 [[ 8.80814583e-01 -4.73461371e-01 0.00000000e+00 7.19243889e+01] [ 4.73461371e-01 8.80814583e-01 0.00000000e+00 1.39665032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24176728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.997552018 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:71.95, Y:13.98, Z:-0.00 [[ 8.81018644e-01 -4.73081545e-01 0.00000000e+00 7.19546363e+01] [ 4.73081545e-01 8.81018644e-01 0.00000000e+00 1.39802694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79539431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.027552018 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:71.99, Y:13.99, Z:-0.00 [[ 8.79719549e-01 -4.75492918e-01 0.00000000e+00 7.19870060e+01] [ 4.75492918e-01 8.79719549e-01 0.00000000e+00 1.39946620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78764103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.057552018 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:72.02, Y:14.01, Z:-0.00 [[ 8.79753976e-01 -4.75429219e-01 0.00000000e+00 7.20164874e+01] [ 4.75429219e-01 8.79753976e-01 0.00000000e+00 1.40084455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78764103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.087552018 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:72.05, Y:14.02, Z:-0.01 [[ 8.79622435e-01 -4.75672546e-01 0.00000000e+00 7.20462770e+01] [ 4.75672546e-01 8.79622435e-01 0.00000000e+00 1.40176079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02711912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.117552018 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:72.07, Y:14.03, Z:-0.01 [[ 8.80499812e-01 -4.74046497e-01 0.00000000e+00 7.20723296e+01] [ 4.74046497e-01 8.80499812e-01 0.00000000e+00 1.40275810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63421177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.147552018 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:72.11, Y:14.04, Z:-0.01 [[ 8.79643077e-01 -4.75634373e-01 0.00000000e+00 7.21056636e+01] [ 4.75634373e-01 8.79643077e-01 0.00000000e+00 1.40424392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32844785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.177552018 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:72.13, Y:14.06, Z:-0.01 [[ 8.79376399e-01 -4.76127240e-01 0.00000000e+00 7.21348225e+01] [ 4.76127240e-01 8.79376399e-01 0.00000000e+00 1.40565014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48627107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.207552018 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:72.17, Y:14.07, Z:-0.00 [[ 8.79349230e-01 -4.76177415e-01 0.00000000e+00 7.21655776e+01] [ 4.76177415e-01 8.79349230e-01 0.00000000e+00 1.40695073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81045671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.237552018 meters Centerline goodness : 0.991046 Centerline is valid? [True, True] Translation: X:72.20, Y:14.08, Z:-0.01 [[ 8.79652529e-01 -4.75616892e-01 0.00000000e+00 7.21957928e+01] [ 4.75616892e-01 8.79652529e-01 0.00000000e+00 1.40790416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58725936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26755201799999 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:72.22, Y:14.09, Z:-0.01 [[ 8.78980300e-01 -4.76858084e-01 0.00000000e+00 7.22213296e+01] [ 4.76858084e-01 8.78980300e-01 0.00000000e+00 1.40922580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90516393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29755201799999 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:72.26, Y:14.10, Z:-0.00 [[ 8.80437179e-01 -4.74162814e-01 0.00000000e+00 7.22567295e+01] [ 4.74162814e-01 8.80437179e-01 0.00000000e+00 1.41026804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47533565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32755201799999 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:72.29, Y:14.12, Z:-0.00 [[ 8.80273573e-01 -4.74466475e-01 0.00000000e+00 7.22864026e+01] [ 4.74466475e-01 8.80273573e-01 0.00000000e+00 1.41160079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55496393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35755201799999 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:72.31, Y:14.13, Z:-0.00 [[ 8.80296460e-01 -4.74424011e-01 0.00000000e+00 7.23149142e+01] [ 4.74424011e-01 8.80296460e-01 0.00000000e+00 1.41299400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41066335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.387552018 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:72.34, Y:14.14, Z:-0.00 [[ 8.80523560e-01 -4.74002385e-01 0.00000000e+00 7.23441955e+01] [ 4.74002385e-01 8.80523560e-01 0.00000000e+00 1.41430161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70263521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.417552018 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:72.37, Y:14.16, Z:-0.00 [[ 8.80757571e-01 -4.73567421e-01 0.00000000e+00 7.23744504e+01] [ 4.73567421e-01 8.80757571e-01 0.00000000e+00 1.41554440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00089896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.447552018 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:72.41, Y:14.17, Z:-0.01 [[ 8.80587585e-01 -4.73883430e-01 0.00000000e+00 7.24064931e+01] [ 4.73883430e-01 8.80587585e-01 0.00000000e+00 1.41660559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26499959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.477552018 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:72.43, Y:14.18, Z:-0.01 [[ 8.81177189e-01 -4.72786169e-01 0.00000000e+00 7.24287068e+01] [ 4.72786169e-01 8.81177189e-01 0.00000000e+00 1.41756763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22794398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.507552018 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:72.46, Y:14.19, Z:-0.01 [[ 8.79058892e-01 -4.76713189e-01 0.00000000e+00 7.24612088e+01] [ 4.76713189e-01 8.79058892e-01 0.00000000e+00 1.41921045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67866149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.537552018 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:72.49, Y:14.21, Z:-0.01 [[ 8.77757062e-01 -4.79105980e-01 0.00000000e+00 7.24909676e+01] [ 4.79105980e-01 8.77757062e-01 0.00000000e+00 1.42065441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54517552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.567552018 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:72.52, Y:14.22, Z:-0.01 [[ 8.76886911e-01 -4.80696730e-01 0.00000000e+00 7.25208615e+01] [ 4.80696730e-01 8.76886911e-01 0.00000000e+00 1.42201034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27897575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.597552018 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:72.55, Y:14.23, Z:-0.01 [[ 8.76559177e-01 -4.81294098e-01 0.00000000e+00 7.25484112e+01] [ 4.81294098e-01 8.76559177e-01 0.00000000e+00 1.42329742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22861683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62755201799999 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:72.58, Y:14.25, Z:-0.00 [[ 8.75430090e-01 -4.83344760e-01 0.00000000e+00 7.25769506e+01] [ 4.83344760e-01 8.75430090e-01 0.00000000e+00 1.42466896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28214019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65755201799999 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:72.61, Y:14.26, Z:-0.00 [[ 8.74992821e-01 -4.84135894e-01 0.00000000e+00 7.26069029e+01] [ 4.84135894e-01 8.74992821e-01 0.00000000e+00 1.42605483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43895233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68755201799999 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:72.64, Y:14.27, Z:-0.00 [[ 8.74486106e-01 -4.85050565e-01 0.00000000e+00 7.26354414e+01] [ 4.85050565e-01 8.74486106e-01 0.00000000e+00 1.42727591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16294401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71755201799999 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:72.66, Y:14.29, Z:-0.00 [[ 8.73979659e-01 -4.85962504e-01 0.00000000e+00 7.26645823e+01] [ 4.85962504e-01 8.73979659e-01 0.00000000e+00 1.42856497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01618123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.747552018 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:72.69, Y:14.30, Z:-0.00 [[ 8.73497967e-01 -4.86827795e-01 0.00000000e+00 7.26942323e+01] [ 4.86827795e-01 8.73497967e-01 0.00000000e+00 1.42995612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81429341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.777552018 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:72.72, Y:14.31, Z:-0.00 [[ 8.73194381e-01 -4.87372110e-01 0.00000000e+00 7.27222980e+01] [ 4.87372110e-01 8.73194381e-01 0.00000000e+00 1.43132759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20871671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.807552018 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:72.75, Y:14.33, Z:-0.00 [[ 8.73103054e-01 -4.87535699e-01 0.00000000e+00 7.27506966e+01] [ 4.87535699e-01 8.73103054e-01 0.00000000e+00 1.43275981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22512150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.837552018 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:72.78, Y:14.34, Z:-0.00 [[ 8.73002842e-01 -4.87715119e-01 0.00000000e+00 7.27805945e+01] [ 4.87715119e-01 8.73002842e-01 0.00000000e+00 1.43412626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81890413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.867552018 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:72.81, Y:14.35, Z:-0.00 [[ 8.72798569e-01 -4.88080586e-01 0.00000000e+00 7.28107029e+01] [ 4.88080586e-01 8.72798569e-01 0.00000000e+00 1.43545714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57536983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.897552018 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:72.84, Y:14.37, Z:-0.00 [[ 8.72154269e-01 -4.89230959e-01 0.00000000e+00 7.28407190e+01] [ 4.89230959e-01 8.72154269e-01 0.00000000e+00 1.43669395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94884072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.927552018 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:72.87, Y:14.38, Z:-0.01 [[ 8.71920505e-01 -4.89647457e-01 0.00000000e+00 7.28688802e+01] [ 4.89647457e-01 8.71920505e-01 0.00000000e+00 1.43799010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04460518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.957552018 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:72.89, Y:14.39, Z:-0.01 [[ 8.72197630e-01 -4.89153651e-01 0.00000000e+00 7.28942837e+01] [ 4.89153651e-01 8.72197630e-01 0.00000000e+00 1.43929046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.98245073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.987552018 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:72.93, Y:14.41, Z:-0.01 [[ 8.71091592e-01 -4.91120594e-01 0.00000000e+00 7.29270901e+01] [ 4.91120594e-01 8.71091592e-01 0.00000000e+00 1.44089061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09847130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01755201799999 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:72.96, Y:14.42, Z:-0.01 [[ 8.71086986e-01 -4.91128765e-01 0.00000000e+00 7.29564376e+01] [ 4.91128765e-01 8.71086986e-01 0.00000000e+00 1.44224553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09784038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04755201799999 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:72.99, Y:14.44, Z:-0.01 [[ 8.71849385e-01 -4.89774080e-01 0.00000000e+00 7.29875822e+01] [ 4.89774080e-01 8.71849385e-01 0.00000000e+00 1.44361307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72209504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07755201799999 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:73.02, Y:14.45, Z:-0.01 [[ 8.72479115e-01 -4.88651404e-01 0.00000000e+00 7.30157700e+01] [ 4.88651404e-01 8.72479115e-01 0.00000000e+00 1.44500950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87355437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10755201799999 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:73.05, Y:14.46, Z:-0.01 [[ 8.73587414e-01 -4.86667268e-01 0.00000000e+00 7.30451645e+01] [ 4.86667268e-01 8.73587414e-01 0.00000000e+00 1.44645674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06538686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.137552018 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:73.07, Y:14.48, Z:-0.01 [[ 8.74728750e-01 -4.84612849e-01 0.00000000e+00 7.30729294e+01] [ 4.84612849e-01 8.74728750e-01 0.00000000e+00 1.44797799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64570426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.167552018 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:73.10, Y:14.50, Z:-0.01 [[ 8.78242490e-01 -4.78215568e-01 0.00000000e+00 7.31008805e+01] [ 4.78215568e-01 8.78242490e-01 0.00000000e+00 1.44956047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53785396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.197552018 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:73.13, Y:14.51, Z:-0.01 [[ 8.79846015e-01 -4.75258866e-01 0.00000000e+00 7.31306519e+01] [ 4.75258866e-01 8.79846015e-01 0.00000000e+00 1.45106241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84977007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.227552018 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:73.16, Y:14.53, Z:-0.01 [[ 8.83027889e-01 -4.69320516e-01 0.00000000e+00 7.31596308e+01] [ 4.69320516e-01 8.83027889e-01 0.00000000e+00 1.45252409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93092999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.257552018 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:73.19, Y:14.54, Z:-0.01 [[ 8.83866842e-01 -4.67738607e-01 0.00000000e+00 7.31884453e+01] [ 4.67738607e-01 8.83866842e-01 0.00000000e+00 1.45400878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88843720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.287552018 meters Centerline goodness : 0.991901 Centerline is valid? [True, True] Translation: X:73.22, Y:14.56, Z:-0.01 [[ 8.84339122e-01 -4.66845067e-01 0.00000000e+00 7.32172817e+01] [ 4.66845067e-01 8.84339122e-01 0.00000000e+00 1.45554771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54984256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.317552018 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:73.24, Y:14.57, Z:-0.01 [[ 8.86127689e-01 -4.63441171e-01 0.00000000e+00 7.32444479e+01] [ 4.63441171e-01 8.86127689e-01 0.00000000e+00 1.45704369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04822132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.347552018 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:73.27, Y:14.58, Z:-0.01 [[ 8.86370700e-01 -4.62976222e-01 0.00000000e+00 7.32719036e+01] [ 4.62976222e-01 8.86370700e-01 0.00000000e+00 1.45841885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30914048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37755201799999 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:73.30, Y:14.60, Z:-0.01 [[ 8.86158190e-01 -4.63382846e-01 0.00000000e+00 7.33022367e+01] [ 4.63382846e-01 8.86158190e-01 0.00000000e+00 1.45984043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49691797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40755201799999 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:73.33, Y:14.61, Z:-0.01 [[ 8.86411107e-01 -4.62898854e-01 0.00000000e+00 7.33308758e+01] [ 4.62898854e-01 8.86411107e-01 0.00000000e+00 1.46105393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16094577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43755201799999 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:73.36, Y:14.62, Z:-0.01 [[ 8.86268208e-01 -4.63172390e-01 0.00000000e+00 7.33601634e+01] [ 4.63172390e-01 8.86268208e-01 0.00000000e+00 1.46243480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32096906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46755201799999 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:73.39, Y:14.64, Z:-0.01 [[ 8.86525373e-01 -4.62679978e-01 0.00000000e+00 7.33882330e+01] [ 4.62679978e-01 8.86525373e-01 0.00000000e+00 1.46379204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66108802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.497552018 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:73.42, Y:14.65, Z:-0.01 [[ 8.85701497e-01 -4.64255165e-01 0.00000000e+00 7.34158626e+01] [ 4.64255165e-01 8.85701497e-01 0.00000000e+00 1.46520466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43727846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.527552018 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:73.45, Y:14.66, Z:-0.01 [[ 8.85506851e-01 -4.64626320e-01 0.00000000e+00 7.34472328e+01] [ 4.64626320e-01 8.85506851e-01 0.00000000e+00 1.46646470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99297086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.557552018 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:73.48, Y:14.68, Z:-0.01 [[ 8.84332086e-01 -4.66858397e-01 0.00000000e+00 7.34768984e+01] [ 4.66858397e-01 8.84332086e-01 0.00000000e+00 1.46766638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47620563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.587552018 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:73.50, Y:14.69, Z:-0.01 [[ 8.83816681e-01 -4.67833383e-01 0.00000000e+00 7.35049525e+01] [ 4.67833383e-01 8.83816681e-01 0.00000000e+00 1.46894631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76061832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.617552018 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:73.54, Y:14.70, Z:-0.01 [[ 8.83320733e-01 -4.68769114e-01 0.00000000e+00 7.35357345e+01] [ 4.68769114e-01 8.83320733e-01 0.00000000e+00 1.47029037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14290308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.647552018 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:73.56, Y:14.72, Z:-0.01 [[ 8.81895381e-01 -4.71445158e-01 0.00000000e+00 7.35636881e+01] [ 4.71445158e-01 8.81895381e-01 0.00000000e+00 1.47175777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47027227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.677552018 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:73.59, Y:14.73, Z:-0.01 [[ 8.81216106e-01 -4.72713629e-01 0.00000000e+00 7.35916223e+01] [ 4.72713629e-01 8.81216106e-01 0.00000000e+00 1.47309771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97646162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.707552018 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:73.62, Y:14.74, Z:-0.01 [[ 8.80522776e-01 -4.74003841e-01 0.00000000e+00 7.36204203e+01] [ 4.74003841e-01 8.80522776e-01 0.00000000e+00 1.47438679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38164364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.737552018 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:73.65, Y:14.76, Z:-0.01 [[ 8.79532619e-01 -4.75838599e-01 0.00000000e+00 7.36504388e+01] [ 4.75838599e-01 8.79532619e-01 0.00000000e+00 1.47563698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.84147682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76755201799999 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:73.67, Y:14.77, Z:-0.01 [[ 8.75983013e-01 -4.82341954e-01 0.00000000e+00 7.36700285e+01] [ 4.82341954e-01 8.75983013e-01 0.00000000e+00 1.47701235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88282599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79755201799999 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:73.71, Y:14.78, Z:-0.01 [[ 8.77787302e-01 -4.79050574e-01 0.00000000e+00 7.37105962e+01] [ 4.79050574e-01 8.77787302e-01 0.00000000e+00 1.47807960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37479561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82755201799999 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:73.74, Y:14.79, Z:-0.01 [[ 8.77859554e-01 -4.78918160e-01 0.00000000e+00 7.37396549e+01] [ 4.78918160e-01 8.77859554e-01 0.00000000e+00 1.47942489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94556766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85755201799999 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:73.77, Y:14.81, Z:-0.01 [[ 8.77725636e-01 -4.79163550e-01 0.00000000e+00 7.37694475e+01] [ 4.79163550e-01 8.77725636e-01 0.00000000e+00 1.48082466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87165812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.887552018 meters Centerline goodness : 0.989896 Centerline is valid? [True, True] Translation: X:73.79, Y:14.82, Z:-0.01 [[ 8.78915230e-01 -4.76978006e-01 0.00000000e+00 7.37940489e+01] [ 4.76978006e-01 8.78915230e-01 0.00000000e+00 1.48193841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50203536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.917552018 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:73.83, Y:14.83, Z:-0.01 [[ 8.77176647e-01 -4.80167814e-01 0.00000000e+00 7.38254659e+01] [ 4.80167814e-01 8.77176647e-01 0.00000000e+00 1.48340093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00316523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.947552018 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:73.86, Y:14.85, Z:-0.01 [[ 8.76410969e-01 -4.81563925e-01 0.00000000e+00 7.38553956e+01] [ 4.81563925e-01 8.76410969e-01 0.00000000e+00 1.48480041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01566050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.977552018 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:73.88, Y:14.86, Z:-0.01 [[ 8.76245927e-01 -4.81864166e-01 0.00000000e+00 7.38837271e+01] [ 4.81864166e-01 8.76245927e-01 0.00000000e+00 1.48619214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01566050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.007552018 meters Centerline goodness : 0.991046 Centerline is valid? [True, True] Translation: X:73.91, Y:14.87, Z:-0.01 [[ 8.76236331e-01 -4.81881616e-01 0.00000000e+00 7.39103932e+01] [ 4.81881616e-01 8.76236331e-01 0.00000000e+00 1.48748145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00351495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.037552018 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:73.94, Y:14.89, Z:-0.01 [[ 8.74381989e-01 -4.85238228e-01 0.00000000e+00 7.39393809e+01] [ 4.85238228e-01 8.74381989e-01 0.00000000e+00 1.48898790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52510176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.067552018 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:73.97, Y:14.90, Z:-0.01 [[ 8.73651111e-01 -4.86552913e-01 0.00000000e+00 7.39676750e+01] [ 4.86552913e-01 8.73651111e-01 0.00000000e+00 1.49041259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41045566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.097552018 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:74.00, Y:14.92, Z:-0.01 [[ 8.72118894e-01 -4.89294016e-01 0.00000000e+00 7.39971707e+01] [ 4.89294016e-01 8.72118894e-01 0.00000000e+00 1.49190630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50118305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12755201799999 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:74.03, Y:14.93, Z:-0.01 [[ 8.70380696e-01 -4.92379371e-01 0.00000000e+00 7.40255893e+01] [ 4.92379371e-01 8.70380696e-01 0.00000000e+00 1.49311736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02271719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15755201799999 meters Centerline goodness : 0.991360 Centerline is valid? [True, True] Translation: X:74.05, Y:14.95, Z:-0.01 [[ 8.69193180e-01 -4.94472664e-01 0.00000000e+00 7.40543233e+01] [ 4.94472664e-01 8.69193180e-01 0.00000000e+00 1.49453979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08627128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18755201799999 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:74.08, Y:14.96, Z:-0.01 [[ 8.68140153e-01 -4.96319126e-01 0.00000000e+00 7.40807770e+01] [ 4.96319126e-01 8.68140153e-01 0.00000000e+00 1.49604441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11016758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21755201799999 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:74.11, Y:14.98, Z:-0.01 [[ 8.67460972e-01 -4.97505239e-01 0.00000000e+00 7.41088872e+01] [ 4.97505239e-01 8.67460972e-01 0.00000000e+00 1.49762131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.65682422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.247552018 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:74.14, Y:14.99, Z:-0.01 [[ 8.67855289e-01 -4.96817067e-01 0.00000000e+00 7.41366420e+01] [ 4.96817067e-01 8.67855289e-01 0.00000000e+00 1.49910425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01545103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.277552018 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:74.17, Y:15.01, Z:-0.01 [[ 8.67557923e-01 -4.97336155e-01 0.00000000e+00 7.41663069e+01] [ 4.97336155e-01 8.67557923e-01 0.00000000e+00 1.50066469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13620485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.307552018 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:74.19, Y:15.02, Z:-0.01 [[ 8.67108657e-01 -4.98119039e-01 0.00000000e+00 7.41926286e+01] [ 4.98119039e-01 8.67108657e-01 0.00000000e+00 1.50219343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92935404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.337552018 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:74.22, Y:15.04, Z:-0.01 [[ 8.66490369e-01 -4.99193790e-01 0.00000000e+00 7.42222160e+01] [ 4.99193790e-01 8.66490369e-01 0.00000000e+00 1.50367739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12759708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.367552018 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:74.25, Y:15.05, Z:-0.01 [[ 8.65991454e-01 -5.00058797e-01 0.00000000e+00 7.42507332e+01] [ 5.00058797e-01 8.65991454e-01 0.00000000e+00 1.50512236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.15731882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.397552018 meters Centerline goodness : 0.991375 Centerline is valid? [True, True] Translation: X:74.28, Y:15.07, Z:-0.01 [[ 8.65020153e-01 -5.01737117e-01 0.00000000e+00 7.42798144e+01] [ 5.01737117e-01 8.65020153e-01 0.00000000e+00 1.50674275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79586454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.427552018 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:74.31, Y:15.08, Z:-0.01 [[ 8.64801880e-01 -5.02113242e-01 0.00000000e+00 7.43080216e+01] [ 5.02113242e-01 8.64801880e-01 0.00000000e+00 1.50823359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70883443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.457552018 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:74.34, Y:15.10, Z:-0.01 [[ 8.64533994e-01 -5.02574346e-01 0.00000000e+00 7.43352509e+01] [ 5.02574346e-01 8.64533994e-01 0.00000000e+00 1.50986112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92198316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.487552018 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:74.36, Y:15.11, Z:-0.01 [[ 8.64746031e-01 -5.02209420e-01 0.00000000e+00 7.43648078e+01] [ 5.02209420e-01 8.64746031e-01 0.00000000e+00 1.51143337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68288388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51755201799999 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:74.39, Y:15.13, Z:-0.01 [[ 8.65255105e-01 -5.01331830e-01 0.00000000e+00 7.43945652e+01] [ 5.01331830e-01 8.65255105e-01 0.00000000e+00 1.51295090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07748208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54755201799999 meters Centerline goodness : 0.991475 Centerline is valid? [True, True] Translation: X:74.42, Y:15.15, Z:-0.01 [[ 8.67100920e-01 -4.98132507e-01 0.00000000e+00 7.44219359e+01] [ 4.98132507e-01 8.67100920e-01 0.00000000e+00 1.51465666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15064591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57755201799999 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:74.45, Y:15.16, Z:-0.01 [[ 8.68534119e-01 -4.95629382e-01 0.00000000e+00 7.44502220e+01] [ 4.95629382e-01 8.68534119e-01 0.00000000e+00 1.51626213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18690758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60755201799999 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:74.48, Y:15.18, Z:-0.01 [[ 8.69830900e-01 -4.93349982e-01 0.00000000e+00 7.44786902e+01] [ 4.93349982e-01 8.69830900e-01 0.00000000e+00 1.51800177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14732670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.637552018 meters Centerline goodness : 0.990592 Centerline is valid? [True, True] Translation: X:74.50, Y:15.20, Z:-0.01 [[ 8.75103846e-01 -4.83935180e-01 0.00000000e+00 7.45018858e+01] [ 4.83935180e-01 8.75103846e-01 0.00000000e+00 1.51971444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02944317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.667552018 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:74.53, Y:15.21, Z:-0.01 [[ 8.76292897e-01 -4.81778744e-01 0.00000000e+00 7.45321944e+01] [ 4.81778744e-01 8.76292897e-01 0.00000000e+00 1.52149427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12683126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.697552018 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:74.56, Y:15.23, Z:-0.01 [[ 8.80014244e-01 -4.74947291e-01 0.00000000e+00 7.45559312e+01] [ 4.74947291e-01 8.80014244e-01 0.00000000e+00 1.52317207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10730334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.727552018 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:74.59, Y:15.25, Z:-0.01 [[ 8.80743119e-01 -4.73594297e-01 0.00000000e+00 7.45856839e+01] [ 4.73594297e-01 8.80743119e-01 0.00000000e+00 1.52480884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09054996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.757552018 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:74.61, Y:15.26, Z:-0.01 [[ 8.82319165e-01 -4.70651560e-01 0.00000000e+00 7.46135667e+01] [ 4.70651560e-01 8.82319165e-01 0.00000000e+00 1.52631183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01707374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.787552018 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:74.64, Y:15.28, Z:-0.01 [[ 8.83863800e-01 -4.67744356e-01 0.00000000e+00 7.46374366e+01] [ 4.67744356e-01 8.83863800e-01 0.00000000e+00 1.52781934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63910134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.817552018 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:74.67, Y:15.30, Z:-0.01 [[ 8.85827393e-01 -4.64014903e-01 0.00000000e+00 7.46663068e+01] [ 4.64014903e-01 8.85827393e-01 0.00000000e+00 1.52968359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37702085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.847552018 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:74.70, Y:15.31, Z:-0.01 [[ 8.86693013e-01 -4.62358627e-01 0.00000000e+00 7.46961409e+01] [ 4.62358627e-01 8.86693013e-01 0.00000000e+00 1.53114295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07465010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87755201799999 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:74.73, Y:15.33, Z:-0.01 [[ 8.87796139e-01 -4.60236912e-01 0.00000000e+00 7.47259390e+01] [ 4.60236912e-01 8.87796139e-01 0.00000000e+00 1.53252728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02940002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90755201799999 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:74.75, Y:15.34, Z:-0.01 [[ 8.87150896e-01 -4.61479454e-01 0.00000000e+00 7.47539874e+01] [ 4.61479454e-01 8.87150896e-01 0.00000000e+00 1.53392785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18512723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93755201799999 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:74.78, Y:15.35, Z:-0.01 [[ 8.86917494e-01 -4.61927872e-01 0.00000000e+00 7.47833769e+01] [ 4.61927872e-01 8.86917494e-01 0.00000000e+00 1.53524566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35600043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96755201799999 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:74.81, Y:15.37, Z:-0.01 [[ 8.85071048e-01 -4.65455948e-01 0.00000000e+00 7.48101322e+01] [ 4.65455948e-01 8.85071048e-01 0.00000000e+00 1.53657905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36492350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.997552018 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:74.84, Y:15.38, Z:-0.01 [[ 8.84920492e-01 -4.65742121e-01 0.00000000e+00 7.48392481e+01] [ 4.65742121e-01 8.84920492e-01 0.00000000e+00 1.53786458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39901855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.027552018 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:74.87, Y:15.39, Z:-0.01 [[ 8.84644643e-01 -4.66265864e-01 0.00000000e+00 7.48696638e+01] [ 4.66265864e-01 8.84644643e-01 0.00000000e+00 1.53922247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37276826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.057552018 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:74.90, Y:15.41, Z:-0.01 [[ 8.83617291e-01 -4.68209871e-01 0.00000000e+00 7.48989774e+01] [ 4.68209871e-01 8.83617291e-01 0.00000000e+00 1.54053385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34125389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.087552018 meters Centerline goodness : 0.991943 Centerline is valid? [True, True] Translation: X:74.93, Y:15.42, Z:-0.01 [[ 8.82976858e-01 -4.69416518e-01 0.00000000e+00 7.49281903e+01] [ 4.69416518e-01 8.82976858e-01 0.00000000e+00 1.54194718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28832172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.117552018 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:74.96, Y:15.43, Z:-0.01 [[ 8.81694927e-01 -4.71819940e-01 0.00000000e+00 7.49565909e+01] [ 4.71819940e-01 8.81694927e-01 0.00000000e+00 1.54328218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05110551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.147552018 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:74.99, Y:15.45, Z:-0.01 [[ 8.81146063e-01 -4.72844176e-01 0.00000000e+00 7.49872491e+01] [ 4.72844176e-01 8.81146063e-01 0.00000000e+00 1.54463533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58931687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.177552018 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:75.02, Y:15.46, Z:-0.01 [[ 8.81127997e-01 -4.72877842e-01 0.00000000e+00 7.50151718e+01] [ 4.72877842e-01 8.81127997e-01 0.00000000e+00 1.54581695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38790817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.207552018 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:75.05, Y:15.47, Z:-0.01 [[ 8.77785848e-01 -4.79053239e-01 0.00000000e+00 7.50465431e+01] [ 4.79053239e-01 8.77785848e-01 0.00000000e+00 1.54715837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24888445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.237552018 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:75.08, Y:15.49, Z:-0.01 [[ 8.76582214e-01 -4.81252140e-01 0.00000000e+00 7.50753921e+01] [ 4.81252140e-01 8.76582214e-01 0.00000000e+00 1.54850482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44632827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26755201799999 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:75.10, Y:15.50, Z:-0.02 [[ 8.74498369e-01 -4.85028456e-01 0.00000000e+00 7.51024848e+01] [ 4.85028456e-01 8.74498369e-01 0.00000000e+00 1.54989463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51942142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29755201799999 meters Centerline goodness : 0.991988 Centerline is valid? [True, True] Translation: X:75.13, Y:15.51, Z:-0.02 [[ 8.71071783e-01 -4.91155727e-01 0.00000000e+00 7.51330680e+01] [ 4.91155727e-01 8.71071783e-01 0.00000000e+00 1.55120626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70743198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32755201799999 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:75.16, Y:15.53, Z:-0.02 [[ 8.69243386e-01 -4.94384401e-01 0.00000000e+00 7.51612342e+01] [ 4.94384401e-01 8.69243386e-01 0.00000000e+00 1.55260164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70264723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35755201799999 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:75.18, Y:15.54, Z:-0.02 [[ 8.66263122e-01 -4.99588034e-01 0.00000000e+00 7.51786402e+01] [ 4.99588034e-01 8.66263122e-01 0.00000000e+00 1.55417020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83160857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.387552018 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:75.22, Y:15.56, Z:-0.02 [[ 8.66817499e-01 -4.98625534e-01 0.00000000e+00 7.52180475e+01] [ 4.98625534e-01 8.66817499e-01 0.00000000e+00 1.55554194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61010555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.417552018 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:75.25, Y:15.57, Z:-0.02 [[ 8.65979482e-01 -5.00079530e-01 0.00000000e+00 7.52465282e+01] [ 5.00079530e-01 8.65979482e-01 0.00000000e+00 1.55704807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65633309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.447552018 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:75.28, Y:15.59, Z:-0.02 [[ 8.65684213e-01 -5.00590495e-01 0.00000000e+00 7.52757771e+01] [ 5.00590495e-01 8.65684213e-01 0.00000000e+00 1.55852514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82540754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.477552018 meters Centerline goodness : 0.991783 Centerline is valid? [True, True] Translation: X:75.30, Y:15.60, Z:-0.02 [[ 8.65947291e-01 -5.00135271e-01 0.00000000e+00 7.53039356e+01] [ 5.00135271e-01 8.65947291e-01 0.00000000e+00 1.56002553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82715460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.507552018 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:75.33, Y:15.62, Z:-0.02 [[ 8.65446490e-01 -5.01001369e-01 0.00000000e+00 7.53322298e+01] [ 5.01001369e-01 8.65446490e-01 0.00000000e+00 1.56165298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68641724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.537552018 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:75.36, Y:15.63, Z:-0.02 [[ 8.65619357e-01 -5.00702636e-01 0.00000000e+00 7.53606808e+01] [ 5.00702636e-01 8.65619357e-01 0.00000000e+00 1.56325008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79089964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.567552018 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:75.39, Y:15.65, Z:-0.02 [[ 8.65359822e-01 -5.01151054e-01 0.00000000e+00 7.53878371e+01] [ 5.01151054e-01 8.65359822e-01 0.00000000e+00 1.56500621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78208665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.597552018 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:75.41, Y:15.67, Z:-0.02 [[ 8.64476190e-01 -5.02673768e-01 0.00000000e+00 7.54146809e+01] [ 5.02673768e-01 8.64476190e-01 0.00000000e+00 1.56668196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72696014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62755201799999 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:75.44, Y:15.68, Z:-0.02 [[ 8.63621344e-01 -5.04141026e-01 0.00000000e+00 7.54412488e+01] [ 5.04141026e-01 8.63621344e-01 0.00000000e+00 1.56832691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60197676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65755201799999 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:75.47, Y:15.70, Z:-0.02 [[ 8.63620897e-01 -5.04141792e-01 0.00000000e+00 7.54686826e+01] [ 5.04141792e-01 8.63620897e-01 0.00000000e+00 1.56993104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54259172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68755201799999 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:75.49, Y:15.72, Z:-0.02 [[ 8.64268808e-01 -5.03030246e-01 0.00000000e+00 7.54943724e+01] [ 5.03030246e-01 8.64268808e-01 0.00000000e+00 1.57184717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71397011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71755201799999 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:75.52, Y:15.73, Z:-0.02 [[ 8.64757088e-01 -5.02190382e-01 0.00000000e+00 7.55225374e+01] [ 5.02190382e-01 8.64757088e-01 0.00000000e+00 1.57346842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67975948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.747552018 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:75.55, Y:15.75, Z:-0.02 [[ 8.65323399e-01 -5.01213942e-01 0.00000000e+00 7.55505050e+01] [ 5.01213942e-01 8.65323399e-01 0.00000000e+00 1.57510667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76688670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.777552018 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:75.57, Y:15.77, Z:-0.02 [[ 8.65895837e-01 -5.00224349e-01 0.00000000e+00 7.55741627e+01] [ 5.00224349e-01 8.65895837e-01 0.00000000e+00 1.57682585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03024555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.807552018 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:75.61, Y:15.78, Z:-0.02 [[ 8.66790204e-01 -4.98672982e-01 0.00000000e+00 7.56052133e+01] [ 4.98672982e-01 8.66790204e-01 0.00000000e+00 1.57837755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78906221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.837552018 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:75.63, Y:15.80, Z:-0.02 [[ 8.67511042e-01 -4.97417925e-01 0.00000000e+00 7.56312327e+01] [ 4.97417925e-01 8.67511042e-01 0.00000000e+00 1.58008397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06198901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.867552018 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:75.66, Y:15.82, Z:-0.02 [[ 8.67457919e-01 -4.97510561e-01 0.00000000e+00 7.56611241e+01] [ 4.97510561e-01 8.67457919e-01 0.00000000e+00 1.58159088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06198901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.897552018 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:75.69, Y:15.83, Z:-0.02 [[ 8.67598637e-01 -4.97265125e-01 0.00000000e+00 7.56871634e+01] [ 4.97265125e-01 8.67598637e-01 0.00000000e+00 1.58315658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26587780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.927552018 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:75.72, Y:15.85, Z:-0.02 [[ 8.68269428e-01 -4.96092935e-01 0.00000000e+00 7.57159078e+01] [ 4.96092935e-01 8.68269428e-01 0.00000000e+00 1.58476456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29745856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.957552018 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:75.75, Y:15.86, Z:-0.02 [[ 8.69332396e-01 -4.94227868e-01 0.00000000e+00 7.57454414e+01] [ 4.94227868e-01 8.69332396e-01 0.00000000e+00 1.58634394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09339701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.987552018 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:75.77, Y:15.88, Z:-0.02 [[ 8.70792148e-01 -4.91651334e-01 0.00000000e+00 7.57713589e+01] [ 4.91651334e-01 8.70792148e-01 0.00000000e+00 1.58810607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95959970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01755201799999 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:75.80, Y:15.90, Z:-0.02 [[ 8.71343560e-01 -4.90673416e-01 0.00000000e+00 7.57978603e+01] [ 4.90673416e-01 8.71343560e-01 0.00000000e+00 1.58953016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52640583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04755201799999 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:75.83, Y:15.91, Z:-0.02 [[ 8.71176995e-01 -4.90969087e-01 0.00000000e+00 7.58271314e+01] [ 4.90969087e-01 8.71176995e-01 0.00000000e+00 1.59117022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67370998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07755201799999 meters Centerline goodness : 0.990919 Centerline is valid? [True, True] Translation: X:75.85, Y:15.93, Z:-0.02 [[ 8.70855228e-01 -4.91539594e-01 0.00000000e+00 7.58546987e+01] [ 4.91539594e-01 8.70855228e-01 0.00000000e+00 1.59257269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69319738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10755201799999 meters Centerline goodness : 0.991120 Centerline is valid? [True, True] Translation: X:75.88, Y:15.94, Z:-0.02 [[ 8.70868951e-01 -4.91515280e-01 0.00000000e+00 7.58820027e+01] [ 4.91515280e-01 8.70868951e-01 0.00000000e+00 1.59398252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75639745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.137552018 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:75.91, Y:15.95, Z:-0.02 [[ 8.70410195e-01 -4.92327221e-01 0.00000000e+00 7.59123098e+01] [ 4.92327221e-01 8.70410195e-01 0.00000000e+00 1.59549602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87926361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.167552018 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:75.94, Y:15.97, Z:-0.02 [[ 8.69491074e-01 -4.93948653e-01 0.00000000e+00 7.59429452e+01] [ 4.93948653e-01 8.69491074e-01 0.00000000e+00 1.59709368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35754098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.197552018 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:75.97, Y:15.98, Z:-0.02 [[ 8.70188973e-01 -4.92718125e-01 0.00000000e+00 7.59704808e+01] [ 4.92718125e-01 8.70188973e-01 0.00000000e+00 1.59839032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08465583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.227552018 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:76.00, Y:16.00, Z:-0.02 [[ 8.69072654e-01 -4.94684468e-01 0.00000000e+00 7.60004179e+01] [ 4.94684468e-01 8.69072654e-01 0.00000000e+00 1.59997872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46510551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.257552018 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:76.03, Y:16.01, Z:-0.02 [[ 8.69303572e-01 -4.94278564e-01 0.00000000e+00 7.60264428e+01] [ 4.94278564e-01 8.69303572e-01 0.00000000e+00 1.60137356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01626073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.287552018 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:76.06, Y:16.03, Z:-0.02 [[ 8.69016054e-01 -4.94783890e-01 0.00000000e+00 7.60590582e+01] [ 4.94783890e-01 8.69016054e-01 0.00000000e+00 1.60294688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33023696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.317552018 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:76.08, Y:16.04, Z:-0.02 [[ 8.70263017e-01 -4.92587333e-01 0.00000000e+00 7.60825944e+01] [ 4.92587333e-01 8.70263017e-01 0.00000000e+00 1.60405259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98566726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.347552018 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:76.11, Y:16.06, Z:-0.02 [[ 8.69952123e-01 -4.93136192e-01 0.00000000e+00 7.61145721e+01] [ 4.93136192e-01 8.69952123e-01 0.00000000e+00 1.60559624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17598208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37755201799999 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:76.14, Y:16.07, Z:-0.02 [[ 8.70181154e-01 -4.92731935e-01 0.00000000e+00 7.61416900e+01] [ 4.92731935e-01 8.70181154e-01 0.00000000e+00 1.60699790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09518092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40755201799999 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:76.17, Y:16.09, Z:-0.02 [[ 8.70048738e-01 -4.92965713e-01 0.00000000e+00 7.61720617e+01] [ 4.92965713e-01 8.70048738e-01 0.00000000e+00 1.60851982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23512381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43755201799999 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:76.20, Y:16.10, Z:-0.02 [[ 8.70118373e-01 -4.92842791e-01 0.00000000e+00 7.62020776e+01] [ 4.92842791e-01 8.70118373e-01 0.00000000e+00 1.60996532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34045519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46755201799999 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:76.23, Y:16.12, Z:-0.02 [[ 8.69183287e-01 -4.94490054e-01 0.00000000e+00 7.62316151e+01] [ 4.94490054e-01 8.69183287e-01 0.00000000e+00 1.61155717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42340636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.497552018 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:76.26, Y:16.13, Z:-0.02 [[ 8.69444368e-01 -4.94030860e-01 0.00000000e+00 7.62577223e+01] [ 4.94030860e-01 8.69444368e-01 0.00000000e+00 1.61290811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28295196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.527552018 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:76.29, Y:16.14, Z:-0.03 [[ 8.69309591e-01 -4.94267978e-01 0.00000000e+00 7.62874037e+01] [ 4.94267978e-01 8.69309591e-01 0.00000000e+00 1.61441188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51309342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.557552018 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:76.31, Y:16.16, Z:-0.03 [[ 8.68272302e-01 -4.96087904e-01 0.00000000e+00 7.63141681e+01] [ 4.96087904e-01 8.68272302e-01 0.00000000e+00 1.61588144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65581085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.587552018 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:76.34, Y:16.17, Z:-0.03 [[ 8.68192647e-01 -4.96227294e-01 0.00000000e+00 7.63440576e+01] [ 4.96227294e-01 8.68192647e-01 0.00000000e+00 1.61722719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62148180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.617552018 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:76.37, Y:16.19, Z:-0.03 [[ 8.67455305e-01 -4.97515119e-01 0.00000000e+00 7.63741200e+01] [ 4.97515119e-01 8.67455305e-01 0.00000000e+00 1.61866913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79016433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.647552018 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:76.40, Y:16.20, Z:-0.03 [[ 8.67005664e-01 -4.98298282e-01 0.00000000e+00 7.64031479e+01] [ 4.98298282e-01 8.67005664e-01 0.00000000e+00 1.62021287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79580588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.677552018 meters Centerline goodness : 0.991362 Centerline is valid? [True, True] Translation: X:76.43, Y:16.22, Z:-0.03 [[ 8.67841748e-01 -4.96840719e-01 0.00000000e+00 7.64304305e+01] [ 4.96840719e-01 8.67841748e-01 0.00000000e+00 1.62157380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59577205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.707552018 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:76.46, Y:16.23, Z:-0.03 [[ 8.68178804e-01 -4.96251512e-01 0.00000000e+00 7.64594909e+01] [ 4.96251512e-01 8.68178804e-01 0.00000000e+00 1.62321213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63451819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.737552018 meters Centerline goodness : 0.990903 Centerline is valid? [True, True] Translation: X:76.49, Y:16.25, Z:-0.02 [[ 8.69209961e-01 -4.94443165e-01 0.00000000e+00 7.64862196e+01] [ 4.94443165e-01 8.69209961e-01 0.00000000e+00 1.62466378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47090080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76755201799999 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:76.52, Y:16.26, Z:-0.03 [[ 8.69644954e-01 -4.93677682e-01 0.00000000e+00 7.65155134e+01] [ 4.93677682e-01 8.69644954e-01 0.00000000e+00 1.62631273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63431805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79755201799999 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:76.54, Y:16.28, Z:-0.03 [[ 8.70024906e-01 -4.93007772e-01 0.00000000e+00 7.65419183e+01] [ 4.93007772e-01 8.70024906e-01 0.00000000e+00 1.62775027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72968874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82755201799999 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:76.57, Y:16.29, Z:-0.02 [[ 8.71017963e-01 -4.91251165e-01 0.00000000e+00 7.65675253e+01] [ 4.91251165e-01 8.71017963e-01 0.00000000e+00 1.62915861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30677309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85755201799999 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:76.60, Y:16.31, Z:-0.03 [[ 8.71596229e-01 -4.90224453e-01 0.00000000e+00 7.65983660e+01] [ 4.90224453e-01 8.71596229e-01 0.00000000e+00 1.63094142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61354287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.887552018 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:76.63, Y:16.32, Z:-0.03 [[ 8.71548923e-01 -4.90308551e-01 0.00000000e+00 7.66266057e+01] [ 4.90308551e-01 8.71548923e-01 0.00000000e+00 1.63246480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59580480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.917552018 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:76.65, Y:16.34, Z:-0.03 [[ 8.71658896e-01 -4.90113016e-01 0.00000000e+00 7.66529811e+01] [ 4.90113016e-01 8.71658896e-01 0.00000000e+00 1.63389058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80537282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.947552018 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:76.68, Y:16.35, Z:-0.02 [[ 8.72270018e-01 -4.89024555e-01 0.00000000e+00 7.66801002e+01] [ 4.89024555e-01 8.72270018e-01 0.00000000e+00 1.63520348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42237050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.977552018 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:76.71, Y:16.37, Z:-0.03 [[ 8.71987591e-01 -4.89527977e-01 0.00000000e+00 7.67090329e+01] [ 4.89527977e-01 8.71987591e-01 0.00000000e+00 1.63671976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51974309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.007552018 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:76.74, Y:16.38, Z:-0.03 [[ 8.71072784e-01 -4.91153953e-01 0.00000000e+00 7.67402238e+01] [ 4.91153953e-01 8.71072784e-01 0.00000000e+00 1.63836675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87824085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.037552018 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:76.77, Y:16.40, Z:-0.03 [[ 8.70763715e-01 -4.91701691e-01 0.00000000e+00 7.67702381e+01] [ 4.91701691e-01 8.70763715e-01 0.00000000e+00 1.63983208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83402988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.067552018 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:76.80, Y:16.41, Z:-0.03 [[ 8.70901229e-01 -4.91458086e-01 0.00000000e+00 7.67981288e+01] [ 4.91458086e-01 8.70901229e-01 0.00000000e+00 1.64107979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73278950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.097552018 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:76.83, Y:16.43, Z:-0.03 [[ 8.70355036e-01 -4.92424726e-01 0.00000000e+00 7.68289047e+01] [ 4.92424726e-01 8.70355036e-01 0.00000000e+00 1.64260570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96756877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12755201799999 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:76.86, Y:16.44, Z:-0.03 [[ 8.69653684e-01 -4.93662304e-01 0.00000000e+00 7.68571612e+01] [ 4.93662304e-01 8.69653684e-01 0.00000000e+00 1.64409227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96580304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15755201799999 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:76.89, Y:16.46, Z:-0.03 [[ 8.69937935e-01 -4.93161221e-01 0.00000000e+00 7.68855448e+01] [ 4.93161221e-01 8.69937935e-01 0.00000000e+00 1.64560120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84070071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18755201799999 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:76.91, Y:16.47, Z:-0.03 [[ 8.70791192e-01 -4.91653028e-01 0.00000000e+00 7.69125767e+01] [ 4.91653028e-01 8.70791192e-01 0.00000000e+00 1.64693209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61465332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21755201799999 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:76.94, Y:16.49, Z:-0.03 [[ 8.70276963e-01 -4.92562695e-01 0.00000000e+00 7.69447180e+01] [ 4.92562695e-01 8.70276963e-01 0.00000000e+00 1.64860705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67349749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.247552018 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:76.97, Y:16.50, Z:-0.03 [[ 8.70721278e-01 -4.91776835e-01 0.00000000e+00 7.69732190e+01] [ 4.91776835e-01 8.70721278e-01 0.00000000e+00 1.65000653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59219933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.277552018 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:77.00, Y:16.51, Z:-0.03 [[ 8.70960651e-01 -4.91352770e-01 0.00000000e+00 7.70032260e+01] [ 4.91352770e-01 8.70960651e-01 0.00000000e+00 1.65138052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66931329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.307552018 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:77.03, Y:16.53, Z:-0.02 [[ 8.72087382e-01 -4.89350180e-01 0.00000000e+00 7.70302817e+01] [ 4.89350180e-01 8.72087382e-01 0.00000000e+00 1.65252796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41953423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.337552018 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:77.06, Y:16.54, Z:-0.03 [[ 8.71497131e-01 -4.90400601e-01 0.00000000e+00 7.70611885e+01] [ 4.90400601e-01 8.71497131e-01 0.00000000e+00 1.65414457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65588337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.367552018 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:77.09, Y:16.56, Z:-0.03 [[ 8.72009996e-01 -4.89488067e-01 0.00000000e+00 7.70883899e+01] [ 4.89488067e-01 8.72009996e-01 0.00000000e+00 1.65557106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62097671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.397552018 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:77.12, Y:16.57, Z:-0.03 [[ 8.71962520e-01 -4.89572633e-01 0.00000000e+00 7.71159814e+01] [ 4.89572633e-01 8.71962520e-01 0.00000000e+00 1.65712578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58479950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.427552018 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:77.15, Y:16.59, Z:-0.03 [[ 8.72604192e-01 -4.88428014e-01 0.00000000e+00 7.71464451e+01] [ 4.88428014e-01 8.72604192e-01 0.00000000e+00 1.65850827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65696752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.457552018 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:77.17, Y:16.60, Z:-0.03 [[ 8.73312627e-01 -4.87160194e-01 0.00000000e+00 7.71733344e+01] [ 4.87160194e-01 8.73312627e-01 0.00000000e+00 1.65975829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68084187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.487552018 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:77.20, Y:16.61, Z:-0.03 [[ 8.73068813e-01 -4.87597014e-01 0.00000000e+00 7.72046869e+01] [ 4.87597014e-01 8.73068813e-01 0.00000000e+00 1.66133538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78638137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51755201799999 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:77.23, Y:16.63, Z:-0.03 [[ 8.73147050e-01 -4.87456899e-01 0.00000000e+00 7.72308892e+01] [ 4.87456899e-01 8.73147050e-01 0.00000000e+00 1.66276084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95561055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54755201799999 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:77.25, Y:16.64, Z:-0.03 [[ 8.71550824e-01 -4.90305171e-01 0.00000000e+00 7.72521568e+01] [ 4.90305171e-01 8.71550824e-01 0.00000000e+00 1.66434092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01866221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57755201799999 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:77.29, Y:16.66, Z:-0.03 [[ 8.73489667e-01 -4.86842686e-01 0.00000000e+00 7.72898836e+01] [ 4.86842686e-01 8.73489667e-01 0.00000000e+00 1.66555012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92156926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60755201799999 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:77.32, Y:16.67, Z:-0.03 [[ 8.73614949e-01 -4.86617838e-01 0.00000000e+00 7.73204810e+01] [ 4.86617838e-01 8.73614949e-01 0.00000000e+00 1.66702966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89500976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.637552018 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:77.35, Y:16.69, Z:-0.03 [[ 8.73205749e-01 -4.87351742e-01 0.00000000e+00 7.73489187e+01] [ 4.87351742e-01 8.73205749e-01 0.00000000e+00 1.66853624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85221813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.667552018 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:77.38, Y:16.70, Z:-0.03 [[ 8.72587401e-01 -4.88458010e-01 0.00000000e+00 7.73777308e+01] [ 4.88458010e-01 8.72587401e-01 0.00000000e+00 1.66986828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80898627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.697552018 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:77.41, Y:16.71, Z:-0.03 [[ 8.72604842e-01 -4.88426851e-01 0.00000000e+00 7.74065418e+01] [ 4.88426851e-01 8.72604842e-01 0.00000000e+00 1.67121731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87038933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.727552018 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:77.43, Y:16.73, Z:-0.03 [[ 8.71219238e-01 -4.90894122e-01 0.00000000e+00 7.74340311e+01] [ 4.90894122e-01 8.71219238e-01 0.00000000e+00 1.67262030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76437567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.757552018 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:77.46, Y:16.74, Z:-0.03 [[ 8.70952182e-01 -4.91367781e-01 0.00000000e+00 7.74624497e+01] [ 4.91367781e-01 8.70952182e-01 0.00000000e+00 1.67398317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75893705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.787552018 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:77.49, Y:16.75, Z:-0.03 [[ 8.70840160e-01 -4.91566288e-01 0.00000000e+00 7.74914503e+01] [ 4.91566288e-01 8.70840160e-01 0.00000000e+00 1.67546635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75893705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.817552018 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:77.52, Y:16.77, Z:-0.03 [[ 8.70919586e-01 -4.91425554e-01 0.00000000e+00 7.75228432e+01] [ 4.91425554e-01 8.70919586e-01 0.00000000e+00 1.67684211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88042668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.847552018 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:77.55, Y:16.78, Z:-0.03 [[ 8.69799010e-01 -4.93406204e-01 0.00000000e+00 7.75515442e+01] [ 4.93406204e-01 8.69799010e-01 0.00000000e+00 1.67825256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74633638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87755201799999 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:77.58, Y:16.80, Z:-0.03 [[ 8.69932038e-01 -4.93171622e-01 0.00000000e+00 7.75798397e+01] [ 4.93171622e-01 8.69932038e-01 0.00000000e+00 1.67967266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74155552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90755201799999 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:77.61, Y:16.81, Z:-0.03 [[ 8.70401200e-01 -4.92343124e-01 0.00000000e+00 7.76090804e+01] [ 4.92343124e-01 8.70401200e-01 0.00000000e+00 1.68113368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76461108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93755201799999 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:77.64, Y:16.83, Z:-0.03 [[ 8.70803364e-01 -4.91631469e-01 0.00000000e+00 7.76372084e+01] [ 4.91631469e-01 8.70803364e-01 0.00000000e+00 1.68253243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85445872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96755201799999 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:77.67, Y:16.84, Z:-0.03 [[ 8.71223603e-01 -4.90886375e-01 0.00000000e+00 7.76667370e+01] [ 4.90886375e-01 8.71223603e-01 0.00000000e+00 1.68399951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84639015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.997552018 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:77.69, Y:16.85, Z:-0.03 [[ 8.73350156e-01 -4.87092913e-01 0.00000000e+00 7.76947877e+01] [ 4.87092913e-01 8.73350156e-01 0.00000000e+00 1.68536336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95223019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.027552018 meters Centerline goodness : 0.992069 Centerline is valid? [True, True] Translation: X:77.72, Y:16.87, Z:-0.03 [[ 8.73303801e-01 -4.87176016e-01 0.00000000e+00 7.77219655e+01] [ 4.87176016e-01 8.73303801e-01 0.00000000e+00 1.68694659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77592928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.057552018 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:77.75, Y:16.88, Z:-0.03 [[ 8.75129406e-01 -4.83888957e-01 0.00000000e+00 7.77502140e+01] [ 4.83888957e-01 8.75129406e-01 0.00000000e+00 1.68842783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94996663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.087552018 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:77.78, Y:16.90, Z:-0.03 [[ 8.75910266e-01 -4.82474047e-01 0.00000000e+00 7.77790261e+01] [ 4.82474047e-01 8.75910266e-01 0.00000000e+00 1.68993751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02934756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.117552018 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:77.80, Y:16.91, Z:-0.03 [[ 8.76410548e-01 -4.81564691e-01 0.00000000e+00 7.78046970e+01] [ 4.81564691e-01 8.76410548e-01 0.00000000e+00 1.69139473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87166833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.147552018 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:77.83, Y:16.93, Z:-0.03 [[ 8.77554592e-01 -4.79476734e-01 0.00000000e+00 7.78339510e+01] [ 4.79476734e-01 8.77554592e-01 0.00000000e+00 1.69290165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79787977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.177552018 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:77.86, Y:16.94, Z:-0.03 [[ 8.77804323e-01 -4.79019384e-01 0.00000000e+00 7.78639583e+01] [ 4.79019384e-01 8.77804323e-01 0.00000000e+00 1.69439427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93222284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.207552018 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:77.89, Y:16.96, Z:-0.03 [[ 8.77833337e-01 -4.78966212e-01 0.00000000e+00 7.78909486e+01] [ 4.78966212e-01 8.77833337e-01 0.00000000e+00 1.69586533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86390600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.237552018 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:77.92, Y:16.97, Z:-0.03 [[ 8.78014188e-01 -4.78634606e-01 0.00000000e+00 7.79205552e+01] [ 4.78634606e-01 8.78014188e-01 0.00000000e+00 1.69725832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01691186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26755201799999 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:77.94, Y:16.99, Z:-0.03 [[ 8.75544045e-01 -4.83138308e-01 0.00000000e+00 7.79386038e+01] [ 4.83138308e-01 8.75544045e-01 0.00000000e+00 1.69894413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85119806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29755201799999 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:77.98, Y:17.00, Z:-0.03 [[ 8.77075359e-01 -4.80352803e-01 0.00000000e+00 7.79765703e+01] [ 4.80352803e-01 8.77075359e-01 0.00000000e+00 1.70000980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94398814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32755201799999 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:78.00, Y:17.01, Z:-0.03 [[ 8.76387033e-01 -4.81607484e-01 0.00000000e+00 7.80042056e+01] [ 4.81607484e-01 8.76387033e-01 0.00000000e+00 1.70147751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01684834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35755201799999 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:78.04, Y:17.03, Z:-0.03 [[ 8.75911963e-01 -4.82470967e-01 0.00000000e+00 7.80352433e+01] [ 4.82470967e-01 8.75911963e-01 0.00000000e+00 1.70282123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03899853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.387552018 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:78.06, Y:17.04, Z:-0.03 [[ 8.75363988e-01 -4.83464465e-01 0.00000000e+00 7.80628900e+01] [ 4.83464465e-01 8.75363988e-01 0.00000000e+00 1.70418576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06857556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.417552018 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:78.09, Y:17.06, Z:-0.03 [[ 8.74602498e-01 -4.84840664e-01 0.00000000e+00 7.80917828e+01] [ 4.84840664e-01 8.74602498e-01 0.00000000e+00 1.70566016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02145821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.447552018 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:78.12, Y:17.07, Z:-0.03 [[ 8.73884782e-01 -4.86133097e-01 0.00000000e+00 7.81234611e+01] [ 4.86133097e-01 8.73884782e-01 0.00000000e+00 1.70696525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29259226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.477552018 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:78.15, Y:17.08, Z:-0.03 [[ 8.73371873e-01 -4.87053972e-01 0.00000000e+00 7.81529781e+01] [ 4.87053972e-01 8.73371873e-01 0.00000000e+00 1.70844198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31086330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.507552018 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:78.18, Y:17.10, Z:-0.03 [[ 8.73160794e-01 -4.87432281e-01 0.00000000e+00 7.81802907e+01] [ 4.87432281e-01 8.73160794e-01 0.00000000e+00 1.70987699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24708898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.537552018 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:78.21, Y:17.11, Z:-0.03 [[ 8.72704831e-01 -4.88248173e-01 0.00000000e+00 7.82087413e+01] [ 4.88248173e-01 8.72704831e-01 0.00000000e+00 1.71141212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14839453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.567552018 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:78.24, Y:17.13, Z:-0.03 [[ 8.73462421e-01 -4.86891568e-01 0.00000000e+00 7.82387566e+01] [ 4.86891568e-01 8.73462421e-01 0.00000000e+00 1.71271301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40776937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.597552018 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:78.27, Y:17.14, Z:-0.04 [[ 8.73113774e-01 -4.87516500e-01 0.00000000e+00 7.82699946e+01] [ 4.87516500e-01 8.73113774e-01 0.00000000e+00 1.71397639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55117056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62755201799999 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:78.30, Y:17.15, Z:-0.03 [[ 8.72367517e-01 -4.88850606e-01 0.00000000e+00 7.82954541e+01] [ 4.88850606e-01 8.72367517e-01 0.00000000e+00 1.71541365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33926947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65755201799999 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:78.32, Y:17.17, Z:-0.03 [[ 8.72810390e-01 -4.88059446e-01 0.00000000e+00 7.83247303e+01] [ 4.88059446e-01 8.72810390e-01 0.00000000e+00 1.71685878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36447235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68755201799999 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:78.35, Y:17.18, Z:-0.03 [[ 8.73226209e-01 -4.87315081e-01 0.00000000e+00 7.83542938e+01] [ 4.87315081e-01 8.73226209e-01 0.00000000e+00 1.71824538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41138182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71755201799999 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:78.38, Y:17.20, Z:-0.03 [[ 8.73530428e-01 -4.86769546e-01 0.00000000e+00 7.83833553e+01] [ 4.86769546e-01 8.73530428e-01 0.00000000e+00 1.71963039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40723625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.747552018 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:78.41, Y:17.21, Z:-0.03 [[ 8.74083566e-01 -4.85775586e-01 0.00000000e+00 7.84130815e+01] [ 4.85775586e-01 8.74083566e-01 0.00000000e+00 1.72100314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40494326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.777552018 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:78.44, Y:17.22, Z:-0.03 [[ 8.74956475e-01 -4.84201577e-01 0.00000000e+00 7.84402252e+01] [ 4.84201577e-01 8.74956475e-01 0.00000000e+00 1.72235461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46168294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.807552018 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:78.47, Y:17.24, Z:-0.03 [[ 8.75708441e-01 -4.82840270e-01 0.00000000e+00 7.84687371e+01] [ 4.82840270e-01 8.75708441e-01 0.00000000e+00 1.72385453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34401930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.837552018 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:78.50, Y:17.25, Z:-0.03 [[ 8.75993837e-01 -4.82322296e-01 0.00000000e+00 7.84963809e+01] [ 4.82322296e-01 8.75993837e-01 0.00000000e+00 1.72533013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24516534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.867552018 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:78.52, Y:17.27, Z:-0.03 [[ 8.77096463e-01 -4.80314267e-01 0.00000000e+00 7.85244714e+01] [ 4.80314267e-01 8.77096463e-01 0.00000000e+00 1.72667020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27769967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.897552018 meters Centerline goodness : 0.991414 Centerline is valid? [True, True] Translation: X:78.56, Y:17.28, Z:-0.03 [[ 8.78801685e-01 -4.77187172e-01 0.00000000e+00 7.85554063e+01] [ 4.77187172e-01 8.78801685e-01 0.00000000e+00 1.72795006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46110286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.927552018 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:78.58, Y:17.29, Z:-0.04 [[ 8.80153479e-01 -4.74689218e-01 0.00000000e+00 7.85844716e+01] [ 4.74689218e-01 8.80153479e-01 0.00000000e+00 1.72925843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53577405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.957552018 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:78.61, Y:17.31, Z:-0.04 [[ 8.81791203e-01 -4.71639984e-01 0.00000000e+00 7.86143483e+01] [ 4.71639984e-01 8.81791203e-01 0.00000000e+00 1.73056272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52659325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.987552018 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:78.63, Y:17.32, Z:-0.03 [[ 8.80591322e-01 -4.73876486e-01 0.00000000e+00 7.86311718e+01] [ 4.73876486e-01 8.80591322e-01 0.00000000e+00 1.73215632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34337986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01755201799999 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:78.67, Y:17.33, Z:-0.03 [[ 8.83908569e-01 -4.67659750e-01 0.00000000e+00 7.86709589e+01] [ 4.67659750e-01 8.83908569e-01 0.00000000e+00 1.73318040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40864811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04755201799999 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:78.69, Y:17.35, Z:-0.03 [[ 8.83917499e-01 -4.67642871e-01 0.00000000e+00 7.86915040e+01] [ 4.67642871e-01 8.83917499e-01 0.00000000e+00 1.73461055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10596451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07755201799999 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:78.73, Y:17.36, Z:-0.03 [[ 8.87962238e-01 -4.59916367e-01 0.00000000e+00 7.87333383e+01] [ 4.59916367e-01 8.87962238e-01 0.00000000e+00 1.73561551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32960173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10755201799999 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:78.75, Y:17.37, Z:-0.03 [[ 8.87050709e-01 -4.61672005e-01 0.00000000e+00 7.87509548e+01] [ 4.61672005e-01 8.87050709e-01 0.00000000e+00 1.73684272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21304774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.137552018 meters Centerline goodness : 0.991818 Centerline is valid? [True, True] Translation: X:78.78, Y:17.38, Z:-0.03 [[ 8.87774124e-01 -4.60279378e-01 0.00000000e+00 7.87820654e+01] [ 4.60279378e-01 8.87774124e-01 0.00000000e+00 1.73810786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23878445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.167552018 meters Centerline goodness : 0.990907 Centerline is valid? [True, True] Translation: X:78.82, Y:17.39, Z:-0.03 [[ 8.91426777e-01 -4.53164762e-01 0.00000000e+00 7.88245420e+01] [ 4.53164762e-01 8.91426777e-01 0.00000000e+00 1.73890934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47090852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.197552018 meters Centerline goodness : 0.990941 Centerline is valid? [True, True] Translation: X:78.86, Y:17.40, Z:-0.04 [[ 8.92053137e-01 -4.51930527e-01 0.00000000e+00 7.88566578e+01] [ 4.51930527e-01 8.92053137e-01 0.00000000e+00 1.73960763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60880447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.227552018 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:78.89, Y:17.41, Z:-0.04 [[ 8.91111920e-01 -4.53783590e-01 0.00000000e+00 7.88871643e+01] [ 4.53783590e-01 8.91111920e-01 0.00000000e+00 1.74080407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61201964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.257552018 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:78.90, Y:17.42, Z:-0.03 [[ 8.87335180e-01 -4.61125013e-01 0.00000000e+00 7.89034595e+01] [ 4.61125013e-01 8.87335180e-01 0.00000000e+00 1.74218925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45093255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.287552018 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:78.95, Y:17.43, Z:-0.04 [[ 8.89629268e-01 -4.56683442e-01 0.00000000e+00 7.89499964e+01] [ 4.56683442e-01 8.89629268e-01 0.00000000e+00 1.74252108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63169666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.317552018 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:78.98, Y:17.43, Z:-0.04 [[ 8.88203111e-01 -4.59451013e-01 0.00000000e+00 7.89824525e+01] [ 4.59451013e-01 8.88203111e-01 0.00000000e+00 1.74321622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62843213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.347552018 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:79.01, Y:17.44, Z:-0.04 [[ 8.86112025e-01 -4.63471119e-01 0.00000000e+00 7.90120835e+01] [ 4.63471119e-01 8.86112025e-01 0.00000000e+00 1.74438213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63267315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37755201799999 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:79.04, Y:17.45, Z:-0.04 [[ 8.84989531e-01 -4.65610922e-01 0.00000000e+00 7.90425751e+01] [ 4.65610922e-01 8.84989531e-01 0.00000000e+00 1.74538021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70283617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40755201799999 meters Centerline goodness : 0.991257 Centerline is valid? [True, True] Translation: X:79.06, Y:17.47, Z:-0.04 [[ 8.79779963e-01 -4.75381127e-01 0.00000000e+00 7.90558066e+01] [ 4.75381127e-01 8.79779963e-01 0.00000000e+00 1.74678598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56110142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43755201799999 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:79.10, Y:17.47, Z:-0.04 [[ 8.82208217e-01 -4.70859492e-01 0.00000000e+00 7.91047418e+01] [ 4.70859492e-01 8.82208217e-01 0.00000000e+00 1.74703135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61198413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46755201799999 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:79.13, Y:17.48, Z:-0.04 [[ 8.80232347e-01 -4.74542954e-01 0.00000000e+00 7.91328757e+01] [ 4.74542954e-01 8.80232347e-01 0.00000000e+00 1.74842360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57242474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.497552018 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:79.15, Y:17.50, Z:-0.03 [[ 8.75390413e-01 -4.83416617e-01 0.00000000e+00 7.91485515e+01] [ 4.83416617e-01 8.75390413e-01 0.00000000e+00 1.74964976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47095300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.527552018 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:79.18, Y:17.51, Z:-0.03 [[ 8.75209019e-01 -4.83744946e-01 0.00000000e+00 7.91799643e+01] [ 4.83744946e-01 8.75209019e-01 0.00000000e+00 1.75087413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47074171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.557552018 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:79.21, Y:17.52, Z:-0.04 [[ 8.74856323e-01 -4.84382508e-01 0.00000000e+00 7.92110364e+01] [ 4.84382508e-01 8.74856323e-01 0.00000000e+00 1.75210428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51336312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.587552018 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:79.24, Y:17.53, Z:-0.04 [[ 8.74012128e-01 -4.85904105e-01 0.00000000e+00 7.92437164e+01] [ 4.85904105e-01 8.74012128e-01 0.00000000e+00 1.75298388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63499257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.617552018 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:79.29, Y:17.54, Z:-0.04 [[ 8.77148637e-01 -4.80218981e-01 0.00000000e+00 7.92887345e+01] [ 4.80218981e-01 8.77148637e-01 0.00000000e+00 1.75381978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71487700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.647552018 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:79.32, Y:17.55, Z:-0.04 [[ 8.75611946e-01 -4.83015237e-01 0.00000000e+00 7.93178999e+01] [ 4.83015237e-01 8.75611946e-01 0.00000000e+00 1.75513971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71873251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.677552018 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:79.35, Y:17.57, Z:-0.04 [[ 8.75370948e-01 -4.83451862e-01 0.00000000e+00 7.93457416e+01] [ 4.83451862e-01 8.75370948e-01 0.00000000e+00 1.75662003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71873251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.707552018 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:79.36, Y:17.58, Z:-0.04 [[ 8.69413743e-01 -4.94084753e-01 0.00000000e+00 7.93614281e+01] [ 4.94084753e-01 8.69413743e-01 0.00000000e+00 1.75783292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80734933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.737552018 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:79.39, Y:17.59, Z:-0.04 [[ 8.68330599e-01 -4.95985858e-01 0.00000000e+00 7.93913965e+01] [ 4.95985858e-01 8.68330599e-01 0.00000000e+00 1.75897210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89177305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76755201799999 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:79.42, Y:17.60, Z:-0.04 [[ 8.66549090e-01 -4.99091850e-01 0.00000000e+00 7.94233107e+01] [ 4.99091850e-01 8.66549090e-01 0.00000000e+00 1.75980139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94394594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79755201799999 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:79.45, Y:17.61, Z:-0.04 [[ 8.65880882e-01 -5.00250236e-01 0.00000000e+00 7.94534627e+01] [ 5.00250236e-01 8.65880882e-01 0.00000000e+00 1.76108871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89963967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82755201799999 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:79.48, Y:17.62, Z:-0.04 [[ 8.65512476e-01 -5.00887366e-01 0.00000000e+00 7.94829690e+01] [ 5.00887366e-01 8.65512476e-01 0.00000000e+00 1.76233974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85728800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85755201799999 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:79.51, Y:17.63, Z:-0.04 [[ 8.65841207e-01 -5.00318903e-01 0.00000000e+00 7.95148667e+01] [ 5.00318903e-01 8.65841207e-01 0.00000000e+00 1.76346580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83325743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.887552018 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:79.54, Y:17.65, Z:-0.04 [[ 8.66471434e-01 -4.99226656e-01 0.00000000e+00 7.95435060e+01] [ 4.99226656e-01 8.66471434e-01 0.00000000e+00 1.76467812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82737736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.917552018 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:79.57, Y:17.66, Z:-0.04 [[ 8.67872255e-01 -4.96787429e-01 0.00000000e+00 7.95740786e+01] [ 4.96787429e-01 8.67872255e-01 0.00000000e+00 1.76571345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86756826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.947552018 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:79.60, Y:17.67, Z:-0.04 [[ 8.68662451e-01 -4.95404426e-01 0.00000000e+00 7.96034243e+01] [ 4.95404426e-01 8.68662451e-01 0.00000000e+00 1.76699725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85167592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.977552018 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:79.63, Y:17.68, Z:-0.04 [[ 8.69514531e-01 -4.93907359e-01 0.00000000e+00 7.96332534e+01] [ 4.93907359e-01 8.69514531e-01 0.00000000e+00 1.76834247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81292367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.007552018 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:79.66, Y:17.70, Z:-0.04 [[ 8.70454293e-01 -4.92249250e-01 0.00000000e+00 7.96625593e+01] [ 4.92249250e-01 8.70454293e-01 0.00000000e+00 1.76967375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73457671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.037552018 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:79.69, Y:17.71, Z:-0.04 [[ 8.71433227e-01 -4.90514150e-01 0.00000000e+00 7.96926993e+01] [ 4.90514150e-01 8.71433227e-01 0.00000000e+00 1.77077885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71283326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.067552018 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:79.72, Y:17.72, Z:-0.04 [[ 8.72076267e-01 -4.89369988e-01 0.00000000e+00 7.97249778e+01] [ 4.89369988e-01 8.72076267e-01 0.00000000e+00 1.77179529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88557861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.097552018 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:79.75, Y:17.73, Z:-0.04 [[ 8.71793596e-01 -4.89873377e-01 0.00000000e+00 7.97538607e+01] [ 4.89873377e-01 8.71793596e-01 0.00000000e+00 1.77308442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89860146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12755201799999 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:79.78, Y:17.74, Z:-0.04 [[ 8.71684198e-01 -4.90068015e-01 0.00000000e+00 7.97832551e+01] [ 4.90068015e-01 8.71684198e-01 0.00000000e+00 1.77433805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91352108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15755201799999 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:79.81, Y:17.75, Z:-0.04 [[ 8.71392711e-01 -4.90586123e-01 0.00000000e+00 7.98137951e+01] [ 4.90586123e-01 8.71392711e-01 0.00000000e+00 1.77513541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92156858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18755201799999 meters Centerline goodness : 0.991686 Centerline is valid? [True, True] Translation: X:79.84, Y:17.76, Z:-0.04 [[ 8.71538476e-01 -4.90327121e-01 0.00000000e+00 7.98438792e+01] [ 4.90327121e-01 8.71538476e-01 0.00000000e+00 1.77628875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91467468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21755201799999 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:79.87, Y:17.77, Z:-0.04 [[ 8.72420300e-01 -4.88756401e-01 0.00000000e+00 7.98738949e+01] [ 4.88756401e-01 8.72420300e-01 0.00000000e+00 1.77718086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80195290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.247552018 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:79.91, Y:17.78, Z:-0.03 [[ 8.73827279e-01 -4.86236452e-01 0.00000000e+00 7.99060036e+01] [ 4.86236452e-01 8.73827279e-01 0.00000000e+00 1.77832543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48746362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.277552018 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:79.94, Y:17.80, Z:-0.04 [[ 8.74843582e-01 -4.84405519e-01 0.00000000e+00 7.99368674e+01] [ 4.84405519e-01 8.74843582e-01 0.00000000e+00 1.77954905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52195128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.307552018 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:79.96, Y:17.81, Z:-0.04 [[ 8.75980478e-01 -4.82346557e-01 0.00000000e+00 7.99638017e+01] [ 4.82346557e-01 8.75980478e-01 0.00000000e+00 1.78058300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61337864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.337552018 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:79.99, Y:17.82, Z:-0.04 [[ 8.76325999e-01 -4.81718531e-01 0.00000000e+00 7.99900115e+01] [ 4.81718531e-01 8.76325999e-01 0.00000000e+00 1.78166435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59925069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.367552018 meters Centerline goodness : 0.990186 Centerline is valid? [True, True] Translation: X:80.02, Y:17.83, Z:-0.03 [[ 8.76655268e-01 -4.81119051e-01 0.00000000e+00 8.00194007e+01] [ 4.81119051e-01 8.76655268e-01 0.00000000e+00 1.78288871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33735933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.397552018 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:80.05, Y:17.84, Z:-0.04 [[ 8.76480439e-01 -4.81437473e-01 0.00000000e+00 8.00488162e+01] [ 4.81437473e-01 8.76480439e-01 0.00000000e+00 1.78366096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64137352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.427552018 meters Centerline goodness : 0.990673 Centerline is valid? [True, True] Translation: X:80.08, Y:17.85, Z:-0.04 [[ 8.75606822e-01 -4.83024526e-01 0.00000000e+00 8.00750813e+01] [ 4.83024526e-01 8.75606822e-01 0.00000000e+00 1.78462779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68212867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.457552018 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:80.10, Y:17.85, Z:-0.03 [[ 8.72340663e-01 -4.88898525e-01 0.00000000e+00 8.01016964e+01] [ 4.88898525e-01 8.72340663e-01 0.00000000e+00 1.78544229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28148579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.487552018 meters Centerline goodness : 0.989869 Centerline is valid? [True, True] Translation: X:80.13, Y:17.86, Z:-0.03 [[ 8.70656902e-01 -4.91890800e-01 0.00000000e+00 8.01271855e+01] [ 4.91890800e-01 8.70656902e-01 0.00000000e+00 1.78642953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24567332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51755201799999 meters Centerline goodness : 0.989961 Centerline is valid? [True, True] Translation: X:80.16, Y:17.87, Z:-0.04 [[ 8.68382154e-01 -4.95895589e-01 0.00000000e+00 8.01573799e+01] [ 4.95895589e-01 8.68382154e-01 0.00000000e+00 1.78699417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60969639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54755201799999 meters Centerline goodness : 0.989616 Centerline is valid? [True, True] Translation: X:80.18, Y:17.88, Z:-0.04 [[ 8.67039947e-01 -4.98238628e-01 0.00000000e+00 8.01835619e+01] [ 4.98238628e-01 8.67039947e-01 0.00000000e+00 1.78802126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70093176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57755201799999 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:80.21, Y:17.89, Z:-0.04 [[ 8.65839108e-01 -5.00322536e-01 0.00000000e+00 8.02096279e+01] [ 5.00322536e-01 8.65839108e-01 0.00000000e+00 1.78904482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74295410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60755201799999 meters Centerline goodness : 0.989604 Centerline is valid? [True, True] Translation: X:80.24, Y:17.90, Z:-0.04 [[ 8.65028839e-01 -5.01722142e-01 0.00000000e+00 8.02354730e+01] [ 5.01722142e-01 8.65028839e-01 0.00000000e+00 1.79006484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76928488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.637552018 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:80.26, Y:17.91, Z:-0.04 [[ 8.63278910e-01 -5.04727177e-01 0.00000000e+00 8.02594795e+01] [ 5.04727177e-01 8.63278910e-01 0.00000000e+00 1.79101778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80876082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.667552018 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:80.29, Y:17.92, Z:-0.04 [[ 8.63644217e-01 -5.04101841e-01 0.00000000e+00 8.02890016e+01] [ 5.04101841e-01 8.63644217e-01 0.00000000e+00 1.79201093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70995448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.697552018 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:80.31, Y:17.93, Z:-0.04 [[ 8.62718038e-01 -5.05685265e-01 0.00000000e+00 8.03118675e+01] [ 5.05685265e-01 8.62718038e-01 0.00000000e+00 1.79313379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60684303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.727552018 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:80.34, Y:17.94, Z:-0.04 [[ 8.62423692e-01 -5.06187095e-01 0.00000000e+00 8.03385954e+01] [ 5.06187095e-01 8.62423692e-01 0.00000000e+00 1.79391991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52043041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.757552018 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:80.36, Y:17.95, Z:-0.03 [[ 8.63918306e-01 -5.03631969e-01 0.00000000e+00 8.03579733e+01] [ 5.03631969e-01 8.63918306e-01 0.00000000e+00 1.79486350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98845187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.787552018 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:80.38, Y:17.96, Z:-0.03 [[ 8.64593723e-01 -5.02471585e-01 0.00000000e+00 8.03826020e+01] [ 5.02471585e-01 8.64593723e-01 0.00000000e+00 1.79596225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72662844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.817552018 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:80.41, Y:17.97, Z:-0.03 [[ 8.65191662e-01 -5.01441310e-01 0.00000000e+00 8.04078112e+01] [ 5.01441310e-01 8.65191662e-01 0.00000000e+00 1.79710310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64153604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.847552018 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:80.44, Y:17.98, Z:-0.03 [[ 8.63537340e-01 -5.04284903e-01 0.00000000e+00 8.04389439e+01] [ 5.04284903e-01 8.63537340e-01 0.00000000e+00 1.79836460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04644146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87755201799999 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:80.47, Y:17.99, Z:-0.03 [[ 8.63402041e-01 -5.04516516e-01 0.00000000e+00 8.04661015e+01] [ 5.04516516e-01 8.63402041e-01 0.00000000e+00 1.79913975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09291985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90755201799999 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:80.49, Y:18.00, Z:-0.03 [[ 8.63528024e-01 -5.04300855e-01 0.00000000e+00 8.04936772e+01] [ 5.04300855e-01 8.63528024e-01 0.00000000e+00 1.80023245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95678883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93755201799999 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:80.52, Y:18.01, Z:-0.03 [[ 8.61739676e-01 -5.07350698e-01 0.00000000e+00 8.05197497e+01] [ 5.07350698e-01 8.61739676e-01 0.00000000e+00 1.80117692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01046204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96755201799999 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:80.55, Y:18.02, Z:-0.03 [[ 8.60419814e-01 -5.09585854e-01 0.00000000e+00 8.05450296e+01] [ 5.09585854e-01 8.60419814e-01 0.00000000e+00 1.80234622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98098329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.997552018 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:80.58, Y:18.03, Z:-0.03 [[ 8.58416336e-01 -5.12953598e-01 0.00000000e+00 8.05751301e+01] [ 5.12953598e-01 8.58416336e-01 0.00000000e+00 1.80324077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02988331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.027552018 meters Centerline goodness : 0.992149 Centerline is valid? [True, True] Translation: X:80.59, Y:18.04, Z:-0.03 [[ 8.60464919e-01 -5.09509688e-01 0.00000000e+00 8.05897181e+01] [ 5.09509688e-01 8.60464919e-01 0.00000000e+00 1.80378440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04521161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.057552018 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:80.62, Y:18.05, Z:-0.03 [[ 8.56742144e-01 -5.15744994e-01 0.00000000e+00 8.06244703e+01] [ 5.15744994e-01 8.56742144e-01 0.00000000e+00 1.80545445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52079531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.087552018 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:80.64, Y:18.06, Z:-0.03 [[ 8.59471904e-01 -5.11182988e-01 0.00000000e+00 8.06411087e+01] [ 5.11182988e-01 8.59471904e-01 0.00000000e+00 1.80586617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63061323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.117552018 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:80.67, Y:18.07, Z:-0.02 [[ 8.61310031e-01 -5.08079748e-01 0.00000000e+00 8.06707669e+01] [ 5.08079748e-01 8.61310031e-01 0.00000000e+00 1.80698349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41035810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.147552018 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:80.70, Y:18.08, Z:-0.02 [[ 8.62139225e-01 -5.06671448e-01 0.00000000e+00 8.06962978e+01] [ 5.06671448e-01 8.62139225e-01 0.00000000e+00 1.80824606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42862196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.177552018 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:80.72, Y:18.09, Z:-0.02 [[ 8.63312005e-01 -5.04670568e-01 0.00000000e+00 8.07215002e+01] [ 5.04670568e-01 8.63312005e-01 0.00000000e+00 1.80945845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38975679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.207552018 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:80.76, Y:18.11, Z:-0.02 [[ 8.61976823e-01 -5.06947687e-01 0.00000000e+00 8.07593999e+01] [ 5.06947687e-01 8.61976823e-01 0.00000000e+00 1.81090284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25961836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.237552018 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:80.77, Y:18.11, Z:-0.02 [[ 8.65848040e-01 -5.00307077e-01 0.00000000e+00 8.07716718e+01] [ 5.00307077e-01 8.65848040e-01 0.00000000e+00 1.81137042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28951068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26755201799999 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:80.81, Y:18.13, Z:-0.02 [[ 8.62057214e-01 -5.06810970e-01 0.00000000e+00 8.08109902e+01] [ 5.06810970e-01 8.62057214e-01 0.00000000e+00 1.81310873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49856945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29755201799999 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:80.84, Y:18.14, Z:-0.03 [[ 8.61492438e-01 -5.07770400e-01 0.00000000e+00 8.08362913e+01] [ 5.07770400e-01 8.61492438e-01 0.00000000e+00 1.81426034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51641327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32755201799999 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:80.86, Y:18.15, Z:-0.02 [[ 8.60601587e-01 -5.09278813e-01 0.00000000e+00 8.08627877e+01] [ 5.09278813e-01 8.60601587e-01 0.00000000e+00 1.81546300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19521150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35755201799999 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:80.89, Y:18.17, Z:-0.02 [[ 8.59483381e-01 -5.11163691e-01 0.00000000e+00 8.08888587e+01] [ 5.11163691e-01 8.59483381e-01 0.00000000e+00 1.81659137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16807518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.387552018 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:80.92, Y:18.18, Z:-0.03 [[ 8.59613759e-01 -5.10944405e-01 0.00000000e+00 8.09158773e+01] [ 5.10944405e-01 8.59613759e-01 0.00000000e+00 1.81777955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54200675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.417552018 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:80.94, Y:18.19, Z:-0.02 [[ 8.58505260e-01 -5.12804757e-01 0.00000000e+00 8.09406275e+01] [ 5.12804757e-01 8.58505260e-01 0.00000000e+00 1.81906247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95972931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.447552018 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:80.96, Y:18.20, Z:-0.02 [[ 8.58460111e-01 -5.12880335e-01 0.00000000e+00 8.09648066e+01] [ 5.12880335e-01 8.58460111e-01 0.00000000e+00 1.82021622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27285103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.477552018 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:80.99, Y:18.21, Z:-0.02 [[ 8.58887862e-01 -5.12163686e-01 0.00000000e+00 8.09892045e+01] [ 5.12163686e-01 8.58887862e-01 0.00000000e+00 1.82146337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16740278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.507552018 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:81.01, Y:18.23, Z:-0.02 [[ 8.59005095e-01 -5.11967037e-01 0.00000000e+00 8.10142256e+01] [ 5.11967037e-01 8.59005095e-01 0.00000000e+00 1.82273753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40030317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.537552018 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:81.04, Y:18.24, Z:-0.02 [[ 8.58475288e-01 -5.12854931e-01 0.00000000e+00 8.10394835e+01] [ 5.12854931e-01 8.58475288e-01 0.00000000e+00 1.82394162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15822173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.567552018 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:81.06, Y:18.25, Z:-0.02 [[ 8.57857479e-01 -5.13887679e-01 0.00000000e+00 8.10633364e+01] [ 5.13887679e-01 8.57857479e-01 0.00000000e+00 1.82517019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33250006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.597552018 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:81.09, Y:18.26, Z:-0.02 [[ 8.57687350e-01 -5.14171577e-01 0.00000000e+00 8.10885155e+01] [ 5.14171577e-01 8.57687350e-01 0.00000000e+00 1.82649324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33250006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62755201799999 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:81.11, Y:18.28, Z:-0.02 [[ 8.56535831e-01 -5.16087561e-01 0.00000000e+00 8.11143617e+01] [ 5.16087561e-01 8.56535831e-01 0.00000000e+00 1.82777276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19984216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65755201799999 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:81.14, Y:18.29, Z:-0.02 [[ 8.53863660e-01 -5.20496734e-01 0.00000000e+00 8.11397818e+01] [ 5.20496734e-01 8.53863660e-01 0.00000000e+00 1.82888711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83171346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68755201799999 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:81.16, Y:18.30, Z:-0.02 [[ 8.52342444e-01 -5.22984089e-01 0.00000000e+00 8.11648638e+01] [ 5.22984089e-01 8.52342444e-01 0.00000000e+00 1.83006075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91545921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71755201799999 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:81.19, Y:18.31, Z:-0.02 [[ 8.49109349e-01 -5.28217108e-01 0.00000000e+00 8.11899184e+01] [ 5.28217108e-01 8.49109349e-01 0.00000000e+00 1.83116224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71587336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.747552018 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:81.22, Y:18.32, Z:-0.02 [[ 8.49523468e-01 -5.27550830e-01 0.00000000e+00 8.12204233e+01] [ 5.27550830e-01 8.49523468e-01 0.00000000e+00 1.83226979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02354621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.777552018 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:81.24, Y:18.34, Z:-0.02 [[ 8.46213750e-01 -5.32843587e-01 0.00000000e+00 8.12411739e+01] [ 5.32843587e-01 8.46213750e-01 0.00000000e+00 1.83368993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51737760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.807552018 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:81.27, Y:18.35, Z:-0.02 [[ 8.44926749e-01 -5.34882033e-01 0.00000000e+00 8.12656727e+01] [ 5.34882033e-01 8.44926749e-01 0.00000000e+00 1.83485129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60950920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.837552018 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:81.29, Y:18.36, Z:-0.02 [[ 8.42581719e-01 -5.38568516e-01 0.00000000e+00 8.12905937e+01] [ 5.38568516e-01 8.42581719e-01 0.00000000e+00 1.83601824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50086668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.867552018 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:81.32, Y:18.37, Z:-0.02 [[ 8.42406124e-01 -5.38843134e-01 0.00000000e+00 8.13157887e+01] [ 5.38843134e-01 8.42406124e-01 0.00000000e+00 1.83733905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50086668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.897552018 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:81.34, Y:18.39, Z:-0.02 [[ 8.41138233e-01 -5.40820185e-01 0.00000000e+00 8.13395640e+01] [ 5.40820185e-01 8.41138233e-01 0.00000000e+00 1.83854363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56732685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.927552018 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:81.37, Y:18.40, Z:-0.02 [[ 8.41308705e-01 -5.40554959e-01 0.00000000e+00 8.13668593e+01] [ 5.40554959e-01 8.41308705e-01 0.00000000e+00 1.83970812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62057026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.957552018 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:81.39, Y:18.41, Z:-0.02 [[ 8.41512371e-01 -5.40237845e-01 0.00000000e+00 8.13936748e+01] [ 5.40237845e-01 8.41512371e-01 0.00000000e+00 1.84091107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63087363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.987552018 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:81.41, Y:18.42, Z:-0.01 [[ 8.39915134e-01 -5.42717761e-01 0.00000000e+00 8.14139989e+01] [ 5.42717761e-01 8.39915134e-01 0.00000000e+00 1.84239521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44703874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01755201799999 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:81.44, Y:18.44, Z:-0.01 [[ 8.39708221e-01 -5.43037847e-01 0.00000000e+00 8.14379046e+01] [ 5.43037847e-01 8.39708221e-01 0.00000000e+00 1.84392658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43959533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04755201799999 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:81.46, Y:18.45, Z:-0.01 [[ 8.39672592e-01 -5.43092936e-01 0.00000000e+00 8.14618815e+01] [ 5.43092936e-01 8.39672592e-01 0.00000000e+00 1.84524715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47482445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07755201799999 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:81.49, Y:18.47, Z:-0.01 [[ 8.39069675e-01 -5.44023971e-01 0.00000000e+00 8.14860608e+01] [ 5.44023971e-01 8.39069675e-01 0.00000000e+00 1.84655595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45927676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10755201799999 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:81.51, Y:18.48, Z:-0.01 [[ 8.38895230e-01 -5.44292930e-01 0.00000000e+00 8.15111320e+01] [ 5.44292930e-01 8.38895230e-01 0.00000000e+00 1.84787266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49219351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.137552018 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:81.54, Y:18.49, Z:-0.01 [[ 8.38483028e-01 -5.44927712e-01 0.00000000e+00 8.15358634e+01] [ 5.44927712e-01 8.38483028e-01 0.00000000e+00 1.84918312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49679341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.167552018 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:81.56, Y:18.51, Z:-0.01 [[ 8.37677386e-01 -5.46165356e-01 0.00000000e+00 8.15601242e+01] [ 5.46165356e-01 8.37677386e-01 0.00000000e+00 1.85061043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35487375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.197552018 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:81.59, Y:18.52, Z:-0.01 [[ 8.38148858e-01 -5.45441557e-01 0.00000000e+00 8.15878632e+01] [ 5.45441557e-01 8.38148858e-01 0.00000000e+00 1.85187750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36736885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.227552018 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:81.61, Y:18.53, Z:-0.01 [[ 8.36431145e-01 -5.48072021e-01 0.00000000e+00 8.16086898e+01] [ 5.48072021e-01 8.36431145e-01 0.00000000e+00 1.85335934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28765289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.257552018 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:81.63, Y:18.55, Z:-0.01 [[ 8.35938645e-01 -5.48822906e-01 0.00000000e+00 8.16336618e+01] [ 5.48822906e-01 8.35938645e-01 0.00000000e+00 1.85466024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29267814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.287552018 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:81.66, Y:18.56, Z:-0.01 [[ 8.35063758e-01 -5.50153178e-01 0.00000000e+00 8.16582107e+01] [ 5.50153178e-01 8.35063758e-01 0.00000000e+00 1.85604246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19796388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.317552018 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:81.68, Y:18.57, Z:-0.01 [[ 8.34801228e-01 -5.50551460e-01 0.00000000e+00 8.16820707e+01] [ 5.50551460e-01 8.34801228e-01 0.00000000e+00 1.85743480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20962745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.347552018 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:81.71, Y:18.59, Z:-0.01 [[ 8.34612679e-01 -5.50837251e-01 0.00000000e+00 8.17062790e+01] [ 5.50837251e-01 8.34612679e-01 0.00000000e+00 1.85880600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18449521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37755201799999 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:81.73, Y:18.60, Z:-0.01 [[ 8.34936928e-01 -5.50345643e-01 0.00000000e+00 8.17303498e+01] [ 5.50345643e-01 8.34936928e-01 0.00000000e+00 1.86022171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17378121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40755201799999 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:81.75, Y:18.62, Z:-0.01 [[ 8.35447238e-01 -5.49570662e-01 0.00000000e+00 8.17536885e+01] [ 5.49570662e-01 8.35447238e-01 0.00000000e+00 1.86158977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18606879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43755201799999 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:81.78, Y:18.63, Z:-0.01 [[ 8.35885433e-01 -5.48903948e-01 0.00000000e+00 8.17772608e+01] [ 5.48903948e-01 8.35885433e-01 0.00000000e+00 1.86301230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09541861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46755201799999 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:81.80, Y:18.65, Z:-0.01 [[ 8.37206347e-01 -5.46887130e-01 0.00000000e+00 8.18008217e+01] [ 5.46887130e-01 8.37206347e-01 0.00000000e+00 1.86462799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10133606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.497552018 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:81.82, Y:18.66, Z:-0.01 [[ 8.38067896e-01 -5.45565946e-01 0.00000000e+00 8.18236827e+01] [ 5.45565946e-01 8.38067896e-01 0.00000000e+00 1.86603415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14923618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.527552018 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:81.85, Y:18.67, Z:-0.01 [[ 8.38527883e-01 -5.44858688e-01 0.00000000e+00 8.18476784e+01] [ 5.44858688e-01 8.38527883e-01 0.00000000e+00 1.86749199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16858560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.557552018 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:81.87, Y:18.69, Z:-0.01 [[ 8.38994444e-01 -5.44139985e-01 0.00000000e+00 8.18716104e+01] [ 5.44139985e-01 8.38994444e-01 0.00000000e+00 1.86899674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20985410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.587552018 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:81.89, Y:18.71, Z:-0.01 [[ 8.39942236e-01 -5.42675815e-01 0.00000000e+00 8.18932533e+01] [ 5.42675815e-01 8.39942236e-01 0.00000000e+00 1.87059959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24328079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.617552018 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:81.93, Y:18.72, Z:-0.01 [[ 8.42629012e-01 -5.38494520e-01 0.00000000e+00 8.19258034e+01] [ 5.38494520e-01 8.42629012e-01 0.00000000e+00 1.87182363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22568342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.647552018 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:81.94, Y:18.74, Z:-0.01 [[ 8.40697322e-01 -5.41505321e-01 0.00000000e+00 8.19424789e+01] [ 5.41505321e-01 8.40697322e-01 0.00000000e+00 1.87357661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08175415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.677552018 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:81.97, Y:18.75, Z:-0.01 [[ 8.41044751e-01 -5.40965551e-01 0.00000000e+00 8.19668217e+01] [ 5.40965551e-01 8.41044751e-01 0.00000000e+00 1.87499918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00762834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.707552018 meters Centerline goodness : 0.988905 Centerline is valid? [True, True] Translation: X:82.00, Y:18.76, Z:-0.01 [[ 8.43331498e-01 -5.37393696e-01 0.00000000e+00 8.19978038e+01] [ 5.37393696e-01 8.43331498e-01 0.00000000e+00 1.87633115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20959143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.737552018 meters Centerline goodness : 0.990024 Centerline is valid? [True, True] Translation: X:82.02, Y:18.78, Z:-0.01 [[ 8.41972104e-01 -5.39521062e-01 0.00000000e+00 8.20160996e+01] [ 5.39521062e-01 8.41972104e-01 0.00000000e+00 1.87796504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05561606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76755201799999 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:82.04, Y:18.79, Z:-0.01 [[ 8.43510504e-01 -5.37112679e-01 0.00000000e+00 8.20443355e+01] [ 5.37112679e-01 8.43510504e-01 0.00000000e+00 1.87913946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00460678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79755201799999 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:82.06, Y:18.81, Z:-0.01 [[ 8.42803389e-01 -5.38221560e-01 0.00000000e+00 8.20622748e+01] [ 5.38221560e-01 8.42803389e-01 0.00000000e+00 1.88075147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06832767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82755201799999 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:82.09, Y:18.82, Z:-0.01 [[ 8.42867081e-01 -5.38121811e-01 0.00000000e+00 8.20867789e+01] [ 5.38121811e-01 8.42867081e-01 0.00000000e+00 1.88212175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03944745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85755201799999 meters Centerline goodness : 0.988832 Centerline is valid? [True, True] Translation: X:82.11, Y:18.83, Z:-0.01 [[ 8.43109147e-01 -5.37742471e-01 0.00000000e+00 8.21117089e+01] [ 5.37742471e-01 8.43109147e-01 0.00000000e+00 1.88343893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09467205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.887552018 meters Centerline goodness : 0.989271 Centerline is valid? [True, True] Translation: X:82.14, Y:18.85, Z:-0.01 [[ 8.43573933e-01 -5.37013053e-01 0.00000000e+00 8.21361599e+01] [ 5.37013053e-01 8.43573933e-01 0.00000000e+00 1.88468139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11563990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.917552018 meters Centerline goodness : 0.988998 Centerline is valid? [True, True] Translation: X:82.16, Y:18.86, Z:-0.01 [[ 8.44328519e-01 -5.35825859e-01 0.00000000e+00 8.21599003e+01] [ 5.35825859e-01 8.44328519e-01 0.00000000e+00 1.88601881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17089411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.947552018 meters Centerline goodness : 0.989255 Centerline is valid? [True, True] Translation: X:82.18, Y:18.87, Z:-0.01 [[ 8.44492542e-01 -5.35567312e-01 0.00000000e+00 8.21844944e+01] [ 5.35567312e-01 8.44492542e-01 0.00000000e+00 1.88742291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15421378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.977552018 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:82.21, Y:18.89, Z:-0.01 [[ 8.44643784e-01 -5.35328757e-01 0.00000000e+00 8.22092756e+01] [ 5.35328757e-01 8.44643784e-01 0.00000000e+00 1.88881814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17045112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.007552018 meters Centerline goodness : 0.988211 Centerline is valid? [True, True] Translation: X:82.24, Y:18.90, Z:-0.01 [[ 8.46042637e-01 -5.33115238e-01 0.00000000e+00 8.22388903e+01] [ 5.33115238e-01 8.46042637e-01 0.00000000e+00 1.88996868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02837271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.037552018 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:82.26, Y:18.91, Z:-0.01 [[ 8.45054099e-01 -5.34680811e-01 0.00000000e+00 8.22597198e+01] [ 5.34680811e-01 8.45054099e-01 0.00000000e+00 1.89146067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12781808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.067552018 meters Centerline goodness : 0.989664 Centerline is valid? [True, True] Translation: X:82.28, Y:18.93, Z:-0.01 [[ 8.45178075e-01 -5.34484819e-01 0.00000000e+00 8.22841789e+01] [ 5.34484819e-01 8.45178075e-01 0.00000000e+00 1.89270041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12115549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.097552018 meters Centerline goodness : 0.989629 Centerline is valid? [True, True] Translation: X:82.31, Y:18.94, Z:-0.01 [[ 8.45031730e-01 -5.34716164e-01 0.00000000e+00 8.23087729e+01] [ 5.34716164e-01 8.45031730e-01 0.00000000e+00 1.89397542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19899046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12755201799999 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:82.33, Y:18.95, Z:-0.01 [[ 8.45333048e-01 -5.34239682e-01 0.00000000e+00 8.23328890e+01] [ 5.34239682e-01 8.45333048e-01 0.00000000e+00 1.89515966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17900900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15755201799999 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:82.36, Y:18.96, Z:-0.01 [[ 8.45393473e-01 -5.34144060e-01 0.00000000e+00 8.23568621e+01] [ 5.34144060e-01 8.45393473e-01 0.00000000e+00 1.89634052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04951311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18755201799999 meters Centerline goodness : 0.990405 Centerline is valid? [True, True] Translation: X:82.38, Y:18.98, Z:-0.01 [[ 8.45161474e-01 -5.34511069e-01 0.00000000e+00 8.23819341e+01] [ 5.34511069e-01 8.45161474e-01 0.00000000e+00 1.89756724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03196294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21755201799999 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:82.41, Y:18.99, Z:-0.01 [[ 8.45005045e-01 -5.34758332e-01 0.00000000e+00 8.24070059e+01] [ 5.34758332e-01 8.45005045e-01 0.00000000e+00 1.89874287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03564698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.247552018 meters Centerline goodness : 0.989784 Centerline is valid? [True, True] Translation: X:82.43, Y:19.00, Z:-0.01 [[ 8.44952525e-01 -5.34841314e-01 0.00000000e+00 8.24317413e+01] [ 5.34841314e-01 8.44952525e-01 0.00000000e+00 1.89975306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92748891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.277552018 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:82.46, Y:19.01, Z:-0.01 [[ 8.45011539e-01 -5.34748070e-01 0.00000000e+00 8.24566513e+01] [ 5.34748070e-01 8.45011539e-01 0.00000000e+00 1.90096600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04163358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.307552018 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:82.48, Y:19.02, Z:-0.01 [[ 8.45893936e-01 -5.33351150e-01 0.00000000e+00 8.24817046e+01] [ 5.33351150e-01 8.45893936e-01 0.00000000e+00 1.90208653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13276922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.337552018 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:82.51, Y:19.03, Z:-0.01 [[ 8.46542824e-01 -5.32320624e-01 0.00000000e+00 8.25069870e+01] [ 5.32320624e-01 8.46542824e-01 0.00000000e+00 1.90329047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16051232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.367552018 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:82.53, Y:19.04, Z:-0.01 [[ 8.47519320e-01 -5.30764545e-01 0.00000000e+00 8.25309333e+01] [ 5.30764545e-01 8.47519320e-01 0.00000000e+00 1.90443806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13585714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.397552018 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:82.56, Y:19.06, Z:-0.01 [[ 8.48554014e-01 -5.29108764e-01 0.00000000e+00 8.25556956e+01] [ 5.29108764e-01 8.48554014e-01 0.00000000e+00 1.90564383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06821500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.427552018 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:82.58, Y:19.07, Z:-0.01 [[ 8.50353930e-01 -5.26211168e-01 0.00000000e+00 8.25805494e+01] [ 5.26211168e-01 8.50353930e-01 0.00000000e+00 1.90686228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09870420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.457552018 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:82.60, Y:19.08, Z:-0.01 [[ 8.51175738e-01 -5.24880809e-01 0.00000000e+00 8.26048128e+01] [ 5.24880809e-01 8.51175738e-01 0.00000000e+00 1.90803964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08650910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48755201799999 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:82.63, Y:19.09, Z:-0.01 [[ 8.51008716e-01 -5.25151564e-01 0.00000000e+00 8.26297768e+01] [ 5.25151564e-01 8.51008716e-01 0.00000000e+00 1.90940298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08650910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51755201799999 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:82.66, Y:19.11, Z:-0.01 [[ 8.51585239e-01 -5.24216158e-01 0.00000000e+00 8.26555916e+01] [ 5.24216158e-01 8.51585239e-01 0.00000000e+00 1.91059272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12572722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54755201799999 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:82.68, Y:19.12, Z:-0.01 [[ 8.52006154e-01 -5.23531769e-01 0.00000000e+00 8.26811203e+01] [ 5.23531769e-01 8.52006154e-01 0.00000000e+00 1.91174208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08949475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57755201799999 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:82.71, Y:19.13, Z:-0.01 [[ 8.52628081e-01 -5.22518283e-01 0.00000000e+00 8.27059576e+01] [ 5.22518283e-01 8.52628081e-01 0.00000000e+00 1.91285354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85611526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60755201799999 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:82.73, Y:19.14, Z:-0.01 [[ 8.52425031e-01 -5.22849469e-01 0.00000000e+00 8.27308733e+01] [ 5.22849469e-01 8.52425031e-01 0.00000000e+00 1.91417629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31031821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.637552018 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:82.76, Y:19.15, Z:-0.01 [[ 8.52134311e-01 -5.23323147e-01 0.00000000e+00 8.27552002e+01] [ 5.23323147e-01 8.52134311e-01 0.00000000e+00 1.91532698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03463331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.667552018 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:82.78, Y:19.16, Z:-0.01 [[ 8.50925374e-01 -5.25286596e-01 0.00000000e+00 8.27814595e+01] [ 5.25286596e-01 8.50925374e-01 0.00000000e+00 1.91610150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56776772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.697552018 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:82.81, Y:19.17, Z:-0.01 [[ 8.49869589e-01 -5.26993057e-01 0.00000000e+00 8.28070290e+01] [ 5.26993057e-01 8.49869589e-01 0.00000000e+00 1.91720979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58519928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.727552018 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:82.83, Y:19.18, Z:-0.01 [[ 8.48907391e-01 -5.28541617e-01 0.00000000e+00 8.28319841e+01] [ 5.28541617e-01 8.48907391e-01 0.00000000e+00 1.91839275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29017660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.757552018 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:82.86, Y:19.20, Z:-0.01 [[ 8.46928442e-01 -5.31706888e-01 0.00000000e+00 8.28572176e+01] [ 5.31706888e-01 8.46928442e-01 0.00000000e+00 1.91958769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61028060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.787552018 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:82.88, Y:19.21, Z:-0.01 [[ 8.46040957e-01 -5.33117904e-01 0.00000000e+00 8.28823647e+01] [ 5.33117904e-01 8.46040957e-01 0.00000000e+00 1.92071360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57307864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.817552018 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:82.91, Y:19.22, Z:-0.01 [[ 8.45314022e-01 -5.34269787e-01 0.00000000e+00 8.29079019e+01] [ 5.34269787e-01 8.45314022e-01 0.00000000e+00 1.92173768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53722873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.847552018 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:82.93, Y:19.23, Z:-0.01 [[ 8.44409724e-01 -5.35697879e-01 0.00000000e+00 8.29341334e+01] [ 5.35697879e-01 8.44409724e-01 0.00000000e+00 1.92279849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19359035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87755201799999 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:82.96, Y:19.24, Z:-0.01 [[ 8.43073522e-01 -5.37798323e-01 0.00000000e+00 8.29599903e+01] [ 5.37798323e-01 8.43073522e-01 0.00000000e+00 1.92381168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75847203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90755201799999 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:82.98, Y:19.25, Z:-0.01 [[ 8.42593870e-01 -5.38549506e-01 0.00000000e+00 8.29838379e+01] [ 5.38549506e-01 8.42593870e-01 0.00000000e+00 1.92501058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28247654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93755201799999 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:83.01, Y:19.26, Z:-0.00 [[ 8.42134623e-01 -5.39267351e-01 0.00000000e+00 8.30083155e+01] [ 5.39267351e-01 8.42134623e-01 0.00000000e+00 1.92616783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81735378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96755201799999 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:83.03, Y:19.27, Z:-0.01 [[ 8.41584459e-01 -5.40125540e-01 0.00000000e+00 8.30344448e+01] [ 5.40125540e-01 8.41584459e-01 0.00000000e+00 1.92696816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90788995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.997552018 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:83.06, Y:19.28, Z:-0.01 [[ 8.41239293e-01 -5.40662974e-01 0.00000000e+00 8.30603406e+01] [ 5.40662974e-01 8.41239293e-01 0.00000000e+00 1.92810993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64600359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.027552018 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:83.09, Y:19.29, Z:-0.01 [[ 8.40701647e-01 -5.41498606e-01 0.00000000e+00 8.30855744e+01] [ 5.41498606e-01 8.40701647e-01 0.00000000e+00 1.92936518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30151009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.057552018 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:83.11, Y:19.31, Z:-0.01 [[ 8.40355833e-01 -5.42035122e-01 0.00000000e+00 8.31089685e+01] [ 5.42035122e-01 8.40355833e-01 0.00000000e+00 1.93062860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.45059402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.087552018 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:83.13, Y:19.32, Z:-0.01 [[ 8.40163617e-01 -5.42333012e-01 0.00000000e+00 8.31347525e+01] [ 5.42333012e-01 8.40163617e-01 0.00000000e+00 1.93184153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83088641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.117552018 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:83.16, Y:19.33, Z:-0.01 [[ 8.40315824e-01 -5.42097147e-01 0.00000000e+00 8.31599861e+01] [ 5.42097147e-01 8.40315824e-01 0.00000000e+00 1.93295069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82592661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.147552018 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:83.19, Y:19.34, Z:-0.01 [[ 8.40773051e-01 -5.41387732e-01 0.00000000e+00 8.31858164e+01] [ 5.41387732e-01 8.40773051e-01 0.00000000e+00 1.93406653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42456704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.177552018 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:83.21, Y:19.35, Z:-0.01 [[ 8.41356008e-01 -5.40481329e-01 0.00000000e+00 8.32112733e+01] [ 5.40481329e-01 8.41356008e-01 0.00000000e+00 1.93526005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51216319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.207552018 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:83.24, Y:19.37, Z:-0.01 [[ 8.43761813e-01 -5.36717805e-01 0.00000000e+00 8.32361556e+01] [ 5.36717805e-01 8.43761813e-01 0.00000000e+00 1.93661399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29674076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23755201799999 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:83.26, Y:19.38, Z:-0.01 [[ 8.45234370e-01 -5.34395790e-01 0.00000000e+00 8.32603069e+01] [ 5.34395790e-01 8.45234370e-01 0.00000000e+00 1.93792920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18505224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26755201799999 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:83.29, Y:19.39, Z:-0.01 [[ 8.46785329e-01 -5.31934777e-01 0.00000000e+00 8.32857606e+01] [ 5.31934777e-01 8.46785329e-01 0.00000000e+00 1.93920243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27396833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29755201799999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:83.31, Y:19.40, Z:-0.01 [[ 8.50207706e-01 -5.26447392e-01 0.00000000e+00 8.33117975e+01] [ 5.26447392e-01 8.50207706e-01 0.00000000e+00 1.94015178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13150459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32755201799999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:83.34, Y:19.41, Z:-0.01 [[ 8.51524622e-01 -5.24314617e-01 0.00000000e+00 8.33365262e+01] [ 5.24314617e-01 8.51524622e-01 0.00000000e+00 1.94133866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41274051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35755201799999 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:83.36, Y:19.43, Z:-0.00 [[ 8.52658843e-01 -5.22468083e-01 0.00000000e+00 8.33615388e+01] [ 5.22468083e-01 8.52658843e-01 0.00000000e+00 1.94253611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62381819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.387552018 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:83.39, Y:19.44, Z:-0.00 [[ 8.53687166e-01 -5.20786158e-01 0.00000000e+00 8.33867367e+01] [ 5.20786158e-01 8.53687166e-01 0.00000000e+00 1.94371595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92302143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.417552018 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:83.41, Y:19.45, Z:-0.00 [[ 8.55630637e-01 -5.17586913e-01 0.00000000e+00 8.34138365e+01] [ 5.17586913e-01 8.55630637e-01 0.00000000e+00 1.94465673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52130625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.447552018 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:83.44, Y:19.46, Z:-0.00 [[ 8.56420468e-01 -5.16278977e-01 0.00000000e+00 8.34396710e+01] [ 5.16278977e-01 8.56420468e-01 0.00000000e+00 1.94575539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02971053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.477552018 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:83.47, Y:19.47, Z:-0.00 [[ 8.57234555e-01 -5.14926129e-01 0.00000000e+00 8.34651697e+01] [ 5.14926129e-01 8.57234555e-01 0.00000000e+00 1.94682046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63877695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.507552018 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:83.49, Y:19.48, Z:-0.00 [[ 8.57931031e-01 -5.13764875e-01 0.00000000e+00 8.34914014e+01] [ 5.13764875e-01 8.57931031e-01 0.00000000e+00 1.94792724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09217563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.537552018 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:83.52, Y:19.49, Z:-0.00 [[ 8.59727748e-01 -5.10752581e-01 0.00000000e+00 8.35189430e+01] [ 5.10752581e-01 8.59727748e-01 0.00000000e+00 1.94875144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30061996e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.567552018 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:83.54, Y:19.50, Z:-0.00 [[ 8.60595885e-01 -5.09288447e-01 0.00000000e+00 8.35440209e+01] [ 5.09288447e-01 8.60595885e-01 0.00000000e+00 1.94978417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93535005e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.597552018 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:83.57, Y:19.51, Z:-0.00 [[ 8.60953619e-01 -5.08683463e-01 0.00000000e+00 8.35700623e+01] [ 5.08683463e-01 8.60953619e-01 0.00000000e+00 1.95081000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01194972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62755201799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:83.60, Y:19.51, Z:-0.00 [[ 8.61178428e-01 -5.08302779e-01 0.00000000e+00 8.35993945e+01] [ 5.08302779e-01 8.61178428e-01 0.00000000e+00 1.95128422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69468354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65755201799999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:83.63, Y:19.52, Z:-0.00 [[ 8.61156121e-01 -5.08340570e-01 0.00000000e+00 8.36253160e+01] [ 5.08340570e-01 8.61156121e-01 0.00000000e+00 1.95211918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39072585e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68755201799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:83.65, Y:19.53, Z:0.00 [[ 8.60907384e-01 -5.08761709e-01 0.00000000e+00 8.36525785e+01] [ 5.08761709e-01 8.60907384e-01 0.00000000e+00 1.95304024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63175708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71755201799999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:83.68, Y:19.53, Z:0.00 [[ 8.60117721e-01 -5.10095586e-01 0.00000000e+00 8.36821933e+01] [ 5.10095586e-01 8.60117721e-01 0.00000000e+00 1.95345340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58654047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.747552018 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:83.71, Y:19.54, Z:0.00 [[ 8.59595742e-01 -5.10974716e-01 0.00000000e+00 8.37083063e+01] [ 5.10974716e-01 8.59595742e-01 0.00000000e+00 1.95422094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77606998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:19.55, Z:0.00 [[ 8.58935893e-01 -5.12083130e-01 0.00000000e+00 8.37359309e+01] [ 5.12083130e-01 8.58935893e-01 0.00000000e+00 1.95506392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35089379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.807552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.77, Y:19.55, Z:0.00 [[ 8.57980202e-01 -5.13682755e-01 0.00000000e+00 8.37674448e+01] [ 5.13682755e-01 8.57980202e-01 0.00000000e+00 1.95512288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16225977e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:19.56, Z:0.00 [[ 8.57506232e-01 -5.14473578e-01 0.00000000e+00 8.37962126e+01] [ 5.14473578e-01 8.57506232e-01 0.00000000e+00 1.95574890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58859032e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:19.56, Z:0.00 [[ 8.57093949e-01 -5.15160133e-01 0.00000000e+00 8.38248988e+01] [ 5.15160133e-01 8.57093949e-01 0.00000000e+00 1.95639024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36041769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:19.56, Z:0.00 [[ 8.56867431e-01 -5.15536813e-01 0.00000000e+00 8.38564841e+01] [ 5.15536813e-01 8.56867431e-01 0.00000000e+00 1.95645534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72503762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:19.57, Z:0.00 [[ 8.57105783e-01 -5.15140443e-01 0.00000000e+00 8.38835135e+01] [ 5.15140443e-01 8.57105783e-01 0.00000000e+00 1.95713223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86581912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:19.58, Z:0.00 [[ 8.57402354e-01 -5.14646678e-01 0.00000000e+00 8.39107624e+01] [ 5.14646678e-01 8.57402354e-01 0.00000000e+00 1.95776814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24687050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:19.58, Z:0.01 [[ 8.58413931e-01 -5.12957623e-01 0.00000000e+00 8.39441403e+01] [ 5.12957623e-01 8.58413931e-01 0.00000000e+00 1.95755342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43077123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:19.58, Z:0.00 [[ 8.59498862e-01 -5.11137658e-01 0.00000000e+00 8.39716304e+01] [ 5.11137658e-01 8.59498862e-01 0.00000000e+00 1.95795515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93351133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:19.59, Z:0.01 [[ 8.59390308e-01 -5.11320152e-01 0.00000000e+00 8.40025153e+01] [ 5.11320152e-01 8.59390308e-01 0.00000000e+00 1.95871847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69994518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:19.59, Z:0.01 [[ 8.59795819e-01 -5.10637983e-01 0.00000000e+00 8.40306785e+01] [ 5.10637983e-01 8.59795819e-01 0.00000000e+00 1.95931354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53926785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:19.59, Z:0.00 [[ 8.60158919e-01 -5.10026112e-01 0.00000000e+00 8.40636524e+01] [ 5.10026112e-01 8.60158919e-01 0.00000000e+00 1.95920156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90275491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:19.60, Z:0.00 [[ 8.60017632e-01 -5.10264316e-01 0.00000000e+00 8.40923807e+01] [ 5.10264316e-01 8.60017632e-01 0.00000000e+00 1.95977778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97721497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:19.60, Z:0.00 [[ 8.59733174e-01 -5.10743447e-01 0.00000000e+00 8.41218667e+01] [ 5.10743447e-01 8.59733174e-01 0.00000000e+00 1.96029812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82883129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:19.60, Z:0.00 [[ 8.58713874e-01 -5.12455346e-01 0.00000000e+00 8.41510508e+01] [ 5.12455346e-01 8.58713874e-01 0.00000000e+00 1.95974480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55640408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:19.60, Z:0.00 [[ 8.58992783e-01 -5.11987694e-01 0.00000000e+00 8.41867399e+01] [ 5.11987694e-01 8.58992783e-01 0.00000000e+00 1.96019546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35451694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:19.61, Z:0.00 [[ 8.58477541e-01 -5.12851158e-01 0.00000000e+00 8.42153602e+01] [ 5.12851158e-01 8.58477541e-01 0.00000000e+00 1.96066808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19679857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:19.61, Z:0.00 [[ 8.57866376e-01 -5.13872825e-01 0.00000000e+00 8.42442827e+01] [ 5.13872825e-01 8.57866376e-01 0.00000000e+00 1.96115483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53026594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:19.61, Z:0.00 [[ 8.56481638e-01 -5.16177492e-01 0.00000000e+00 8.42784429e+01] [ 5.16177492e-01 8.56481638e-01 0.00000000e+00 1.96063602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67631633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:19.61, Z:0.00 [[ 8.55412922e-01 -5.17946651e-01 0.00000000e+00 8.43005632e+01] [ 5.17946651e-01 8.55412922e-01 0.00000000e+00 1.96101382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72432870e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:19.62, Z:0.00 [[ 8.54613840e-01 -5.19264079e-01 0.00000000e+00 8.43387019e+01] [ 5.19264079e-01 8.54613840e-01 0.00000000e+00 1.96154351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13700660e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:19.63, Z:0.00 [[ 8.54435791e-01 -5.19557002e-01 0.00000000e+00 8.43635209e+01] [ 5.19557002e-01 8.54435791e-01 0.00000000e+00 1.96295861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13700660e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:19.63, Z:0.00 [[ 8.53275728e-01 -5.21460000e-01 0.00000000e+00 8.43932503e+01] [ 5.21460000e-01 8.53275728e-01 0.00000000e+00 1.96338709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45974839e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:19.63, Z:0.00 [[ 8.52234219e-01 -5.23160431e-01 0.00000000e+00 8.44199591e+01] [ 5.23160431e-01 8.52234219e-01 0.00000000e+00 1.96279752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71486379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:19.63, Z:0.00 [[ 8.51417285e-01 -5.24488901e-01 0.00000000e+00 8.44576899e+01] [ 5.24488901e-01 8.51417285e-01 0.00000000e+00 1.96347590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46660000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:19.63, Z:0.00 [[ 8.50739675e-01 -5.25587296e-01 0.00000000e+00 8.44928206e+01] [ 5.25587296e-01 8.50739675e-01 0.00000000e+00 1.96304681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55332127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:19.64, Z:0.00 [[ 8.50356290e-01 -5.26207355e-01 0.00000000e+00 8.45220599e+01] [ 5.26207355e-01 8.50356290e-01 0.00000000e+00 1.96356490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17999279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:19.65, Z:-0.00 [[ 8.45182839e-01 -5.34477285e-01 0.00000000e+00 8.45249657e+01] [ 5.34477285e-01 8.45182839e-01 0.00000000e+00 1.96458953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54048895e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:19.65, Z:0.00 [[ 8.50393698e-01 -5.26146898e-01 0.00000000e+00 8.45800440e+01] [ 5.26146898e-01 8.50393698e-01 0.00000000e+00 1.96451757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36217722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:19.65, Z:0.00 [[ 8.44572068e-01 -5.35441895e-01 0.00000000e+00 8.45867508e+01] [ 5.35441895e-01 8.44572068e-01 0.00000000e+00 1.96483603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28963116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:19.65, Z:0.00 [[ 8.45294186e-01 -5.34301169e-01 0.00000000e+00 8.46107695e+01] [ 5.34301169e-01 8.45294186e-01 0.00000000e+00 1.96508876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17216569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:19.65, Z:0.00 [[ 8.46797275e-01 -5.31915759e-01 0.00000000e+00 8.46360580e+01] [ 5.31915759e-01 8.46797275e-01 0.00000000e+00 1.96543847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11288477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:19.66, Z:0.00 [[ 8.46872263e-01 -5.31796362e-01 0.00000000e+00 8.46682403e+01] [ 5.31796362e-01 8.46872263e-01 0.00000000e+00 1.96596402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03905024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:19.66, Z:0.00 [[ 8.46901160e-01 -5.31750342e-01 0.00000000e+00 8.47014582e+01] [ 5.31750342e-01 8.46901160e-01 0.00000000e+00 1.96570946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82037413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:19.66, Z:0.00 [[ 8.47197890e-01 -5.31277455e-01 0.00000000e+00 8.47305859e+01] [ 5.31277455e-01 8.47197890e-01 0.00000000e+00 1.96634168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45522612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:19.66, Z:0.00 [[ 8.48693261e-01 -5.28885383e-01 0.00000000e+00 8.47673364e+01] [ 5.28885383e-01 8.48693261e-01 0.00000000e+00 1.96598862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29779456e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:19.66, Z:0.00 [[ 8.49594201e-01 -5.27436909e-01 0.00000000e+00 8.47964659e+01] [ 5.27436909e-01 8.49594201e-01 0.00000000e+00 1.96647314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37368102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:19.67, Z:0.00 [[ 8.50632808e-01 -5.25760236e-01 0.00000000e+00 8.48248730e+01] [ 5.25760236e-01 8.50632808e-01 0.00000000e+00 1.96698323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17591046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:19.68, Z:0.00 [[ 8.51485943e-01 -5.24377430e-01 0.00000000e+00 8.48504871e+01] [ 5.24377430e-01 8.51485943e-01 0.00000000e+00 1.96761827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60270535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:19.68, Z:0.00 [[ 8.53244257e-01 -5.21511493e-01 0.00000000e+00 8.48772668e+01] [ 5.21511493e-01 8.53244257e-01 0.00000000e+00 1.96838172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57056517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:19.70, Z:0.01 [[ 8.62618583e-01 -5.05854900e-01 0.00000000e+00 8.49062213e+01] [ 5.05854900e-01 8.62618583e-01 0.00000000e+00 1.96950507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14780332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:19.71, Z:0.01 [[ 8.67526993e-01 -4.97390105e-01 0.00000000e+00 8.49288604e+01] [ 4.97390105e-01 8.67526993e-01 0.00000000e+00 1.97055293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47025297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:19.72, Z:0.01 [[ 8.71998979e-01 -4.89507692e-01 0.00000000e+00 8.49538475e+01] [ 4.89507692e-01 8.71998979e-01 0.00000000e+00 1.97166399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64076931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:19.73, Z:0.00 [[ 8.78468827e-01 -4.77799664e-01 0.00000000e+00 8.49804718e+01] [ 4.77799664e-01 8.78468827e-01 0.00000000e+00 1.97279848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08971425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:19.74, Z:0.00 [[ 8.80809322e-01 -4.73471159e-01 0.00000000e+00 8.50050336e+01] [ 4.73471159e-01 8.80809322e-01 0.00000000e+00 1.97416618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90503724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:19.76, Z:-0.00 [[ 8.80981165e-01 -4.73151335e-01 0.00000000e+00 8.50267192e+01] [ 4.73151335e-01 8.80981165e-01 0.00000000e+00 1.97553189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15029764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:19.77, Z:-0.01 [[ 8.80764022e-01 -4.73555421e-01 0.00000000e+00 8.50521822e+01] [ 4.73555421e-01 8.80764022e-01 0.00000000e+00 1.97691592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24181842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:19.78, Z:-0.01 [[ 8.80099588e-01 -4.74789126e-01 0.00000000e+00 8.50774036e+01] [ 4.74789126e-01 8.80099588e-01 0.00000000e+00 1.97799448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51218671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:19.79, Z:-0.01 [[ 8.78375396e-01 -4.77971404e-01 0.00000000e+00 8.51014962e+01] [ 4.77971404e-01 8.78375396e-01 0.00000000e+00 1.97918398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17351396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:19.80, Z:0.00 [[ 8.74329156e-01 -4.85333418e-01 0.00000000e+00 8.51259128e+01] [ 4.85333418e-01 8.74329156e-01 0.00000000e+00 1.98026963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48782314e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:19.82, Z:0.00 [[ 8.67861192e-01 -4.96806755e-01 0.00000000e+00 8.51656034e+01] [ 4.96806755e-01 8.67861192e-01 0.00000000e+00 1.98207507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46208553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:19.83, Z:0.01 [[ 8.71187030e-01 -4.90951280e-01 0.00000000e+00 8.51791822e+01] [ 4.90951280e-01 8.71187030e-01 0.00000000e+00 1.98262748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53111019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:19.85, Z:0.00 [[ 8.61247349e-01 -5.08185993e-01 0.00000000e+00 8.52160839e+01] [ 5.08185993e-01 8.61247349e-01 0.00000000e+00 1.98457044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54421045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:19.85, Z:0.00 [[ 8.64357744e-01 -5.02877410e-01 0.00000000e+00 8.52652219e+01] [ 5.02877410e-01 8.64357744e-01 0.00000000e+00 1.98519818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20101313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:19.87, Z:-0.00 [[ 8.57558920e-01 -5.14385748e-01 0.00000000e+00 8.52678862e+01] [ 5.14385748e-01 8.57558920e-01 0.00000000e+00 1.98709423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68447545e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:19.88, Z:-0.00 [[ 8.57940862e-01 -5.13748457e-01 0.00000000e+00 8.52816325e+01] [ 5.13748457e-01 8.57940862e-01 0.00000000e+00 1.98786426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56431942e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:19.90, Z:-0.00 [[ 8.49957860e-01 -5.26850678e-01 0.00000000e+00 8.53202762e+01] [ 5.26850678e-01 8.49957860e-01 0.00000000e+00 1.98978677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59995144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:19.91, Z:-0.00 [[ 8.47881547e-01 -5.30185706e-01 0.00000000e+00 8.53456585e+01] [ 5.30185706e-01 8.47881547e-01 0.00000000e+00 1.99105525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31966188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.37, Y:19.92, Z:-0.00 [[ 8.45234781e-01 -5.34395140e-01 0.00000000e+00 8.53706474e+01] [ 5.34395140e-01 8.45234781e-01 0.00000000e+00 1.99228299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17209153e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:19.94, Z:-0.00 [[ 8.40234815e-01 -5.42222699e-01 0.00000000e+00 8.53962399e+01] [ 5.42222699e-01 8.40234815e-01 0.00000000e+00 1.99357239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16100554e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:19.95, Z:-0.00 [[ 8.39152807e-01 -5.43895732e-01 0.00000000e+00 8.54217136e+01] [ 5.43895732e-01 8.39152807e-01 0.00000000e+00 1.99486516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08368925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:19.96, Z:-0.00 [[ 8.40424694e-01 -5.41928347e-01 0.00000000e+00 8.54615023e+01] [ 5.41928347e-01 8.40424694e-01 0.00000000e+00 1.99577509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38831655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.49, Y:19.97, Z:-0.00 [[ 8.38372784e-01 -5.45097308e-01 0.00000000e+00 8.54855817e+01] [ 5.45097308e-01 8.38372784e-01 0.00000000e+00 1.99716689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74429278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:19.99, Z:-0.00 [[ 8.32681111e-01 -5.53752803e-01 0.00000000e+00 8.54991230e+01] [ 5.53752803e-01 8.32681111e-01 0.00000000e+00 1.99888205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88439412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.697552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.52, Y:20.00, Z:-0.00 [[ 8.31473855e-01 -5.55563883e-01 0.00000000e+00 8.55248126e+01] [ 5.55563883e-01 8.31473855e-01 0.00000000e+00 2.00009641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25924699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.727552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:85.56, Y:20.01, Z:-0.00 [[ 8.32594442e-01 -5.53883106e-01 0.00000000e+00 8.55597702e+01] [ 5.53883106e-01 8.32594442e-01 0.00000000e+00 2.00108001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66148895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.757552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.58, Y:20.02, Z:-0.00 [[ 8.31363911e-01 -5.55728394e-01 0.00000000e+00 8.55843483e+01] [ 5.55728394e-01 8.31363911e-01 0.00000000e+00 2.00245131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21567941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.787552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:85.61, Y:20.04, Z:-0.00 [[ 8.31608210e-01 -5.55362751e-01 0.00000000e+00 8.56078380e+01] [ 5.55362751e-01 8.31608210e-01 0.00000000e+00 2.00378391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94112804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:20.05, Z:-0.00 [[ 8.33178374e-01 -5.53004337e-01 0.00000000e+00 8.56315618e+01] [ 5.53004337e-01 8.33178374e-01 0.00000000e+00 2.00527436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29634061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:20.07, Z:-0.00 [[ 8.33591707e-01 -5.52381088e-01 0.00000000e+00 8.56561400e+01] [ 5.52381088e-01 8.33591707e-01 0.00000000e+00 2.00662542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58008372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:20.08, Z:-0.00 [[ 8.34005823e-01 -5.51755641e-01 0.00000000e+00 8.56805402e+01] [ 5.51755641e-01 8.34005823e-01 0.00000000e+00 2.00788325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94854906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.71, Y:20.09, Z:-0.00 [[ 8.34234982e-01 -5.51409099e-01 0.00000000e+00 8.57059507e+01] [ 5.51409099e-01 8.34234982e-01 0.00000000e+00 2.00916259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61328748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:20.10, Z:-0.00 [[ 8.35304991e-01 -5.49786843e-01 0.00000000e+00 8.57318437e+01] [ 5.49786843e-01 8.35304991e-01 0.00000000e+00 2.01030601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69582761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:20.11, Z:-0.00 [[ 8.35945717e-01 -5.48812134e-01 0.00000000e+00 8.57559462e+01] [ 5.48812134e-01 8.35945717e-01 0.00000000e+00 2.01144538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01629933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.997552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.78, Y:20.13, Z:-0.00 [[ 8.36747491e-01 -5.47588930e-01 0.00000000e+00 8.57814715e+01] [ 5.47588930e-01 8.36747491e-01 0.00000000e+00 2.01261951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81135603e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:20.14, Z:-0.00 [[ 8.36100956e-01 -5.48575602e-01 0.00000000e+00 8.58007033e+01] [ 5.48575602e-01 8.36100956e-01 0.00000000e+00 2.01393068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95602847e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.057552018 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:85.83, Y:20.15, Z:0.00 [[ 8.40001829e-01 -5.42583568e-01 0.00000000e+00 8.58337972e+01] [ 5.42583568e-01 8.40001829e-01 0.00000000e+00 2.01497060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09835316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:20.16, Z:0.00 [[ 8.41229220e-01 -5.40678647e-01 0.00000000e+00 8.58593437e+01] [ 5.40678647e-01 8.41229220e-01 0.00000000e+00 2.01622319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43149615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:20.18, Z:0.00 [[ 8.42826355e-01 -5.38185596e-01 0.00000000e+00 8.58841234e+01] [ 5.38185596e-01 8.42826355e-01 0.00000000e+00 2.01751786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46740416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.147552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.91, Y:20.19, Z:0.00 [[ 8.45688620e-01 -5.33676641e-01 0.00000000e+00 8.59098358e+01] [ 5.33676641e-01 8.45688620e-01 0.00000000e+00 2.01877104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32258061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.177552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.93, Y:20.20, Z:0.00 [[ 8.46764323e-01 -5.31968214e-01 0.00000000e+00 8.59343919e+01] [ 5.31968214e-01 8.46764323e-01 0.00000000e+00 2.02012447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19990632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:20.22, Z:-0.00 [[ 8.45708393e-01 -5.33645307e-01 0.00000000e+00 8.59505956e+01] [ 5.33645307e-01 8.45708393e-01 0.00000000e+00 2.02174740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47151188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:20.23, Z:-0.00 [[ 8.46322365e-01 -5.32671057e-01 0.00000000e+00 8.59774795e+01] [ 5.32671057e-01 8.46322365e-01 0.00000000e+00 2.02305562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26229332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:20.24, Z:-0.00 [[ 8.47433896e-01 -5.30900925e-01 0.00000000e+00 8.60079755e+01] [ 5.30900925e-01 8.47433896e-01 0.00000000e+00 2.02423286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01581880e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:20.26, Z:-0.00 [[ 8.47280952e-01 -5.31144979e-01 0.00000000e+00 8.60332703e+01] [ 5.31144979e-01 8.47280952e-01 0.00000000e+00 2.02557086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01581880e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:20.27, Z:0.00 [[ 8.46562041e-01 -5.32290062e-01 0.00000000e+00 8.60569394e+01] [ 5.32290062e-01 8.46562041e-01 0.00000000e+00 2.02681184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81470568e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:86.08, Y:20.28, Z:0.00 [[ 8.44903334e-01 -5.34919018e-01 0.00000000e+00 8.60820147e+01] [ 5.34919018e-01 8.44903334e-01 0.00000000e+00 2.02810032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67636641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:20.30, Z:0.00 [[ 8.42839273e-01 -5.38165365e-01 0.00000000e+00 8.61024817e+01] [ 5.38165365e-01 8.42839273e-01 0.00000000e+00 2.02952322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08195867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:20.31, Z:0.00 [[ 8.41819472e-01 -5.39759184e-01 0.00000000e+00 8.61267700e+01] [ 5.39759184e-01 8.41819472e-01 0.00000000e+00 2.03084192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00018490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:20.32, Z:0.00 [[ 8.41695199e-01 -5.39952953e-01 0.00000000e+00 8.61541525e+01] [ 5.39952953e-01 8.41695199e-01 0.00000000e+00 2.03201727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90954783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:20.33, Z:0.00 [[ 8.39461943e-01 -5.43418481e-01 0.00000000e+00 8.61771874e+01] [ 5.43418481e-01 8.39461943e-01 0.00000000e+00 2.03338731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59756287e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:20.35, Z:-0.00 [[ 8.37450505e-01 -5.46513177e-01 0.00000000e+00 8.61999742e+01] [ 5.46513177e-01 8.37450505e-01 0.00000000e+00 2.03487498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76056077e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:20.36, Z:0.00 [[ 8.37625753e-01 -5.46244541e-01 0.00000000e+00 8.62274798e+01] [ 5.46244541e-01 8.37625753e-01 0.00000000e+00 2.03597368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29257233e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:20.37, Z:0.00 [[ 8.36614056e-01 -5.47792772e-01 0.00000000e+00 8.62525410e+01] [ 5.47792772e-01 8.36614056e-01 0.00000000e+00 2.03723384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06372529e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:20.39, Z:0.00 [[ 8.35054989e-01 -5.50166489e-01 0.00000000e+00 8.62777133e+01] [ 5.50166489e-01 8.35054989e-01 0.00000000e+00 2.03858582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72194943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:20.40, Z:0.00 [[ 8.34047286e-01 -5.51692963e-01 0.00000000e+00 8.63021745e+01] [ 5.51692963e-01 8.34047286e-01 0.00000000e+00 2.03984033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99399513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:20.41, Z:0.00 [[ 8.32970001e-01 -5.53318152e-01 0.00000000e+00 8.63269200e+01] [ 5.53318152e-01 8.32970001e-01 0.00000000e+00 2.04108468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25894951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:86.35, Y:20.42, Z:0.01 [[ 8.32116586e-01 -5.54600745e-01 0.00000000e+00 8.63518956e+01] [ 5.54600745e-01 8.32116586e-01 0.00000000e+00 2.04228882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02711928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:20.44, Z:0.01 [[ 8.31910412e-01 -5.54909962e-01 0.00000000e+00 8.63770662e+01] [ 5.54909962e-01 8.31910412e-01 0.00000000e+00 2.04358790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36352593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:20.45, Z:0.01 [[ 8.31951521e-01 -5.54848327e-01 0.00000000e+00 8.64012336e+01] [ 5.54848327e-01 8.31951521e-01 0.00000000e+00 2.04483469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87657290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:20.46, Z:0.01 [[ 8.31946209e-01 -5.54856293e-01 0.00000000e+00 8.64264968e+01] [ 5.54856293e-01 8.31946209e-01 0.00000000e+00 2.04615299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69130642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.807552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:86.45, Y:20.47, Z:0.01 [[ 8.32160409e-01 -5.54534989e-01 0.00000000e+00 8.64513528e+01] [ 5.54534989e-01 8.32160409e-01 0.00000000e+00 2.04741494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19077764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.837552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:86.47, Y:20.49, Z:0.01 [[ 8.32009416e-01 -5.54761509e-01 0.00000000e+00 8.64748228e+01] [ 5.54761509e-01 8.32009416e-01 0.00000000e+00 2.04875093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26779565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.867552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:86.50, Y:20.50, Z:0.01 [[ 8.31477599e-01 -5.55558280e-01 0.00000000e+00 8.64989818e+01] [ 5.55558280e-01 8.31477599e-01 0.00000000e+00 2.05012613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73988014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:20.51, Z:0.01 [[ 8.28621637e-01 -5.59809060e-01 0.00000000e+00 8.65218913e+01] [ 5.59809060e-01 8.28621637e-01 0.00000000e+00 2.05149821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64413228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:20.53, Z:0.01 [[ 8.26825335e-01 -5.62458768e-01 0.00000000e+00 8.65462386e+01] [ 5.62458768e-01 8.26825335e-01 0.00000000e+00 2.05285794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50794638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:20.54, Z:0.01 [[ 8.24936089e-01 -5.65226016e-01 0.00000000e+00 8.65699637e+01] [ 5.65226016e-01 8.24936089e-01 0.00000000e+00 2.05420001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71041552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:20.56, Z:0.01 [[ 8.22699746e-01 -5.68476145e-01 0.00000000e+00 8.65948285e+01] [ 5.68476145e-01 8.22699746e-01 0.00000000e+00 2.05555277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98524318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:20.57, Z:0.01 [[ 8.20313719e-01 -5.71913807e-01 0.00000000e+00 8.66200923e+01] [ 5.71913807e-01 8.20313719e-01 0.00000000e+00 2.05685659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07280429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:20.58, Z:0.01 [[ 8.15624894e-01 -5.78581051e-01 0.00000000e+00 8.66446383e+01] [ 5.78581051e-01 8.15624894e-01 0.00000000e+00 2.05824399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40194662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:20.60, Z:0.01 [[ 8.13681278e-01 -5.81311258e-01 0.00000000e+00 8.66698109e+01] [ 5.81311258e-01 8.13681278e-01 0.00000000e+00 2.05956495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39255024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:20.61, Z:0.01 [[ 8.12071082e-01 -5.83558529e-01 0.00000000e+00 8.66937077e+01] [ 5.83558529e-01 8.12071082e-01 0.00000000e+00 2.06095415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35254332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:20.62, Z:0.01 [[ 8.10662874e-01 -5.85513198e-01 0.00000000e+00 8.67177224e+01] [ 5.85513198e-01 8.10662874e-01 0.00000000e+00 2.06236251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09176072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:20.64, Z:0.01 [[ 8.08233896e-01 -5.88861587e-01 0.00000000e+00 8.67414501e+01] [ 5.88861587e-01 8.08233896e-01 0.00000000e+00 2.06383280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84099731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:20.65, Z:0.01 [[ 8.06700089e-01 -5.90961054e-01 0.00000000e+00 8.67651484e+01] [ 5.90961054e-01 8.06700089e-01 0.00000000e+00 2.06519827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62869676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:20.67, Z:0.01 [[ 8.05665992e-01 -5.92370078e-01 0.00000000e+00 8.67891076e+01] [ 5.92370078e-01 8.05665992e-01 0.00000000e+00 2.06659264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80267109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:20.68, Z:0.01 [[ 8.04946695e-01 -5.93347132e-01 0.00000000e+00 8.68137204e+01] [ 5.93347132e-01 8.04946695e-01 0.00000000e+00 2.06818206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88495321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:20.70, Z:0.01 [[ 8.05434736e-01 -5.92684474e-01 0.00000000e+00 8.68376853e+01] [ 5.92684474e-01 8.05434736e-01 0.00000000e+00 2.06955736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99459622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:20.71, Z:0.01 [[ 8.06234570e-01 -5.91595992e-01 0.00000000e+00 8.68624346e+01] [ 5.91595992e-01 8.06234570e-01 0.00000000e+00 2.07089424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50421148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:20.72, Z:0.01 [[ 8.07107388e-01 -5.90404661e-01 0.00000000e+00 8.68877148e+01] [ 5.90404661e-01 8.07107388e-01 0.00000000e+00 2.07222824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04284913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:20.74, Z:0.01 [[ 8.09758260e-01 -5.86763632e-01 0.00000000e+00 8.69113099e+01] [ 5.86763632e-01 8.09758260e-01 0.00000000e+00 2.07355998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10897108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:20.75, Z:0.01 [[ 8.11131316e-01 -5.84864077e-01 0.00000000e+00 8.69350397e+01] [ 5.84864077e-01 8.11131316e-01 0.00000000e+00 2.07493122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01115018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:20.76, Z:0.01 [[ 8.12551628e-01 -5.82889227e-01 0.00000000e+00 8.69595294e+01] [ 5.82889227e-01 8.12551628e-01 0.00000000e+00 2.07630557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73920192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:20.78, Z:0.01 [[ 8.14311848e-01 -5.80427613e-01 0.00000000e+00 8.69867834e+01] [ 5.80427613e-01 8.14311848e-01 0.00000000e+00 2.07760232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36496094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:20.79, Z:0.01 [[ 8.16222568e-01 -5.77737587e-01 0.00000000e+00 8.70117143e+01] [ 5.77737587e-01 8.16222568e-01 0.00000000e+00 2.07876887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49070508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.527552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:87.04, Y:20.80, Z:0.01 [[ 8.16976898e-01 -5.76670398e-01 0.00000000e+00 8.70357320e+01] [ 5.76670398e-01 8.16976898e-01 0.00000000e+00 2.07992753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40066929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:20.81, Z:0.01 [[ 8.17636547e-01 -5.75734728e-01 0.00000000e+00 8.70599345e+01] [ 5.75734728e-01 8.17636547e-01 0.00000000e+00 2.08107422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21258662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:20.82, Z:0.01 [[ 8.19204881e-01 -5.73500970e-01 0.00000000e+00 8.70864250e+01] [ 5.73500970e-01 8.19204881e-01 0.00000000e+00 2.08211376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93868369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:20.83, Z:0.01 [[ 8.20544415e-01 -5.71582769e-01 0.00000000e+00 8.71111508e+01] [ 5.71582769e-01 8.20544415e-01 0.00000000e+00 2.08344856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02280232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:20.85, Z:0.01 [[ 8.22432996e-01 -5.68861993e-01 0.00000000e+00 8.71357313e+01] [ 5.68861993e-01 8.22432996e-01 0.00000000e+00 2.08485471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49893603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:20.86, Z:0.01 [[ 8.24546616e-01 -5.65794024e-01 0.00000000e+00 8.71609253e+01] [ 5.65794024e-01 8.24546616e-01 0.00000000e+00 2.08617539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73524734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:20.87, Z:0.01 [[ 8.26149897e-01 -5.63450395e-01 0.00000000e+00 8.71866553e+01] [ 5.63450395e-01 8.26149897e-01 0.00000000e+00 2.08741752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77519611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:20.89, Z:0.01 [[ 8.30152473e-01 -5.57536431e-01 0.00000000e+00 8.72122441e+01] [ 5.57536431e-01 8.30152473e-01 0.00000000e+00 2.08864971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88890893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:20.90, Z:0.01 [[ 8.30901440e-01 -5.56419624e-01 0.00000000e+00 8.72350850e+01] [ 5.56419624e-01 8.30901440e-01 0.00000000e+00 2.09001220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15103253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:20.91, Z:0.01 [[ 8.35056788e-01 -5.50163757e-01 0.00000000e+00 8.72619508e+01] [ 5.50163757e-01 8.35056788e-01 0.00000000e+00 2.09122040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46979882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:87.29, Y:20.93, Z:0.01 [[ 8.35959856e-01 -5.48790596e-01 0.00000000e+00 8.72864805e+01] [ 5.48790596e-01 8.35959856e-01 0.00000000e+00 2.09254766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35802607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:87.31, Y:20.94, Z:0.01 [[ 8.37003190e-01 -5.47198008e-01 0.00000000e+00 8.73107744e+01] [ 5.47198008e-01 8.37003190e-01 0.00000000e+00 2.09386659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00671424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.887552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:87.33, Y:20.95, Z:0.01 [[ 8.38223531e-01 -5.45326794e-01 0.00000000e+00 8.73346544e+01] [ 5.45326794e-01 8.38223531e-01 0.00000000e+00 2.09516199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08898755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:20.97, Z:0.01 [[ 8.41431556e-01 -5.40363707e-01 0.00000000e+00 8.73591462e+01] [ 5.40363707e-01 8.41431556e-01 0.00000000e+00 2.09660476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14089832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:20.98, Z:0.01 [[ 8.42881758e-01 -5.38098821e-01 0.00000000e+00 8.73828697e+01] [ 5.38098821e-01 8.42881758e-01 0.00000000e+00 2.09803756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02732296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:20.99, Z:0.01 [[ 8.43764099e-01 -5.36714212e-01 0.00000000e+00 8.74066998e+01] [ 5.36714212e-01 8.43764099e-01 0.00000000e+00 2.09936513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25457516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:21.01, Z:0.01 [[ 8.43834591e-01 -5.36603376e-01 0.00000000e+00 8.74319889e+01] [ 5.36603376e-01 8.43834591e-01 0.00000000e+00 2.10063368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06629761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:21.02, Z:0.01 [[ 8.43831279e-01 -5.36608584e-01 0.00000000e+00 8.74561025e+01] [ 5.36608584e-01 8.43831279e-01 0.00000000e+00 2.10194954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50059916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:21.03, Z:0.01 [[ 8.43402420e-01 -5.37282382e-01 0.00000000e+00 8.74806582e+01] [ 5.37282382e-01 8.43402420e-01 0.00000000e+00 2.10333293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47108784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:21.05, Z:0.01 [[ 8.43110151e-01 -5.37740898e-01 0.00000000e+00 8.75045321e+01] [ 5.37740898e-01 8.43110151e-01 0.00000000e+00 2.10467047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78587753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:21.06, Z:0.01 [[ 8.42687606e-01 -5.38402823e-01 0.00000000e+00 8.75291672e+01] [ 5.38402823e-01 8.42687606e-01 0.00000000e+00 2.10599326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44132210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:21.07, Z:0.01 [[ 8.42621883e-01 -5.38505675e-01 0.00000000e+00 8.75539487e+01] [ 5.38505675e-01 8.42621883e-01 0.00000000e+00 2.10736444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14623644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:21.09, Z:0.01 [[ 8.42476642e-01 -5.38732872e-01 0.00000000e+00 8.75788503e+01] [ 5.38732872e-01 8.42476642e-01 0.00000000e+00 2.10864075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63362703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:21.10, Z:0.01 [[ 8.42313593e-01 -5.38987766e-01 0.00000000e+00 8.76039579e+01] [ 5.38987766e-01 8.42313593e-01 0.00000000e+00 2.11001490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63362703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:21.11, Z:0.01 [[ 8.42469382e-01 -5.38744226e-01 0.00000000e+00 8.76290353e+01] [ 5.38744226e-01 8.42469382e-01 0.00000000e+00 2.11139382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06847524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:21.13, Z:0.01 [[ 8.42897294e-01 -5.38074485e-01 0.00000000e+00 8.76529646e+01] [ 5.38074485e-01 8.42897294e-01 0.00000000e+00 2.11268130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27045113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:21.14, Z:0.01 [[ 8.43038820e-01 -5.37852720e-01 0.00000000e+00 8.76768611e+01] [ 5.37852720e-01 8.43038820e-01 0.00000000e+00 2.11390481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23532444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:21.15, Z:0.01 [[ 8.43123063e-01 -5.37720653e-01 0.00000000e+00 8.77015257e+01] [ 5.37720653e-01 8.43123063e-01 0.00000000e+00 2.11519258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03276892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:21.17, Z:0.01 [[ 8.41928045e-01 -5.39589813e-01 0.00000000e+00 8.77226539e+01] [ 5.39589813e-01 8.41928045e-01 0.00000000e+00 2.11677739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15176829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:21.18, Z:0.01 [[ 8.43734918e-01 -5.36760084e-01 0.00000000e+00 8.77515332e+01] [ 5.36760084e-01 8.43734918e-01 0.00000000e+00 2.11799361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49446812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:21.20, Z:0.01 [[ 8.42416554e-01 -5.38826828e-01 0.00000000e+00 8.77722002e+01] [ 5.38826828e-01 8.42416554e-01 0.00000000e+00 2.11951524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54113502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:21.21, Z:0.01 [[ 8.42255032e-01 -5.39079272e-01 0.00000000e+00 8.77955674e+01] [ 5.39079272e-01 8.42255032e-01 0.00000000e+00 2.12092843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69867588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:21.22, Z:0.01 [[ 8.45409803e-01 -5.34118212e-01 0.00000000e+00 8.78265736e+01] [ 5.34118212e-01 8.45409803e-01 0.00000000e+00 2.12193639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23070648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:21.24, Z:0.01 [[ 8.43376679e-01 -5.37322787e-01 0.00000000e+00 8.78453711e+01] [ 5.37322787e-01 8.43376679e-01 0.00000000e+00 2.12351622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04601130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:21.25, Z:0.01 [[ 8.46201928e-01 -5.32862362e-01 0.00000000e+00 8.78763745e+01] [ 5.32862362e-01 8.46201928e-01 0.00000000e+00 2.12463076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24320020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:21.26, Z:0.01 [[ 8.46495750e-01 -5.32395478e-01 0.00000000e+00 8.79005717e+01] [ 5.32395478e-01 8.46495750e-01 0.00000000e+00 2.12601891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18350171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:21.27, Z:0.01 [[ 8.47113078e-01 -5.31412677e-01 0.00000000e+00 8.79249456e+01] [ 5.31412677e-01 8.47113078e-01 0.00000000e+00 2.12741745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08710908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:21.29, Z:0.01 [[ 8.47050180e-01 -5.31512927e-01 0.00000000e+00 8.79494471e+01] [ 5.31512927e-01 8.47050180e-01 0.00000000e+00 2.12871211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11676795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:21.30, Z:0.01 [[ 8.46481447e-01 -5.32418219e-01 0.00000000e+00 8.79745436e+01] [ 5.32418219e-01 8.46481447e-01 0.00000000e+00 2.13000091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16157864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:21.31, Z:0.01 [[ 8.45880593e-01 -5.33372311e-01 0.00000000e+00 8.79983412e+01] [ 5.33372311e-01 8.45880593e-01 0.00000000e+00 2.13124752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28995049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:21.33, Z:0.01 [[ 8.45667111e-01 -5.33710725e-01 0.00000000e+00 8.80224621e+01] [ 5.33710725e-01 8.45667111e-01 0.00000000e+00 2.13268117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31314648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:21.34, Z:0.01 [[ 8.45241203e-01 -5.34384982e-01 0.00000000e+00 8.80467599e+01] [ 5.34384982e-01 8.45241203e-01 0.00000000e+00 2.13404363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29094743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:21.35, Z:0.01 [[ 8.44905679e-01 -5.34915314e-01 0.00000000e+00 8.80715729e+01] [ 5.34915314e-01 8.44905679e-01 0.00000000e+00 2.13540746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21219040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:21.37, Z:0.01 [[ 8.44847213e-01 -5.35007651e-01 0.00000000e+00 8.80964978e+01] [ 5.35007651e-01 8.44847213e-01 0.00000000e+00 2.13678707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19007792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:21.38, Z:0.01 [[ 8.44964502e-01 -5.34822391e-01 0.00000000e+00 8.81198148e+01] [ 5.34822391e-01 8.44964502e-01 0.00000000e+00 2.13806819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16548749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:21.39, Z:0.01 [[ 8.44867001e-01 -5.34976402e-01 0.00000000e+00 8.81441903e+01] [ 5.34976402e-01 8.44867001e-01 0.00000000e+00 2.13942541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10652046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:21.41, Z:0.01 [[ 8.44958808e-01 -5.34831387e-01 0.00000000e+00 8.81682943e+01] [ 5.34831387e-01 8.44958808e-01 0.00000000e+00 2.14080029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05193480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:21.42, Z:0.01 [[ 8.44899281e-01 -5.34925420e-01 0.00000000e+00 8.81929324e+01] [ 5.34925420e-01 8.44899281e-01 0.00000000e+00 2.14216072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07090263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:21.44, Z:0.01 [[ 8.45149457e-01 -5.34530070e-01 0.00000000e+00 8.82176173e+01] [ 5.34530070e-01 8.45149457e-01 0.00000000e+00 2.14356316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09786767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:21.45, Z:0.01 [[ 8.46480496e-01 -5.32419731e-01 0.00000000e+00 8.82412988e+01] [ 5.32419731e-01 8.46480496e-01 0.00000000e+00 2.14487740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09940451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:21.46, Z:0.01 [[ 8.47480012e-01 -5.30827306e-01 0.00000000e+00 8.82655015e+01] [ 5.30827306e-01 8.47480012e-01 0.00000000e+00 2.14618989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08748305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:21.48, Z:0.01 [[ 8.48659687e-01 -5.28939256e-01 0.00000000e+00 8.82902574e+01] [ 5.28939256e-01 8.48659687e-01 0.00000000e+00 2.14756858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10379927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.31, Y:21.49, Z:0.01 [[ 8.50021425e-01 -5.26748115e-01 0.00000000e+00 8.83144511e+01] [ 5.26748115e-01 8.50021425e-01 0.00000000e+00 2.14893840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06095254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:21.50, Z:0.01 [[ 8.51524795e-01 -5.24314336e-01 0.00000000e+00 8.83393101e+01] [ 5.24314336e-01 8.51524795e-01 0.00000000e+00 2.15027955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06803245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:21.52, Z:0.01 [[ 8.55783641e-01 -5.17333896e-01 0.00000000e+00 8.83627259e+01] [ 5.17333896e-01 8.55783641e-01 0.00000000e+00 2.15160281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00244165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:21.53, Z:0.01 [[ 8.57596730e-01 -5.14322709e-01 0.00000000e+00 8.83872732e+01] [ 5.14322709e-01 8.57596730e-01 0.00000000e+00 2.15305142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19903586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:21.54, Z:0.01 [[ 8.59180526e-01 -5.11672575e-01 0.00000000e+00 8.84119095e+01] [ 5.11672575e-01 8.59180526e-01 0.00000000e+00 2.15449464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70452034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:21.56, Z:0.01 [[ 8.62329309e-01 -5.06347867e-01 0.00000000e+00 8.84357000e+01] [ 5.06347867e-01 8.62329309e-01 0.00000000e+00 2.15588643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.48941211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:21.57, Z:0.01 [[ 8.63681108e-01 -5.04038634e-01 0.00000000e+00 8.84600908e+01] [ 5.04038634e-01 8.63681108e-01 0.00000000e+00 2.15733074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68468268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:21.59, Z:0.01 [[ 8.64878989e-01 -5.01980413e-01 0.00000000e+00 8.84837554e+01] [ 5.01980413e-01 8.64878989e-01 0.00000000e+00 2.15873479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88821660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:21.60, Z:0.01 [[ 8.65990966e-01 -5.00059642e-01 0.00000000e+00 8.85087203e+01] [ 5.00059642e-01 8.65990966e-01 0.00000000e+00 2.16010255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35449975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:21.61, Z:0.01 [[ 8.66104731e-01 -4.99862576e-01 0.00000000e+00 8.85333476e+01] [ 4.99862576e-01 8.66104731e-01 0.00000000e+00 2.16149089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02342916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:21.63, Z:0.00 [[ 8.58796539e-01 -5.12316801e-01 0.00000000e+00 8.85263718e+01] [ 5.12316801e-01 8.58796539e-01 0.00000000e+00 2.16349932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20163458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.417552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:88.58, Y:21.64, Z:0.01 [[ 8.66899356e-01 -4.98483207e-01 0.00000000e+00 8.85825146e+01] [ 4.98483207e-01 8.66899356e-01 0.00000000e+00 2.16406603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21626770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:21.66, Z:0.00 [[ 8.58907776e-01 -5.12130289e-01 0.00000000e+00 8.85753640e+01] [ 5.12130289e-01 8.58907776e-01 0.00000000e+00 2.16620696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62016457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:21.68, Z:0.00 [[ 8.58372408e-01 -5.13027104e-01 0.00000000e+00 8.85986799e+01] [ 5.13027104e-01 8.58372408e-01 0.00000000e+00 2.16768555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72167534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:21.69, Z:0.00 [[ 8.58113050e-01 -5.13460801e-01 0.00000000e+00 8.86200947e+01] [ 5.13460801e-01 8.58113050e-01 0.00000000e+00 2.16906710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14830955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:21.70, Z:0.01 [[ 8.64548206e-01 -5.02549898e-01 0.00000000e+00 8.86747473e+01] [ 5.02549898e-01 8.64548206e-01 0.00000000e+00 2.16975352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00364127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:21.71, Z:0.01 [[ 8.63047505e-01 -5.05122762e-01 0.00000000e+00 8.86986391e+01] [ 5.05122762e-01 8.63047505e-01 0.00000000e+00 2.17119118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02593681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:21.73, Z:0.00 [[ 8.55372262e-01 -5.18013796e-01 0.00000000e+00 8.86949612e+01] [ 5.18013796e-01 8.55372262e-01 0.00000000e+00 2.17316099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76945909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:88.75, Y:21.74, Z:0.01 [[ 8.60420884e-01 -5.09584049e-01 0.00000000e+00 8.87473502e+01] [ 5.09584049e-01 8.60420884e-01 0.00000000e+00 2.17372349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50616408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:21.76, Z:0.00 [[ 8.50366417e-01 -5.26190989e-01 0.00000000e+00 8.87422297e+01] [ 5.26190989e-01 8.50366417e-01 0.00000000e+00 2.17567139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80263353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:21.77, Z:0.00 [[ 8.49147539e-01 -5.28155712e-01 0.00000000e+00 8.87679234e+01] [ 5.28155712e-01 8.49147539e-01 0.00000000e+00 2.17687844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83514045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:21.78, Z:0.01 [[ 8.54173702e-01 -5.19987776e-01 0.00000000e+00 8.88203630e+01] [ 5.19987776e-01 8.54173702e-01 0.00000000e+00 2.17757965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44791027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:21.79, Z:0.01 [[ 8.52345166e-01 -5.22979653e-01 0.00000000e+00 8.88445027e+01] [ 5.22979653e-01 8.52345166e-01 0.00000000e+00 2.17888115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35062814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.87, Y:21.80, Z:0.01 [[ 8.51450700e-01 -5.24434653e-01 0.00000000e+00 8.88689763e+01] [ 5.24434653e-01 8.51450700e-01 0.00000000e+00 2.18009088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45696124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:21.82, Z:0.00 [[ 8.43500246e-01 -5.37128788e-01 0.00000000e+00 8.88589745e+01] [ 5.37128788e-01 8.43500246e-01 0.00000000e+00 2.18194129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39653582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:21.82, Z:0.01 [[ 8.50565777e-01 -5.25868671e-01 0.00000000e+00 8.89165905e+01] [ 5.25868671e-01 8.50565777e-01 0.00000000e+00 2.18226459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54443280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:21.84, Z:0.00 [[ 8.43547945e-01 -5.37053875e-01 0.00000000e+00 8.89129142e+01] [ 5.37053875e-01 8.43547945e-01 0.00000000e+00 2.18406922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09081967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:21.85, Z:0.00 [[ 8.43042386e-01 -5.37847130e-01 0.00000000e+00 8.89404366e+01] [ 5.37847130e-01 8.43042386e-01 0.00000000e+00 2.18525565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46181916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:21.86, Z:0.00 [[ 8.41302266e-01 -5.40564980e-01 0.00000000e+00 8.89661045e+01] [ 5.40564980e-01 8.41302266e-01 0.00000000e+00 2.18646063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11567690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.957552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:88.99, Y:21.88, Z:0.00 [[ 8.40146882e-01 -5.42358937e-01 0.00000000e+00 8.89924544e+01] [ 5.42358937e-01 8.40146882e-01 0.00000000e+00 2.18768503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99194228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.02, Y:21.89, Z:0.01 [[ 8.38738286e-01 -5.44534744e-01 0.00000000e+00 8.90176501e+01] [ 5.44534744e-01 8.38738286e-01 0.00000000e+00 2.18883208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77093100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.04, Y:21.90, Z:0.01 [[ 8.38841310e-01 -5.44376025e-01 0.00000000e+00 8.90437742e+01] [ 5.44376025e-01 8.38841310e-01 0.00000000e+00 2.18997914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26730786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04755201799999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:89.07, Y:21.91, Z:0.01 [[ 8.39076306e-01 -5.44013743e-01 0.00000000e+00 8.90687046e+01] [ 5.44013743e-01 8.39076306e-01 0.00000000e+00 2.19107150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47609095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:89.09, Y:21.92, Z:0.01 [[ 8.40930886e-01 -5.41142536e-01 0.00000000e+00 8.90908267e+01] [ 5.41142536e-01 8.40930886e-01 0.00000000e+00 2.19219437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00732726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:89.12, Y:21.93, Z:0.01 [[ 8.41405191e-01 -5.40404760e-01 0.00000000e+00 8.91157388e+01] [ 5.40404760e-01 8.41405191e-01 0.00000000e+00 2.19346296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00732726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.137552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.14, Y:21.94, Z:0.01 [[ 8.45006145e-01 -5.34756594e-01 0.00000000e+00 8.91374064e+01] [ 5.34756594e-01 8.45006145e-01 0.00000000e+00 2.19420717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22642340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.167552018 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:89.19, Y:21.95, Z:0.01 [[ 8.46490054e-01 -5.32404535e-01 0.00000000e+00 8.91883644e+01] [ 5.32404535e-01 8.46490054e-01 0.00000000e+00 2.19546730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08288164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.197552018 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:89.21, Y:21.97, Z:0.01 [[ 8.46327939e-01 -5.32662201e-01 0.00000000e+00 8.92136251e+01] [ 5.32662201e-01 8.46327939e-01 0.00000000e+00 2.19681299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08288164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.227552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.22, Y:21.98, Z:0.01 [[ 8.44902547e-01 -5.34920261e-01 0.00000000e+00 8.92218731e+01] [ 5.34920261e-01 8.44902547e-01 0.00000000e+00 2.19845077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44123209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.257552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:89.24, Y:21.99, Z:0.01 [[ 8.48192098e-01 -5.29688744e-01 0.00000000e+00 8.92373601e+01] [ 5.29688744e-01 8.48192098e-01 0.00000000e+00 2.19946284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93639329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.287552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:89.27, Y:22.01, Z:0.01 [[ 8.50579278e-01 -5.25846833e-01 0.00000000e+00 8.92699035e+01] [ 5.25846833e-01 8.50579278e-01 0.00000000e+00 2.20056841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31074448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.317552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:89.32, Y:22.02, Z:0.00 [[ 8.51399778e-01 -5.24517320e-01 0.00000000e+00 8.93153059e+01] [ 5.24517320e-01 8.51399778e-01 0.00000000e+00 2.20168986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60339778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:22.03, Z:0.00 [[ 8.49505112e-01 -5.27580387e-01 0.00000000e+00 8.93221137e+01] [ 5.27580387e-01 8.49505112e-01 0.00000000e+00 2.20331603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50156841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:22.05, Z:0.00 [[ 8.49398306e-01 -5.27752326e-01 0.00000000e+00 8.93476791e+01] [ 5.27752326e-01 8.49398306e-01 0.00000000e+00 2.20463625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01635264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.39, Y:22.06, Z:0.00 [[ 8.51603478e-01 -5.24186529e-01 0.00000000e+00 8.93888871e+01] [ 5.24186529e-01 8.51603478e-01 0.00000000e+00 2.20558638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23642703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:89.40, Y:22.07, Z:0.00 [[ 8.48173592e-01 -5.29718377e-01 0.00000000e+00 8.93993838e+01] [ 5.29718377e-01 8.48173592e-01 0.00000000e+00 2.20721745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50698342e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:22.09, Z:0.00 [[ 8.47754681e-01 -5.30388538e-01 0.00000000e+00 8.94254886e+01] [ 5.30388538e-01 8.47754681e-01 0.00000000e+00 2.20853193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61738741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.497552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:89.47, Y:22.09, Z:0.00 [[ 8.47986483e-01 -5.30017852e-01 0.00000000e+00 8.94652307e+01] [ 5.30017852e-01 8.47986483e-01 0.00000000e+00 2.20943614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03538654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:22.11, Z:0.01 [[ 8.46348206e-01 -5.32629998e-01 0.00000000e+00 8.94898099e+01] [ 5.32629998e-01 8.46348206e-01 0.00000000e+00 2.21072914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13364231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.557552018 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:89.51, Y:22.12, Z:0.01 [[ 8.44224913e-01 -5.35989083e-01 0.00000000e+00 8.95132717e+01] [ 5.35989083e-01 8.44224913e-01 0.00000000e+00 2.21198752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22065244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.587552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:89.54, Y:22.13, Z:0.01 [[ 8.40499470e-01 -5.41812368e-01 0.00000000e+00 8.95373970e+01] [ 5.41812368e-01 8.40499470e-01 0.00000000e+00 2.21337592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54671226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.617552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:89.56, Y:22.15, Z:0.01 [[ 8.38522026e-01 -5.44867702e-01 0.00000000e+00 8.95623867e+01] [ 5.44867702e-01 8.38522026e-01 0.00000000e+00 2.21465367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32980243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.647552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.57, Y:22.16, Z:0.01 [[ 8.33889789e-01 -5.51930992e-01 0.00000000e+00 8.95737963e+01] [ 5.51930992e-01 8.33889789e-01 0.00000000e+00 2.21622517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87638274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:22.17, Z:0.01 [[ 8.32131447e-01 -5.54578448e-01 0.00000000e+00 8.96000940e+01] [ 5.54578448e-01 8.32131447e-01 0.00000000e+00 2.21741016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65533949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:22.18, Z:0.01 [[ 8.33410246e-01 -5.52654831e-01 0.00000000e+00 8.96357425e+01] [ 5.52654831e-01 8.33410246e-01 0.00000000e+00 2.21843336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76607130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:22.20, Z:0.01 [[ 8.30897180e-01 -5.56425984e-01 0.00000000e+00 8.96496552e+01] [ 5.56425984e-01 8.30897180e-01 0.00000000e+00 2.22005334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75058341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:22.21, Z:0.00 [[ 8.31821635e-01 -5.55043032e-01 0.00000000e+00 8.96851638e+01] [ 5.55043032e-01 8.31821635e-01 0.00000000e+00 2.22110262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71710909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:89.71, Y:22.22, Z:0.00 [[ 8.30877620e-01 -5.56455192e-01 0.00000000e+00 8.97086271e+01] [ 5.56455192e-01 8.30877620e-01 0.00000000e+00 2.22235774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04864455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.73, Y:22.24, Z:0.00 [[ 8.30738651e-01 -5.56662639e-01 0.00000000e+00 8.97328796e+01] [ 5.56662639e-01 8.30738651e-01 0.00000000e+00 2.22368728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77343237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.76, Y:22.25, Z:0.00 [[ 8.30472212e-01 -5.57060055e-01 0.00000000e+00 8.97566913e+01] [ 5.57060055e-01 8.30472212e-01 0.00000000e+00 2.22490154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77815527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.887552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:89.78, Y:22.26, Z:0.00 [[ 8.30220116e-01 -5.57435700e-01 0.00000000e+00 8.97814864e+01] [ 5.57435700e-01 8.30220116e-01 0.00000000e+00 2.22616974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35187836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:22.27, Z:0.00 [[ 8.30105832e-01 -5.57605871e-01 0.00000000e+00 8.98064355e+01] [ 5.57605871e-01 8.30105832e-01 0.00000000e+00 2.22744743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74987299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.83, Y:22.29, Z:0.01 [[ 8.30983402e-01 -5.56297210e-01 0.00000000e+00 8.98307075e+01] [ 5.56297210e-01 8.30983402e-01 0.00000000e+00 2.22858032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17672298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:22.30, Z:0.01 [[ 8.31883158e-01 -5.54950819e-01 0.00000000e+00 8.98543130e+01] [ 5.54950819e-01 8.31883158e-01 0.00000000e+00 2.22979834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41293227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:22.31, Z:0.01 [[ 8.32866275e-01 -5.53474271e-01 0.00000000e+00 8.98797502e+01] [ 5.53474271e-01 8.32866275e-01 0.00000000e+00 2.23105110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06607607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:22.32, Z:0.01 [[ 8.33559252e-01 -5.52430062e-01 0.00000000e+00 8.99041521e+01] [ 5.52430062e-01 8.33559252e-01 0.00000000e+00 2.23236445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09615078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.067552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.93, Y:22.34, Z:0.01 [[ 8.35168201e-01 -5.49994615e-01 0.00000000e+00 8.99281897e+01] [ 5.49994615e-01 8.35168201e-01 0.00000000e+00 2.23364710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98217287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.097552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.95, Y:22.35, Z:0.01 [[ 8.35785178e-01 -5.49056587e-01 0.00000000e+00 8.99526616e+01] [ 5.49056587e-01 8.35785178e-01 0.00000000e+00 2.23501384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77212024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:22.36, Z:0.01 [[ 8.35986384e-01 -5.48750186e-01 0.00000000e+00 8.99771791e+01] [ 5.48750186e-01 8.35986384e-01 0.00000000e+00 2.23632014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64818742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:90.00, Y:22.38, Z:0.01 [[ 8.36180454e-01 -5.48454417e-01 0.00000000e+00 9.00025252e+01] [ 5.48454417e-01 8.36180454e-01 0.00000000e+00 2.23764169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74225593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.03, Y:22.39, Z:0.01 [[ 8.36037208e-01 -5.48672751e-01 0.00000000e+00 9.00269635e+01] [ 5.48672751e-01 8.36037208e-01 0.00000000e+00 2.23896645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34172636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:22.40, Z:0.01 [[ 8.35947704e-01 -5.48809107e-01 0.00000000e+00 9.00513508e+01] [ 5.48809107e-01 8.35947704e-01 0.00000000e+00 2.24022327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32529932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:22.42, Z:0.01 [[ 8.35898202e-01 -5.48884501e-01 0.00000000e+00 9.00767043e+01] [ 5.48884501e-01 8.35898202e-01 0.00000000e+00 2.24150918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03135467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.277552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:90.10, Y:22.43, Z:0.01 [[ 8.36802931e-01 -5.47504205e-01 0.00000000e+00 9.01009962e+01] [ 5.47504205e-01 8.36802931e-01 0.00000000e+00 2.24282435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82113422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.307552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:90.13, Y:22.44, Z:0.01 [[ 8.37266579e-01 -5.46794912e-01 0.00000000e+00 9.01259407e+01] [ 5.46794912e-01 8.37266579e-01 0.00000000e+00 2.24414206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02614743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.337552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.15, Y:22.45, Z:0.01 [[ 8.37967302e-01 -5.45720441e-01 0.00000000e+00 9.01494276e+01] [ 5.45720441e-01 8.37967302e-01 0.00000000e+00 2.24545727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69649270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.367552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.17, Y:22.47, Z:0.01 [[ 8.38085916e-01 -5.45538264e-01 0.00000000e+00 9.01746400e+01] [ 5.45538264e-01 8.38085916e-01 0.00000000e+00 2.24679253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11201781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:22.48, Z:0.00 [[ 8.38848887e-01 -5.44364350e-01 0.00000000e+00 9.01988265e+01] [ 5.44364350e-01 8.38848887e-01 0.00000000e+00 2.24822178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72688200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:22.50, Z:0.00 [[ 8.38535690e-01 -5.44846673e-01 0.00000000e+00 9.02239215e+01] [ 5.44846673e-01 8.38535690e-01 0.00000000e+00 2.24951348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44190066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:22.51, Z:0.00 [[ 8.37831103e-01 -5.45929523e-01 0.00000000e+00 9.02492429e+01] [ 5.45929523e-01 8.37831103e-01 0.00000000e+00 2.25078776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39493050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:22.52, Z:0.00 [[ 8.37321016e-01 -5.46711547e-01 0.00000000e+00 9.02735422e+01] [ 5.46711547e-01 8.37321016e-01 0.00000000e+00 2.25193497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93383248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:22.53, Z:0.01 [[ 8.37475446e-01 -5.46474957e-01 0.00000000e+00 9.02982432e+01] [ 5.46474957e-01 8.37475446e-01 0.00000000e+00 2.25319329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42665899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:22.55, Z:0.01 [[ 8.37584409e-01 -5.46307934e-01 0.00000000e+00 9.03231134e+01] [ 5.46307934e-01 8.37584409e-01 0.00000000e+00 2.25450400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96157581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57755201799999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:90.35, Y:22.56, Z:0.01 [[ 8.37983994e-01 -5.45694810e-01 0.00000000e+00 9.03473522e+01] [ 5.45694810e-01 8.37983994e-01 0.00000000e+00 2.25586806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23407941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:22.57, Z:0.01 [[ 8.38296086e-01 -5.45215254e-01 0.00000000e+00 9.03722789e+01] [ 5.45215254e-01 8.38296086e-01 0.00000000e+00 2.25713896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82164896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:22.58, Z:0.01 [[ 8.38667452e-01 -5.44643833e-01 0.00000000e+00 9.03966009e+01] [ 5.44643833e-01 8.38667452e-01 0.00000000e+00 2.25847804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.17570636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:22.60, Z:0.01 [[ 8.38430059e-01 -5.45009208e-01 0.00000000e+00 9.04181740e+01] [ 5.45009208e-01 8.38430059e-01 0.00000000e+00 2.25987286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70066545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:22.61, Z:0.01 [[ 8.40135664e-01 -5.42376314e-01 0.00000000e+00 9.04459148e+01] [ 5.42376314e-01 8.40135664e-01 0.00000000e+00 2.26107433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01828187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:22.62, Z:0.01 [[ 8.39693044e-01 -5.43061314e-01 0.00000000e+00 9.04693812e+01] [ 5.43061314e-01 8.39693044e-01 0.00000000e+00 2.26246801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01719128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:22.64, Z:0.01 [[ 8.41324441e-01 -5.40530466e-01 0.00000000e+00 9.04958193e+01] [ 5.40530466e-01 8.41324441e-01 0.00000000e+00 2.26373344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04280075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:22.65, Z:0.01 [[ 8.41823742e-01 -5.39752524e-01 0.00000000e+00 9.05166970e+01] [ 5.39752524e-01 8.41823742e-01 0.00000000e+00 2.26522915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45090064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:22.66, Z:0.01 [[ 8.44241083e-01 -5.35963613e-01 0.00000000e+00 9.05451735e+01] [ 5.35963613e-01 8.44241083e-01 0.00000000e+00 2.26637968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24920850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:22.68, Z:0.01 [[ 8.44230943e-01 -5.35979585e-01 0.00000000e+00 9.05658354e+01] [ 5.35979585e-01 8.44230943e-01 0.00000000e+00 2.26789690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16375857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:22.69, Z:0.01 [[ 8.46606964e-01 -5.32218609e-01 0.00000000e+00 9.05945806e+01] [ 5.32218609e-01 8.46606964e-01 0.00000000e+00 2.26905207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49450610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:22.70, Z:0.01 [[ 8.48531221e-01 -5.29145317e-01 0.00000000e+00 9.06182325e+01] [ 5.29145317e-01 8.48531221e-01 0.00000000e+00 2.27036080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20287689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:22.72, Z:0.01 [[ 8.49100775e-01 -5.28230891e-01 0.00000000e+00 9.06428232e+01] [ 5.28230891e-01 8.49100775e-01 0.00000000e+00 2.27169432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23141557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:22.73, Z:0.01 [[ 8.49628911e-01 -5.27380994e-01 0.00000000e+00 9.06683230e+01] [ 5.27380994e-01 8.49628911e-01 0.00000000e+00 2.27298091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48414639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:22.74, Z:0.01 [[ 8.50422291e-01 -5.26100682e-01 0.00000000e+00 9.06925811e+01] [ 5.26100682e-01 8.50422291e-01 0.00000000e+00 2.27429362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77114509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:22.76, Z:0.01 [[ 8.50264514e-01 -5.26355636e-01 0.00000000e+00 9.07177214e+01] [ 5.26355636e-01 8.50264514e-01 0.00000000e+00 2.27566170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77114509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:22.77, Z:0.00 [[ 8.49631830e-01 -5.27376291e-01 0.00000000e+00 9.07375303e+01] [ 5.27376291e-01 8.49631830e-01 0.00000000e+00 2.27711828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76596830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.087552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.77, Y:22.78, Z:0.01 [[ 8.51710536e-01 -5.24012560e-01 0.00000000e+00 9.07681399e+01] [ 5.24012560e-01 8.51710536e-01 0.00000000e+00 2.27822832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40429609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:22.80, Z:0.01 [[ 8.51733454e-01 -5.23975308e-01 0.00000000e+00 9.07927822e+01] [ 5.23975308e-01 8.51733454e-01 0.00000000e+00 2.27952362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.95430376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:22.81, Z:0.01 [[ 8.51312708e-01 -5.24658625e-01 0.00000000e+00 9.08177137e+01] [ 5.24658625e-01 8.51312708e-01 0.00000000e+00 2.28079850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25169132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:22.82, Z:0.01 [[ 8.51217028e-01 -5.24813844e-01 0.00000000e+00 9.08414795e+01] [ 5.24813844e-01 8.51217028e-01 0.00000000e+00 2.28210766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51817151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:22.83, Z:0.01 [[ 8.51122606e-01 -5.24966961e-01 0.00000000e+00 9.08655663e+01] [ 5.24966961e-01 8.51122606e-01 0.00000000e+00 2.28340525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00876390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:22.85, Z:0.01 [[ 8.51186434e-01 -5.24863462e-01 0.00000000e+00 9.08902172e+01] [ 5.24863462e-01 8.51186434e-01 0.00000000e+00 2.28473023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69447261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:22.86, Z:0.01 [[ 8.50210596e-01 -5.26442724e-01 0.00000000e+00 9.09104543e+01] [ 5.26442724e-01 8.50210596e-01 0.00000000e+00 2.28629494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64207903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:22.88, Z:0.01 [[ 8.51539476e-01 -5.24290493e-01 0.00000000e+00 9.09394267e+01] [ 5.24290493e-01 8.51539476e-01 0.00000000e+00 2.28753194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26337214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:22.89, Z:0.01 [[ 8.51220223e-01 -5.24808663e-01 0.00000000e+00 9.09632987e+01] [ 5.24808663e-01 8.51220223e-01 0.00000000e+00 2.28886414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00275891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:22.90, Z:0.01 [[ 8.50481382e-01 -5.26005151e-01 0.00000000e+00 9.09878952e+01] [ 5.26005151e-01 8.50481382e-01 0.00000000e+00 2.29027918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89298946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:22.92, Z:0.01 [[ 8.48506247e-01 -5.29185364e-01 0.00000000e+00 9.10119832e+01] [ 5.29185364e-01 8.48506247e-01 0.00000000e+00 2.29165521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63390842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:22.93, Z:0.00 [[ 8.47101143e-01 -5.31431702e-01 0.00000000e+00 9.10357032e+01] [ 5.31431702e-01 8.47101143e-01 0.00000000e+00 2.29299611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99144425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:22.94, Z:0.00 [[ 8.45415498e-01 -5.34109199e-01 0.00000000e+00 9.10590473e+01] [ 5.34109199e-01 8.45415498e-01 0.00000000e+00 2.29431029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70067262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.477552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:91.08, Y:22.96, Z:0.01 [[ 8.41833297e-01 -5.39737622e-01 0.00000000e+00 9.10832636e+01] [ 5.39737622e-01 8.41833297e-01 0.00000000e+00 2.29567385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69660083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:22.97, Z:0.01 [[ 8.40283272e-01 -5.42147602e-01 0.00000000e+00 9.11075331e+01] [ 5.42147602e-01 8.40283272e-01 0.00000000e+00 2.29697839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14264992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:22.98, Z:0.01 [[ 8.38985472e-01 -5.44153818e-01 0.00000000e+00 9.11320476e+01] [ 5.44153818e-01 8.38985472e-01 0.00000000e+00 2.29830288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50206527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:23.00, Z:0.01 [[ 8.37281925e-01 -5.46771413e-01 0.00000000e+00 9.11570636e+01] [ 5.46771413e-01 8.37281925e-01 0.00000000e+00 2.29963718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.04815808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:23.01, Z:0.01 [[ 8.36394914e-01 -5.48127309e-01 0.00000000e+00 9.11818566e+01] [ 5.48127309e-01 8.36394914e-01 0.00000000e+00 2.30099498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12623104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:23.02, Z:0.01 [[ 8.36140151e-01 -5.48515860e-01 0.00000000e+00 9.12052582e+01] [ 5.48515860e-01 8.36140151e-01 0.00000000e+00 2.30233251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75151058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:23.04, Z:0.01 [[ 8.36017105e-01 -5.48703381e-01 0.00000000e+00 9.12299916e+01] [ 5.48703381e-01 8.36017105e-01 0.00000000e+00 2.30371704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34486377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:23.05, Z:0.01 [[ 8.37296977e-01 -5.46748363e-01 0.00000000e+00 9.12544585e+01] [ 5.46748363e-01 8.37296977e-01 0.00000000e+00 2.30510673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97414332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:23.06, Z:0.01 [[ 8.39032622e-01 -5.44081115e-01 0.00000000e+00 9.12779275e+01] [ 5.44081115e-01 8.39032622e-01 0.00000000e+00 2.30642836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01161056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:23.08, Z:0.01 [[ 8.40799808e-01 -5.41346176e-01 0.00000000e+00 9.13031514e+01] [ 5.41346176e-01 8.40799808e-01 0.00000000e+00 2.30777479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41425299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:23.09, Z:0.01 [[ 8.42796561e-01 -5.38232251e-01 0.00000000e+00 9.13282191e+01] [ 5.38232251e-01 8.42796561e-01 0.00000000e+00 2.30907721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95089951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:23.10, Z:0.01 [[ 8.47157957e-01 -5.31341129e-01 0.00000000e+00 9.13545644e+01] [ 5.31341129e-01 8.47157957e-01 0.00000000e+00 2.31028887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16781627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:23.12, Z:0.01 [[ 8.49501728e-01 -5.27585836e-01 0.00000000e+00 9.13792717e+01] [ 5.27585836e-01 8.49501728e-01 0.00000000e+00 2.31156416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92858920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:23.13, Z:0.01 [[ 8.52020190e-01 -5.23508927e-01 0.00000000e+00 9.14031180e+01] [ 5.23508927e-01 8.52020190e-01 0.00000000e+00 2.31275935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19104594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:23.14, Z:0.01 [[ 8.57482019e-01 -5.14513933e-01 0.00000000e+00 9.14285031e+01] [ 5.14513933e-01 8.57482019e-01 0.00000000e+00 2.31390820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12436880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:23.15, Z:0.01 [[ 8.60361117e-01 -5.09684951e-01 0.00000000e+00 9.14533424e+01] [ 5.09684951e-01 8.60361117e-01 0.00000000e+00 2.31515885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53179452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:23.16, Z:0.01 [[ 8.63298099e-01 -5.04694356e-01 0.00000000e+00 9.14774185e+01] [ 5.04694356e-01 8.63298099e-01 0.00000000e+00 2.31633713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21056824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:23.18, Z:0.01 [[ 8.66150752e-01 -4.99782828e-01 0.00000000e+00 9.15025723e+01] [ 4.99782828e-01 8.66150752e-01 0.00000000e+00 2.31760825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03823281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:23.19, Z:0.01 [[ 8.71338014e-01 -4.90683263e-01 0.00000000e+00 9.15278668e+01] [ 4.90683263e-01 8.71338014e-01 0.00000000e+00 2.31879717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18289559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:23.20, Z:0.01 [[ 8.73490644e-01 -4.86840934e-01 0.00000000e+00 9.15523865e+01] [ 4.86840934e-01 8.73490644e-01 0.00000000e+00 2.32009455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19001456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:23.21, Z:0.01 [[ 8.75175129e-01 -4.83806257e-01 0.00000000e+00 9.15768812e+01] [ 4.83806257e-01 8.75175129e-01 0.00000000e+00 2.32141367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16811838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:23.23, Z:0.01 [[ 8.76591874e-01 -4.81234544e-01 0.00000000e+00 9.16010854e+01] [ 4.81234544e-01 8.76591874e-01 0.00000000e+00 2.32268085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17247661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:23.24, Z:0.01 [[ 8.77368337e-01 -4.79817466e-01 0.00000000e+00 9.16254458e+01] [ 4.79817466e-01 8.77368337e-01 0.00000000e+00 2.32418762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85550260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:23.26, Z:0.01 [[ 8.77007104e-01 -4.80477407e-01 0.00000000e+00 9.16484854e+01] [ 4.80477407e-01 8.77007104e-01 0.00000000e+00 2.32553128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36259327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:23.27, Z:0.01 [[ 8.76171298e-01 -4.81999852e-01 0.00000000e+00 9.16726039e+01] [ 4.81999852e-01 8.76171298e-01 0.00000000e+00 2.32692723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80493950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:23.28, Z:0.01 [[ 8.74016984e-01 -4.85895372e-01 0.00000000e+00 9.16966063e+01] [ 4.85895372e-01 8.74016984e-01 0.00000000e+00 2.32828642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36253443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:23.30, Z:0.01 [[ 8.72822850e-01 -4.88037162e-01 0.00000000e+00 9.17211996e+01] [ 4.88037162e-01 8.72822850e-01 0.00000000e+00 2.32968723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02165111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:23.31, Z:0.01 [[ 8.70095138e-01 -4.92883810e-01 0.00000000e+00 9.17416540e+01] [ 4.92883810e-01 8.70095138e-01 0.00000000e+00 2.33114095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86919183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:23.32, Z:0.01 [[ 8.68307267e-01 -4.96026704e-01 0.00000000e+00 9.17692341e+01] [ 4.96026704e-01 8.68307267e-01 0.00000000e+00 2.33247601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88320982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:23.34, Z:0.01 [[ 8.66242914e-01 -4.99623071e-01 0.00000000e+00 9.17937455e+01] [ 4.99623071e-01 8.66242914e-01 0.00000000e+00 2.33393320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15289663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:23.35, Z:0.01 [[ 8.64036326e-01 -5.03429466e-01 0.00000000e+00 9.18182789e+01] [ 5.03429466e-01 8.64036326e-01 0.00000000e+00 2.33537159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82967384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:23.37, Z:0.01 [[ 8.61567986e-01 -5.07642201e-01 0.00000000e+00 9.18428316e+01] [ 5.07642201e-01 8.61567986e-01 0.00000000e+00 2.33679165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09657125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:23.38, Z:0.01 [[ 8.59098628e-01 -5.11810070e-01 0.00000000e+00 9.18668235e+01] [ 5.11810070e-01 8.59098628e-01 0.00000000e+00 2.33818525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84470364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:23.40, Z:0.01 [[ 8.53819176e-01 -5.20569702e-01 0.00000000e+00 9.18901463e+01] [ 5.20569702e-01 8.53819176e-01 0.00000000e+00 2.33961141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06902962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:23.41, Z:0.01 [[ 8.51018999e-01 -5.25134900e-01 0.00000000e+00 9.19147361e+01] [ 5.25134900e-01 8.51018999e-01 0.00000000e+00 2.34104361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08781581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:23.43, Z:0.01 [[ 8.46054798e-01 -5.33095938e-01 0.00000000e+00 9.19391199e+01] [ 5.33095938e-01 8.46054798e-01 0.00000000e+00 2.34252678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11930238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:23.44, Z:0.01 [[ 8.44087156e-01 -5.36205998e-01 0.00000000e+00 9.19629463e+01] [ 5.36205998e-01 8.44087156e-01 0.00000000e+00 2.34394818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08471256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:23.45, Z:0.01 [[ 8.42028139e-01 -5.39433605e-01 0.00000000e+00 9.19869847e+01] [ 5.39433605e-01 8.42028139e-01 0.00000000e+00 2.34540195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96576748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:23.47, Z:0.01 [[ 8.40262473e-01 -5.42179837e-01 0.00000000e+00 9.20102657e+01] [ 5.42179837e-01 8.40262473e-01 0.00000000e+00 2.34679701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10378300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:23.48, Z:0.01 [[ 8.37910046e-01 -5.45808349e-01 0.00000000e+00 9.20345779e+01] [ 5.45808349e-01 8.37910046e-01 0.00000000e+00 2.34813916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67546197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:23.49, Z:0.01 [[ 8.37396001e-01 -5.46596687e-01 0.00000000e+00 9.20587349e+01] [ 5.46596687e-01 8.37396001e-01 0.00000000e+00 2.34945070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04250334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:23.51, Z:0.01 [[ 8.36922258e-01 -5.47321783e-01 0.00000000e+00 9.20837251e+01] [ 5.47321783e-01 8.36922258e-01 0.00000000e+00 2.35080364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15514632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73755201799999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:92.11, Y:23.52, Z:0.01 [[ 8.37227523e-01 -5.46854711e-01 0.00000000e+00 9.21073582e+01] [ 5.46854711e-01 8.37227523e-01 0.00000000e+00 2.35215808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15589870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:23.54, Z:0.01 [[ 8.35955718e-01 -5.48796900e-01 0.00000000e+00 9.21226732e+01] [ 5.48796900e-01 8.35955718e-01 0.00000000e+00 2.35382245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03527798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:23.55, Z:0.01 [[ 8.40512001e-01 -5.41792927e-01 0.00000000e+00 9.21566071e+01] [ 5.41792927e-01 8.40512001e-01 0.00000000e+00 2.35483600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24136411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:23.56, Z:0.01 [[ 8.42414546e-01 -5.38829966e-01 0.00000000e+00 9.21814037e+01] [ 5.38829966e-01 8.42414546e-01 0.00000000e+00 2.35612472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33848811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:23.57, Z:0.02 [[ 8.46315536e-01 -5.32681906e-01 0.00000000e+00 9.22062507e+01] [ 5.32681906e-01 8.46315536e-01 0.00000000e+00 2.35736626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51296441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:23.59, Z:0.02 [[ 8.48146237e-01 -5.29762174e-01 0.00000000e+00 9.22299705e+01] [ 5.29762174e-01 8.48146237e-01 0.00000000e+00 2.35863229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59803851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:23.60, Z:0.02 [[ 8.47992776e-01 -5.30007784e-01 0.00000000e+00 9.22549046e+01] [ 5.30007784e-01 8.47992776e-01 0.00000000e+00 2.36003696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59803851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:23.61, Z:0.02 [[ 8.49990325e-01 -5.26798298e-01 0.00000000e+00 9.22790095e+01] [ 5.26798298e-01 8.49990325e-01 0.00000000e+00 2.36139263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57713891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:23.63, Z:0.02 [[ 8.51810216e-01 -5.23850509e-01 0.00000000e+00 9.23031608e+01] [ 5.23850509e-01 8.51810216e-01 0.00000000e+00 2.36277803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56325448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:23.64, Z:0.01 [[ 8.55981454e-01 -5.17006528e-01 0.00000000e+00 9.23277116e+01] [ 5.17006528e-01 8.55981454e-01 0.00000000e+00 2.36417521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38173086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:23.66, Z:0.01 [[ 8.57601264e-01 -5.14315148e-01 0.00000000e+00 9.23525486e+01] [ 5.14315148e-01 8.57601264e-01 0.00000000e+00 2.36551914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33192470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:23.67, Z:0.01 [[ 8.59216996e-01 -5.11611331e-01 0.00000000e+00 9.23760160e+01] [ 5.11611331e-01 8.59216996e-01 0.00000000e+00 2.36676930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33225560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:23.68, Z:0.01 [[ 8.60727571e-01 -5.09065859e-01 0.00000000e+00 9.24002072e+01] [ 5.09065859e-01 8.60727571e-01 0.00000000e+00 2.36814556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30603597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:23.69, Z:0.01 [[ 8.63644347e-01 -5.04101619e-01 0.00000000e+00 9.24221939e+01] [ 5.04101619e-01 8.63644347e-01 0.00000000e+00 2.36946398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13120220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:23.71, Z:0.01 [[ 8.63674883e-01 -5.04049300e-01 0.00000000e+00 9.24474678e+01] [ 5.04049300e-01 8.63674883e-01 0.00000000e+00 2.37098358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54622966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:23.73, Z:0.01 [[ 8.65228779e-01 -5.01377262e-01 0.00000000e+00 9.24696172e+01] [ 5.01377262e-01 8.65228779e-01 0.00000000e+00 2.37258730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67244137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:23.74, Z:0.01 [[ 8.65436534e-01 -5.01018569e-01 0.00000000e+00 9.24925533e+01] [ 5.01018569e-01 8.65436534e-01 0.00000000e+00 2.37401504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33866375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:23.75, Z:0.01 [[ 8.65249073e-01 -5.01342240e-01 0.00000000e+00 9.25167467e+01] [ 5.01342240e-01 8.65249073e-01 0.00000000e+00 2.37543723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71030172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:23.77, Z:0.01 [[ 8.64256206e-01 -5.03051897e-01 0.00000000e+00 9.25417938e+01] [ 5.03051897e-01 8.64256206e-01 0.00000000e+00 2.37673283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77967213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:23.79, Z:0.01 [[ 8.53460874e-01 -5.21156921e-01 0.00000000e+00 9.25371402e+01] [ 5.21156921e-01 8.53460874e-01 0.00000000e+00 2.37865289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40381932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.337552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:92.59, Y:23.79, Z:0.01 [[ 8.60212327e-01 -5.09936028e-01 0.00000000e+00 9.25904558e+01] [ 5.09936028e-01 8.60212327e-01 0.00000000e+00 2.37927210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85278010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.367552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:92.61, Y:23.81, Z:0.01 [[ 8.58325180e-01 -5.13106115e-01 0.00000000e+00 9.26145955e+01] [ 5.13106115e-01 8.58325180e-01 0.00000000e+00 2.38074437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32193388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.397552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:92.64, Y:23.82, Z:0.01 [[ 8.56119125e-01 -5.16778526e-01 0.00000000e+00 9.26386055e+01] [ 5.16778526e-01 8.56119125e-01 0.00000000e+00 2.38227998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46132887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:23.84, Z:0.00 [[ 8.44430222e-01 -5.35665568e-01 0.00000000e+00 9.26299840e+01] [ 5.35665568e-01 8.44430222e-01 0.00000000e+00 2.38447613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40111003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:23.86, Z:0.00 [[ 8.44493906e-01 -5.35565163e-01 0.00000000e+00 9.26566106e+01] [ 5.35565163e-01 8.44493906e-01 0.00000000e+00 2.38578578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34861498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48755201799999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:92.71, Y:23.86, Z:0.01 [[ 8.51530377e-01 -5.24305271e-01 0.00000000e+00 9.27104676e+01] [ 5.24305271e-01 8.51530377e-01 0.00000000e+00 2.38636914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34213424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51755201799999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:92.73, Y:23.88, Z:0.01 [[ 8.50274322e-01 -5.26339792e-01 0.00000000e+00 9.27330933e+01] [ 5.26339792e-01 8.50274322e-01 0.00000000e+00 2.38795405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47346925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54755201799999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:92.76, Y:23.90, Z:0.01 [[ 8.50268005e-01 -5.26349998e-01 0.00000000e+00 9.27562195e+01] [ 5.26349998e-01 8.50268005e-01 0.00000000e+00 2.38952910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23098035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57755201799999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:92.78, Y:23.91, Z:0.01 [[ 8.50466264e-01 -5.26029593e-01 0.00000000e+00 9.27793671e+01] [ 5.26029593e-01 8.50466264e-01 0.00000000e+00 2.39106612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41963837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60755201799999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:92.80, Y:23.93, Z:0.01 [[ 8.50593089e-01 -5.25824493e-01 0.00000000e+00 9.28035436e+01] [ 5.25824493e-01 8.50593089e-01 0.00000000e+00 2.39257773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52107994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:23.95, Z:0.00 [[ 8.42790519e-01 -5.38241712e-01 0.00000000e+00 9.27988472e+01] [ 5.38241712e-01 8.42790519e-01 0.00000000e+00 2.39469202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17946023e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.667552018 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:92.85, Y:23.95, Z:0.00 [[ 8.50650349e-01 -5.25731855e-01 0.00000000e+00 9.28512842e+01] [ 5.25731855e-01 8.50650349e-01 0.00000000e+00 2.39504477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72131834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:23.97, Z:0.00 [[ 8.43065236e-01 -5.37811313e-01 0.00000000e+00 9.28451113e+01] [ 5.37811313e-01 8.43065236e-01 0.00000000e+00 2.39712213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64123175e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:23.98, Z:0.00 [[ 8.44106256e-01 -5.36175930e-01 0.00000000e+00 9.28706069e+01] [ 5.36175930e-01 8.44106256e-01 0.00000000e+00 2.39845154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99911383e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:24.00, Z:0.00 [[ 8.44305685e-01 -5.35861839e-01 0.00000000e+00 9.28970554e+01] [ 5.35861839e-01 8.44305685e-01 0.00000000e+00 2.39969533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53197571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:24.01, Z:0.00 [[ 8.43157079e-01 -5.37667313e-01 0.00000000e+00 9.29184646e+01] [ 5.37667313e-01 8.43157079e-01 0.00000000e+00 2.40063225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65827598e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:24.02, Z:0.00 [[ 8.42860962e-01 -5.38131395e-01 0.00000000e+00 9.29449370e+01] [ 5.38131395e-01 8.42860962e-01 0.00000000e+00 2.40172693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34811695e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:24.03, Z:0.00 [[ 8.41850195e-01 -5.39711264e-01 0.00000000e+00 9.29727684e+01] [ 5.39711264e-01 8.41850195e-01 0.00000000e+00 2.40281545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61412615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:24.04, Z:0.00 [[ 8.41962372e-01 -5.39536250e-01 0.00000000e+00 9.29937613e+01] [ 5.39536250e-01 8.41962372e-01 0.00000000e+00 2.40381547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65580631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:24.05, Z:0.00 [[ 8.41782216e-01 -5.39817285e-01 0.00000000e+00 9.30200267e+01] [ 5.39817285e-01 8.41782216e-01 0.00000000e+00 2.40499432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07499342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:93.05, Y:24.06, Z:0.00 [[ 8.40489425e-01 -5.41827949e-01 0.00000000e+00 9.30484377e+01] [ 5.41827949e-01 8.40489425e-01 0.00000000e+00 2.40626519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68787433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:93.07, Y:24.07, Z:0.00 [[ 8.39567110e-01 -5.43255988e-01 0.00000000e+00 9.30704388e+01] [ 5.43255988e-01 8.39567110e-01 0.00000000e+00 2.40723237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05605727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.997552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:93.10, Y:24.08, Z:0.00 [[ 8.40431417e-01 -5.41917921e-01 0.00000000e+00 9.30962148e+01] [ 5.41917921e-01 8.40431417e-01 0.00000000e+00 2.40822677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34905698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:24.10, Z:0.00 [[ 8.39436497e-01 -5.43457788e-01 0.00000000e+00 9.31203591e+01] [ 5.43457788e-01 8.39436497e-01 0.00000000e+00 2.40964798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09025733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.057552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:93.15, Y:24.11, Z:0.00 [[ 8.40283009e-01 -5.42148010e-01 0.00000000e+00 9.31458017e+01] [ 5.42148010e-01 8.40283009e-01 0.00000000e+00 2.41066748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68611945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.087552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:93.17, Y:24.12, Z:0.00 [[ 8.40193273e-01 -5.42287069e-01 0.00000000e+00 9.31707806e+01] [ 5.42287069e-01 8.40193273e-01 0.00000000e+00 2.41186880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81830150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:24.13, Z:0.00 [[ 8.40470262e-01 -5.41857673e-01 0.00000000e+00 9.31948714e+01] [ 5.41857673e-01 8.40470262e-01 0.00000000e+00 2.41305765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25904549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:24.14, Z:0.00 [[ 8.40658140e-01 -5.41566146e-01 0.00000000e+00 9.32210955e+01] [ 5.41566146e-01 8.40658140e-01 0.00000000e+00 2.41427777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82454103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:24.15, Z:0.00 [[ 8.40753676e-01 -5.41417821e-01 0.00000000e+00 9.32464272e+01] [ 5.41417821e-01 8.40753676e-01 0.00000000e+00 2.41542085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00282441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:24.17, Z:0.00 [[ 8.41043290e-01 -5.40967822e-01 0.00000000e+00 9.32710188e+01] [ 5.40967822e-01 8.41043290e-01 0.00000000e+00 2.41659799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89687124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:24.18, Z:0.00 [[ 8.41574835e-01 -5.40140535e-01 0.00000000e+00 9.32967857e+01] [ 5.40140535e-01 8.41574835e-01 0.00000000e+00 2.41770264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22264432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:24.19, Z:0.01 [[ 8.42490651e-01 -5.38710965e-01 0.00000000e+00 9.33217390e+01] [ 5.38710965e-01 8.42490651e-01 0.00000000e+00 2.41884334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47327710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29755201799999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:93.35, Y:24.20, Z:0.01 [[ 8.43780383e-01 -5.36688612e-01 0.00000000e+00 9.33481997e+01] [ 5.36688612e-01 8.43780383e-01 0.00000000e+00 2.42003113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29649684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:24.21, Z:0.01 [[ 8.44468747e-01 -5.35604832e-01 0.00000000e+00 9.33732144e+01] [ 5.35604832e-01 8.44468747e-01 0.00000000e+00 2.42132045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28961724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:24.23, Z:0.01 [[ 8.45523106e-01 -5.33938832e-01 0.00000000e+00 9.33961103e+01] [ 5.33938832e-01 8.45523106e-01 0.00000000e+00 2.42263408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26886588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:24.24, Z:0.01 [[ 8.46477972e-01 -5.32423744e-01 0.00000000e+00 9.34227315e+01] [ 5.32423744e-01 8.46477972e-01 0.00000000e+00 2.42384506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84979521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:24.25, Z:0.00 [[ 8.45521231e-01 -5.33941801e-01 0.00000000e+00 9.34479973e+01] [ 5.33941801e-01 8.45521231e-01 0.00000000e+00 2.42482862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61438936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:24.27, Z:0.00 [[ 8.40329807e-01 -5.42075470e-01 0.00000000e+00 9.34843097e+01] [ 5.42075470e-01 8.40329807e-01 0.00000000e+00 2.42675983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90565458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.477552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:93.50, Y:24.27, Z:0.00 [[ 8.46647910e-01 -5.32153471e-01 0.00000000e+00 9.34980845e+01] [ 5.32153471e-01 8.46647910e-01 0.00000000e+00 2.42740387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01311996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:24.29, Z:0.00 [[ 8.40246845e-01 -5.42204056e-01 0.00000000e+00 9.35352293e+01] [ 5.42204056e-01 8.40246845e-01 0.00000000e+00 2.42935976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00921210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:24.31, Z:0.00 [[ 8.40035858e-01 -5.42530881e-01 0.00000000e+00 9.35606698e+01] [ 5.42530881e-01 8.40035858e-01 0.00000000e+00 2.43054674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83669766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:24.32, Z:0.00 [[ 8.40209332e-01 -5.42262186e-01 0.00000000e+00 9.35850690e+01] [ 5.42262186e-01 8.40209332e-01 0.00000000e+00 2.43173937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95007691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:24.32, Z:0.00 [[ 8.44096066e-01 -5.36191973e-01 0.00000000e+00 9.36284486e+01] [ 5.36191973e-01 8.44096066e-01 0.00000000e+00 2.43248135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89219928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:24.34, Z:0.01 [[ 8.43824230e-01 -5.36619668e-01 0.00000000e+00 9.36528527e+01] [ 5.36619668e-01 8.43824230e-01 0.00000000e+00 2.43378659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31202379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:93.68, Y:24.35, Z:0.00 [[ 8.43335028e-01 -5.37388156e-01 0.00000000e+00 9.36765199e+01] [ 5.37388156e-01 8.43335028e-01 0.00000000e+00 2.43512615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27132035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68755201799999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:93.69, Y:24.37, Z:0.00 [[ 8.40579038e-01 -5.41688915e-01 0.00000000e+00 9.36864691e+01] [ 5.41688915e-01 8.40579038e-01 0.00000000e+00 2.43681895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95874166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:24.38, Z:0.00 [[ 8.42737581e-01 -5.38324595e-01 0.00000000e+00 9.37262128e+01] [ 5.38324595e-01 8.42737581e-01 0.00000000e+00 2.43771024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38076498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:24.39, Z:0.00 [[ 8.41061785e-01 -5.40939066e-01 0.00000000e+00 9.37514963e+01] [ 5.40939066e-01 8.41061785e-01 0.00000000e+00 2.43903407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22179442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.777552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:93.78, Y:24.40, Z:0.00 [[ 8.39804937e-01 -5.42888264e-01 0.00000000e+00 9.37762368e+01] [ 5.42888264e-01 8.39804937e-01 0.00000000e+00 2.44035674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43364715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:24.42, Z:0.00 [[ 8.38377218e-01 -5.45090487e-01 0.00000000e+00 9.37999024e+01] [ 5.45090487e-01 8.38377218e-01 0.00000000e+00 2.44162106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07428413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:24.43, Z:0.00 [[ 8.38219399e-01 -5.45333145e-01 0.00000000e+00 9.38252300e+01] [ 5.45333145e-01 8.38219399e-01 0.00000000e+00 2.44295312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07428413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.867552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:93.85, Y:24.44, Z:0.00 [[ 8.37181861e-01 -5.46924612e-01 0.00000000e+00 9.38489366e+01] [ 5.46924612e-01 8.37181861e-01 0.00000000e+00 2.44429330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37383313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:24.46, Z:0.00 [[ 8.34950201e-01 -5.50325505e-01 0.00000000e+00 9.38727201e+01] [ 5.50325505e-01 8.34950201e-01 0.00000000e+00 2.44573145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57076411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:24.47, Z:0.00 [[ 8.34099854e-01 -5.51613481e-01 0.00000000e+00 9.38970146e+01] [ 5.51613481e-01 8.34099854e-01 0.00000000e+00 2.44699990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19409184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.957552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:93.92, Y:24.48, Z:0.00 [[ 8.33700111e-01 -5.52217461e-01 0.00000000e+00 9.39222664e+01] [ 5.52217461e-01 8.33700111e-01 0.00000000e+00 2.44828790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68198835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:93.95, Y:24.49, Z:0.00 [[ 8.32898183e-01 -5.53426252e-01 0.00000000e+00 9.39483613e+01] [ 5.53426252e-01 8.32898183e-01 0.00000000e+00 2.44944742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04487368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:24.51, Z:0.00 [[ 8.31912359e-01 -5.54907044e-01 0.00000000e+00 9.39722154e+01] [ 5.54907044e-01 8.31912359e-01 0.00000000e+00 2.45063029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20799628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:24.52, Z:0.00 [[ 8.31127468e-01 -5.56081947e-01 0.00000000e+00 9.39957445e+01] [ 5.56081947e-01 8.31127468e-01 0.00000000e+00 2.45193164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64842885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:24.53, Z:0.00 [[ 8.30688897e-01 -5.56736882e-01 0.00000000e+00 9.40208923e+01] [ 5.56736882e-01 8.30688897e-01 0.00000000e+00 2.45326191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41397959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:94.05, Y:24.55, Z:0.00 [[ 8.31589121e-01 -5.55391334e-01 0.00000000e+00 9.40453679e+01] [ 5.55391334e-01 8.31589121e-01 0.00000000e+00 2.45472505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78702242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:24.56, Z:0.00 [[ 8.31643057e-01 -5.55310566e-01 0.00000000e+00 9.40641183e+01] [ 5.55310566e-01 8.31643057e-01 0.00000000e+00 2.45610931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18896456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:24.57, Z:0.00 [[ 8.34828343e-01 -5.50510343e-01 0.00000000e+00 9.40958258e+01] [ 5.50510343e-01 8.34828343e-01 0.00000000e+00 2.45722042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72913238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:24.58, Z:0.00 [[ 8.36492761e-01 -5.47977975e-01 0.00000000e+00 9.41199185e+01] [ 5.47977975e-01 8.36492761e-01 0.00000000e+00 2.45845828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17752870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:24.60, Z:0.00 [[ 8.38498398e-01 -5.44904062e-01 0.00000000e+00 9.41441743e+01] [ 5.44904062e-01 8.38498398e-01 0.00000000e+00 2.45978194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85801667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:24.61, Z:0.00 [[ 8.41729454e-01 -5.39899551e-01 0.00000000e+00 9.41678648e+01] [ 5.39899551e-01 8.41729454e-01 0.00000000e+00 2.46099452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85626522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:24.63, Z:0.00 [[ 8.40810755e-01 -5.41329173e-01 0.00000000e+00 9.41871276e+01] [ 5.41329173e-01 8.40810755e-01 0.00000000e+00 2.46254614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86560934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:24.64, Z:0.00 [[ 8.43654006e-01 -5.36887249e-01 0.00000000e+00 9.42187601e+01] [ 5.36887249e-01 8.43654006e-01 0.00000000e+00 2.46364185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99099241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:24.65, Z:0.00 [[ 8.43693866e-01 -5.36824609e-01 0.00000000e+00 9.42443312e+01] [ 5.36824609e-01 8.43693866e-01 0.00000000e+00 2.46485555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86857496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:24.66, Z:0.01 [[ 8.42120390e-01 -5.39289578e-01 0.00000000e+00 9.42646686e+01] [ 5.39289578e-01 8.42120390e-01 0.00000000e+00 2.46631363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90747985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:24.68, Z:0.01 [[ 8.42279414e-01 -5.39041176e-01 0.00000000e+00 9.42893992e+01] [ 5.39041176e-01 8.42279414e-01 0.00000000e+00 2.46768779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98144701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:24.69, Z:0.01 [[ 8.41699851e-01 -5.39945702e-01 0.00000000e+00 9.43139973e+01] [ 5.39945702e-01 8.41699851e-01 0.00000000e+00 2.46900638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86352267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:24.70, Z:0.01 [[ 8.41998172e-01 -5.39480378e-01 0.00000000e+00 9.43430433e+01] [ 5.39480378e-01 8.41998172e-01 0.00000000e+00 2.47026557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80663840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:24.72, Z:0.00 [[ 8.37952327e-01 -5.45743436e-01 0.00000000e+00 9.43598296e+01] [ 5.45743436e-01 8.37952327e-01 0.00000000e+00 2.47190741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23587291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.527552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.39, Y:24.73, Z:0.00 [[ 8.38389511e-01 -5.45071581e-01 0.00000000e+00 9.43921317e+01] [ 5.45071581e-01 8.38389511e-01 0.00000000e+00 2.47303432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60148860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.557552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.42, Y:24.74, Z:0.00 [[ 8.36281120e-01 -5.48300911e-01 0.00000000e+00 9.44167914e+01] [ 5.48300911e-01 8.36281120e-01 0.00000000e+00 2.47443723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34329021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:24.76, Z:0.00 [[ 8.32473222e-01 -5.54065280e-01 0.00000000e+00 9.44354933e+01] [ 5.54065280e-01 8.32473222e-01 0.00000000e+00 2.47601495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31899539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:24.77, Z:0.00 [[ 8.30215851e-01 -5.57442052e-01 0.00000000e+00 9.44658545e+01] [ 5.57442052e-01 8.30215851e-01 0.00000000e+00 2.47725886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63179019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:24.79, Z:0.00 [[ 8.28418099e-01 -5.60110215e-01 0.00000000e+00 9.44901958e+01] [ 5.60110215e-01 8.28418099e-01 0.00000000e+00 2.47852910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81209059e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:24.80, Z:0.00 [[ 8.27091097e-01 -5.62067893e-01 0.00000000e+00 9.45148971e+01] [ 5.62067893e-01 8.27091097e-01 0.00000000e+00 2.47987016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26501307e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:24.81, Z:0.00 [[ 8.26008792e-01 -5.63657232e-01 0.00000000e+00 9.45399785e+01] [ 5.63657232e-01 8.26008792e-01 0.00000000e+00 2.48115773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01270020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.56, Y:24.82, Z:0.00 [[ 8.26496853e-01 -5.62941340e-01 0.00000000e+00 9.45638737e+01] [ 5.62941340e-01 8.26496853e-01 0.00000000e+00 2.48245598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19237564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:94.59, Y:24.84, Z:0.00 [[ 8.27168427e-01 -5.61954085e-01 0.00000000e+00 9.45893992e+01] [ 5.61954085e-01 8.27168427e-01 0.00000000e+00 2.48369483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04414766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:24.85, Z:0.00 [[ 8.28708019e-01 -5.59681176e-01 0.00000000e+00 9.46142417e+01] [ 5.59681176e-01 8.28708019e-01 0.00000000e+00 2.48494694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78993618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:24.86, Z:0.00 [[ 8.31254409e-01 -5.55892172e-01 0.00000000e+00 9.46384546e+01] [ 5.55892172e-01 8.31254409e-01 0.00000000e+00 2.48621770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98225564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:24.87, Z:0.00 [[ 8.36765243e-01 -5.47561802e-01 0.00000000e+00 9.46643720e+01] [ 5.47561802e-01 8.36765243e-01 0.00000000e+00 2.48743712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31165123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:24.89, Z:0.00 [[ 8.39779893e-01 -5.42927003e-01 0.00000000e+00 9.46895994e+01] [ 5.42927003e-01 8.39779893e-01 0.00000000e+00 2.48876197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44445047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:24.90, Z:0.00 [[ 8.43160165e-01 -5.37662474e-01 0.00000000e+00 9.47137905e+01] [ 5.37662474e-01 8.43160165e-01 0.00000000e+00 2.48999486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51095276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:24.91, Z:0.00 [[ 8.46325058e-01 -5.32666778e-01 0.00000000e+00 9.47392223e+01] [ 5.32666778e-01 8.46325058e-01 0.00000000e+00 2.49121441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72446544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:24.92, Z:0.01 [[ 8.52993175e-01 -5.21922067e-01 0.00000000e+00 9.47635651e+01] [ 5.21922067e-01 8.52993175e-01 0.00000000e+00 2.49235981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72755153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:24.94, Z:0.01 [[ 8.56162107e-01 -5.16707312e-01 0.00000000e+00 9.47890746e+01] [ 5.16707312e-01 8.56162107e-01 0.00000000e+00 2.49365081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13262514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:24.95, Z:0.01 [[ 8.59169935e-01 -5.11690358e-01 0.00000000e+00 9.48125919e+01] [ 5.11690358e-01 8.59169935e-01 0.00000000e+00 2.49489918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04500715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:24.96, Z:0.00 [[ 8.61931615e-01 -5.07024546e-01 0.00000000e+00 9.48374734e+01] [ 5.07024546e-01 8.61931615e-01 0.00000000e+00 2.49618189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23099920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:24.97, Z:0.00 [[ 8.66706197e-01 -4.98818974e-01 0.00000000e+00 9.48613328e+01] [ 4.98818974e-01 8.66706197e-01 0.00000000e+00 2.49742111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01478154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:24.99, Z:0.00 [[ 8.68328113e-01 -4.95990210e-01 0.00000000e+00 9.48858095e+01] [ 4.95990210e-01 8.68328113e-01 0.00000000e+00 2.49872729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09365091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:25.00, Z:0.00 [[ 8.69246978e-01 -4.94378086e-01 0.00000000e+00 9.49101510e+01] [ 4.94378086e-01 8.69246978e-01 0.00000000e+00 2.49998317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39044473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:25.01, Z:0.00 [[ 8.69962072e-01 -4.93118640e-01 0.00000000e+00 9.49348059e+01] [ 4.93118640e-01 8.69962072e-01 0.00000000e+00 2.50123199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24791773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:25.03, Z:0.00 [[ 8.69378944e-01 -4.94145982e-01 0.00000000e+00 9.49597349e+01] [ 4.94145982e-01 8.69378944e-01 0.00000000e+00 2.50253441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48590112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:25.04, Z:0.00 [[ 8.68777683e-01 -4.95202320e-01 0.00000000e+00 9.49846023e+01] [ 4.95202320e-01 8.68777683e-01 0.00000000e+00 2.50387724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40142647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:25.05, Z:0.00 [[ 8.67917498e-01 -4.96708381e-01 0.00000000e+00 9.50094289e+01] [ 4.96708381e-01 8.67917498e-01 0.00000000e+00 2.50523237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09085925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:25.07, Z:0.01 [[ 8.65280419e-01 -5.01288137e-01 0.00000000e+00 9.50330431e+01] [ 5.01288137e-01 8.65280419e-01 0.00000000e+00 2.50653950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15926459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:25.08, Z:0.00 [[ 8.63357709e-01 -5.04592377e-01 0.00000000e+00 9.50577579e+01] [ 5.04592377e-01 8.63357709e-01 0.00000000e+00 2.50791985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64266321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.367552018 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:95.08, Y:25.09, Z:0.00 [[ 8.61122758e-01 -5.08397085e-01 0.00000000e+00 9.50819712e+01] [ 5.08397085e-01 8.61122758e-01 0.00000000e+00 2.50932299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71888623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:25.11, Z:0.00 [[ 8.57464416e-01 -5.14543269e-01 0.00000000e+00 9.51060277e+01] [ 5.14543269e-01 8.57464416e-01 0.00000000e+00 2.51066529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04305245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:25.12, Z:0.00 [[ 8.56052258e-01 -5.16889284e-01 0.00000000e+00 9.51298694e+01] [ 5.16889284e-01 8.56052258e-01 0.00000000e+00 2.51215341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75663693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:25.13, Z:0.00 [[ 8.53740033e-01 -5.20699487e-01 0.00000000e+00 9.51541443e+01] [ 5.20699487e-01 8.53740033e-01 0.00000000e+00 2.51346207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65722776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:25.15, Z:0.00 [[ 8.49793818e-01 -5.27115232e-01 0.00000000e+00 9.51778148e+01] [ 5.27115232e-01 8.49793818e-01 0.00000000e+00 2.51494580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55109561e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:25.16, Z:-0.00 [[ 8.47447469e-01 -5.30879258e-01 0.00000000e+00 9.52021094e+01] [ 5.30879258e-01 8.47447469e-01 0.00000000e+00 2.51631884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22105089e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:25.18, Z:-0.00 [[ 8.45405304e-01 -5.34125333e-01 0.00000000e+00 9.52258680e+01] [ 5.34125333e-01 8.45405304e-01 0.00000000e+00 2.51766764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20720343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:25.19, Z:-0.00 [[ 8.43074239e-01 -5.37797199e-01 0.00000000e+00 9.52493984e+01] [ 5.37797199e-01 8.43074239e-01 0.00000000e+00 2.51896918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60877592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:25.20, Z:0.00 [[ 8.38472125e-01 -5.44944489e-01 0.00000000e+00 9.52745697e+01] [ 5.44944489e-01 8.38472125e-01 0.00000000e+00 2.52032646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17798811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:25.22, Z:0.00 [[ 8.36692293e-01 -5.47673266e-01 0.00000000e+00 9.52983194e+01] [ 5.47673266e-01 8.36692293e-01 0.00000000e+00 2.52171650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66872495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:25.23, Z:0.00 [[ 8.33624505e-01 -5.52331590e-01 0.00000000e+00 9.53196493e+01] [ 5.52331590e-01 8.33624505e-01 0.00000000e+00 2.52320075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94367540e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:25.24, Z:0.00 [[ 8.32705077e-01 -5.53716764e-01 0.00000000e+00 9.53476797e+01] [ 5.53716764e-01 8.32705077e-01 0.00000000e+00 2.52442500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03856925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:25.26, Z:0.00 [[ 8.32540498e-01 -5.53964186e-01 0.00000000e+00 9.53728498e+01] [ 5.53964186e-01 8.32540498e-01 0.00000000e+00 2.52578708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03856925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:25.27, Z:0.00 [[ 8.32494978e-01 -5.54032591e-01 0.00000000e+00 9.53972758e+01] [ 5.54032591e-01 8.32494978e-01 0.00000000e+00 2.52716500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71086134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:25.28, Z:0.00 [[ 8.32456585e-01 -5.54090277e-01 0.00000000e+00 9.54211785e+01] [ 5.54090277e-01 8.32456585e-01 0.00000000e+00 2.52839488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47978145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.817552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:95.44, Y:25.30, Z:0.00 [[ 8.32969553e-01 -5.53318826e-01 0.00000000e+00 9.54444855e+01] [ 5.53318826e-01 8.32969553e-01 0.00000000e+00 2.52967252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31444257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:25.31, Z:0.00 [[ 8.33825818e-01 -5.52027631e-01 0.00000000e+00 9.54692680e+01] [ 5.52027631e-01 8.33825818e-01 0.00000000e+00 2.53105477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08011375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:25.32, Z:0.00 [[ 8.34809341e-01 -5.50539157e-01 0.00000000e+00 9.54939985e+01] [ 5.50539157e-01 8.34809341e-01 0.00000000e+00 2.53242133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15405654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:25.34, Z:0.00 [[ 8.34934196e-01 -5.50349787e-01 0.00000000e+00 9.55164152e+01] [ 5.50349787e-01 8.34934196e-01 0.00000000e+00 2.53385511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91337253e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:25.35, Z:0.00 [[ 8.37330384e-01 -5.46697200e-01 0.00000000e+00 9.55427632e+01] [ 5.46697200e-01 8.37330384e-01 0.00000000e+00 2.53505089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81112135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:25.37, Z:0.00 [[ 8.40681367e-01 -5.41530091e-01 0.00000000e+00 9.55670828e+01] [ 5.41530091e-01 8.40681367e-01 0.00000000e+00 2.53654698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04866696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:25.38, Z:0.00 [[ 8.41751960e-01 -5.39864463e-01 0.00000000e+00 9.55911704e+01] [ 5.39864463e-01 8.41751960e-01 0.00000000e+00 2.53783786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36664591e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:25.39, Z:0.00 [[ 8.44281269e-01 -5.35900306e-01 0.00000000e+00 9.56157838e+01] [ 5.35900306e-01 8.44281269e-01 0.00000000e+00 2.53920595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63535477e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:25.41, Z:0.00 [[ 8.44934569e-01 -5.34869679e-01 0.00000000e+00 9.56406510e+01] [ 5.34869679e-01 8.44934569e-01 0.00000000e+00 2.54057793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23922812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:25.42, Z:0.00 [[ 8.45705723e-01 -5.33649538e-01 0.00000000e+00 9.56652659e+01] [ 5.33649538e-01 8.45705723e-01 0.00000000e+00 2.54194194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52483651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:25.43, Z:0.00 [[ 8.45677518e-01 -5.33694235e-01 0.00000000e+00 9.56903093e+01] [ 5.33694235e-01 8.45677518e-01 0.00000000e+00 2.54325853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00032513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:25.45, Z:0.00 [[ 8.45562441e-01 -5.33876539e-01 0.00000000e+00 9.57151976e+01] [ 5.33876539e-01 8.45562441e-01 0.00000000e+00 2.54466040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96425400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:25.46, Z:0.00 [[ 8.46018518e-01 -5.33153512e-01 0.00000000e+00 9.57390980e+01] [ 5.33153512e-01 8.46018518e-01 0.00000000e+00 2.54602362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46902310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:25.47, Z:0.00 [[ 8.46606632e-01 -5.32219138e-01 0.00000000e+00 9.57635466e+01] [ 5.32219138e-01 8.46606632e-01 0.00000000e+00 2.54736761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23170908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:25.49, Z:0.00 [[ 8.47128990e-01 -5.31387311e-01 0.00000000e+00 9.57874049e+01] [ 5.31387311e-01 8.47128990e-01 0.00000000e+00 2.54869867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23981141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:25.50, Z:0.00 [[ 8.48890982e-01 -5.28567972e-01 0.00000000e+00 9.58117764e+01] [ 5.28567972e-01 8.48890982e-01 0.00000000e+00 2.55018052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25284607e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:25.52, Z:-0.00 [[ 8.49670825e-01 -5.27313464e-01 0.00000000e+00 9.58365244e+01] [ 5.27313464e-01 8.49670825e-01 0.00000000e+00 2.55160918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26907562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:25.53, Z:-0.00 [[ 8.50943208e-01 -5.25257705e-01 0.00000000e+00 9.58612104e+01] [ 5.25257705e-01 8.50943208e-01 0.00000000e+00 2.55300707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03276502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:25.54, Z:-0.00 [[ 8.52375971e-01 -5.22929445e-01 0.00000000e+00 9.58862910e+01] [ 5.22929445e-01 8.52375971e-01 0.00000000e+00 2.55424222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77688134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:25.56, Z:-0.00 [[ 8.52052124e-01 -5.23456949e-01 0.00000000e+00 9.59116192e+01] [ 5.23456949e-01 8.52052124e-01 0.00000000e+00 2.55554482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64185258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:25.57, Z:-0.00 [[ 8.52044249e-01 -5.23469768e-01 0.00000000e+00 9.59345655e+01] [ 5.23469768e-01 8.52044249e-01 0.00000000e+00 2.55692404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70577949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:25.58, Z:-0.00 [[ 8.50543465e-01 -5.25904758e-01 0.00000000e+00 9.59594792e+01] [ 5.25904758e-01 8.50543465e-01 0.00000000e+00 2.55822109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96899340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:25.60, Z:-0.00 [[ 8.49707295e-01 -5.27254694e-01 0.00000000e+00 9.59833699e+01] [ 5.27254694e-01 8.49707295e-01 0.00000000e+00 2.55957436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95747858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:25.61, Z:-0.00 [[ 8.46035669e-01 -5.33126295e-01 0.00000000e+00 9.60081082e+01] [ 5.33126295e-01 8.46035669e-01 0.00000000e+00 2.56097378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10488615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:25.62, Z:0.00 [[ 8.46365896e-01 -5.32601887e-01 0.00000000e+00 9.60330835e+01] [ 5.32601887e-01 8.46365896e-01 0.00000000e+00 2.56220931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45660302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:25.63, Z:0.00 [[ 8.46104770e-01 -5.33016621e-01 0.00000000e+00 9.60571340e+01] [ 5.33016621e-01 8.46104770e-01 0.00000000e+00 2.56349988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18894345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:25.65, Z:0.00 [[ 8.46227674e-01 -5.32821475e-01 0.00000000e+00 9.60825413e+01] [ 5.32821475e-01 8.46227674e-01 0.00000000e+00 2.56491825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18283557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:25.66, Z:0.00 [[ 8.46079860e-01 -5.33056161e-01 0.00000000e+00 9.61070011e+01] [ 5.33056161e-01 8.46079860e-01 0.00000000e+00 2.56623405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77570901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:25.68, Z:0.00 [[ 8.46620812e-01 -5.32196581e-01 0.00000000e+00 9.61311912e+01] [ 5.32196581e-01 8.46620812e-01 0.00000000e+00 2.56757635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52013511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:25.69, Z:0.00 [[ 8.48066033e-01 -5.29890558e-01 0.00000000e+00 9.61548135e+01] [ 5.29890558e-01 8.48066033e-01 0.00000000e+00 2.56915545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12154729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:25.70, Z:-0.00 [[ 8.50584168e-01 -5.25838923e-01 0.00000000e+00 9.61805133e+01] [ 5.25838923e-01 8.50584168e-01 0.00000000e+00 2.57036082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63240675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:25.72, Z:-0.00 [[ 8.52080511e-01 -5.23410740e-01 0.00000000e+00 9.62051475e+01] [ 5.23410740e-01 8.52080511e-01 0.00000000e+00 2.57169831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90980672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:25.73, Z:-0.00 [[ 8.54232101e-01 -5.19891833e-01 0.00000000e+00 9.62296719e+01] [ 5.19891833e-01 8.54232101e-01 0.00000000e+00 2.57301024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88200787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:25.74, Z:-0.00 [[ 8.59579355e-01 -5.11002282e-01 0.00000000e+00 9.62545816e+01] [ 5.11002282e-01 8.59579355e-01 0.00000000e+00 2.57427035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00118645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:25.76, Z:-0.00 [[ 8.61803136e-01 -5.07242895e-01 0.00000000e+00 9.62790419e+01] [ 5.07242895e-01 8.61803136e-01 0.00000000e+00 2.57556102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26734947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.867552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:96.30, Y:25.77, Z:-0.01 [[ 8.65454237e-01 -5.00987987e-01 0.00000000e+00 9.63032024e+01] [ 5.00987987e-01 8.65454237e-01 0.00000000e+00 2.57693727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04324775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:25.78, Z:-0.01 [[ 8.68252981e-01 -4.96121719e-01 0.00000000e+00 9.63275812e+01] [ 4.96121719e-01 8.68252981e-01 0.00000000e+00 2.57818314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00503411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:25.79, Z:-0.00 [[ 8.74028414e-01 -4.85874810e-01 0.00000000e+00 9.63527862e+01] [ 4.85874810e-01 8.74028414e-01 0.00000000e+00 2.57934350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53499427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:25.81, Z:-0.00 [[ 8.76232850e-01 -4.81887947e-01 0.00000000e+00 9.63772107e+01] [ 4.81887947e-01 8.76232850e-01 0.00000000e+00 2.58069306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52745126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:25.82, Z:-0.01 [[ 8.76158064e-01 -4.82023907e-01 0.00000000e+00 9.64007719e+01] [ 4.82023907e-01 8.76158064e-01 0.00000000e+00 2.58210791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76395124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:25.83, Z:-0.00 [[ 8.74739394e-01 -4.84593636e-01 0.00000000e+00 9.64257666e+01] [ 4.84593636e-01 8.74739394e-01 0.00000000e+00 2.58342961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15849554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:25.85, Z:-0.00 [[ 8.73678400e-01 -4.86503908e-01 0.00000000e+00 9.64506155e+01] [ 4.86503908e-01 8.73678400e-01 0.00000000e+00 2.58467774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10514917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:25.86, Z:-0.00 [[ 8.72496327e-01 -4.88620670e-01 0.00000000e+00 9.64761138e+01] [ 4.88620670e-01 8.72496327e-01 0.00000000e+00 2.58602968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30146794e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:25.87, Z:0.00 [[ 8.71448056e-01 -4.90487804e-01 0.00000000e+00 9.65020933e+01] [ 4.90487804e-01 8.71448056e-01 0.00000000e+00 2.58740470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48633152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:25.89, Z:0.00 [[ 8.70380764e-01 -4.92379250e-01 0.00000000e+00 9.65258559e+01] [ 4.92379250e-01 8.70380764e-01 0.00000000e+00 2.58877795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14024020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:25.90, Z:-0.00 [[ 8.70366845e-01 -4.92403854e-01 0.00000000e+00 9.65495170e+01] [ 4.92403854e-01 8.70366845e-01 0.00000000e+00 2.59022122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54469613e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:25.92, Z:-0.00 [[ 8.70663265e-01 -4.91879537e-01 0.00000000e+00 9.65734535e+01] [ 4.91879537e-01 8.70663265e-01 0.00000000e+00 2.59170448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06005717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:25.93, Z:-0.01 [[ 8.72238488e-01 -4.89080791e-01 0.00000000e+00 9.65973779e+01] [ 4.89080791e-01 8.72238488e-01 0.00000000e+00 2.59329797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56352842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:25.95, Z:-0.01 [[ 8.72795342e-01 -4.88086356e-01 0.00000000e+00 9.66214037e+01] [ 4.88086356e-01 8.72795342e-01 0.00000000e+00 2.59477789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10170647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:25.96, Z:-0.01 [[ 8.73058961e-01 -4.87614654e-01 0.00000000e+00 9.66445173e+01] [ 4.87614654e-01 8.73058961e-01 0.00000000e+00 2.59610148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03152839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:25.97, Z:-0.01 [[ 8.73223539e-01 -4.87319865e-01 0.00000000e+00 9.66692168e+01] [ 4.87319865e-01 8.73223539e-01 0.00000000e+00 2.59748489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04944263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.69, Y:25.99, Z:-0.01 [[ 8.72203898e-01 -4.89142474e-01 0.00000000e+00 9.66924379e+01] [ 4.89142474e-01 8.72203898e-01 0.00000000e+00 2.59879319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03506928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:26.00, Z:-0.01 [[ 8.72026438e-01 -4.89458775e-01 0.00000000e+00 9.67169707e+01] [ 4.89458775e-01 8.72026438e-01 0.00000000e+00 2.60021080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21519777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:26.02, Z:-0.01 [[ 8.71510548e-01 -4.90376757e-01 0.00000000e+00 9.67409180e+01] [ 4.90376757e-01 8.71510548e-01 0.00000000e+00 2.60154930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12158362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.76, Y:26.03, Z:-0.01 [[ 8.70308799e-01 -4.92506440e-01 0.00000000e+00 9.67646641e+01] [ 4.92506440e-01 8.70308799e-01 0.00000000e+00 2.60311477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98210570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:26.04, Z:-0.01 [[ 8.68415751e-01 -4.95836751e-01 0.00000000e+00 9.67893170e+01] [ 4.95836751e-01 8.68415751e-01 0.00000000e+00 2.60446238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63860635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.497552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:96.81, Y:26.06, Z:-0.01 [[ 8.67174303e-01 -4.98004748e-01 0.00000000e+00 9.68136348e+01] [ 4.98004748e-01 8.67174303e-01 0.00000000e+00 2.60582627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04090385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:26.07, Z:-0.01 [[ 8.65625845e-01 -5.00691419e-01 0.00000000e+00 9.68375328e+01] [ 5.00691419e-01 8.65625845e-01 0.00000000e+00 2.60723739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44163383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:26.09, Z:-0.01 [[ 8.63097496e-01 -5.05037338e-01 0.00000000e+00 9.68604442e+01] [ 5.05037338e-01 8.63097496e-01 0.00000000e+00 2.60875454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25912483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:26.10, Z:-0.01 [[ 8.61894724e-01 -5.07087255e-01 0.00000000e+00 9.68848927e+01] [ 5.07087255e-01 8.61894724e-01 0.00000000e+00 2.61024223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07441563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.617552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:96.91, Y:26.12, Z:-0.01 [[ 8.61343104e-01 -5.08023677e-01 0.00000000e+00 9.69079349e+01] [ 5.08023677e-01 8.61343104e-01 0.00000000e+00 2.61185678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47462314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.647552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:96.93, Y:26.13, Z:-0.01 [[ 8.61188818e-01 -5.08285176e-01 0.00000000e+00 9.69328940e+01] [ 5.08285176e-01 8.61188818e-01 0.00000000e+00 2.61325697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47462314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:26.15, Z:-0.01 [[ 8.60532957e-01 -5.09394769e-01 0.00000000e+00 9.69564820e+01] [ 5.09394769e-01 8.60532957e-01 0.00000000e+00 2.61479415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54309083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.707552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.98, Y:26.16, Z:-0.01 [[ 8.58395025e-01 -5.12989261e-01 0.00000000e+00 9.69796624e+01] [ 5.12989261e-01 8.58395025e-01 0.00000000e+00 2.61639338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77659673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:26.18, Z:-0.01 [[ 8.50615811e-01 -5.25787734e-01 0.00000000e+00 9.69750992e+01] [ 5.25787734e-01 8.50615811e-01 0.00000000e+00 2.61837917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32580416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:26.20, Z:-0.01 [[ 8.48685935e-01 -5.28897139e-01 0.00000000e+00 9.70019447e+01] [ 5.28897139e-01 8.48685935e-01 0.00000000e+00 2.61959371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20949359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:26.21, Z:-0.01 [[ 8.47641486e-01 -5.30569421e-01 0.00000000e+00 9.70265619e+01] [ 5.30569421e-01 8.47641486e-01 0.00000000e+00 2.62099073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13581601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:26.22, Z:-0.01 [[ 8.46343069e-01 -5.32638161e-01 0.00000000e+00 9.70522806e+01] [ 5.32638161e-01 8.46343069e-01 0.00000000e+00 2.62233711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08704346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:26.24, Z:-0.01 [[ 8.44291035e-01 -5.35884920e-01 0.00000000e+00 9.70789336e+01] [ 5.35884920e-01 8.44291035e-01 0.00000000e+00 2.62351165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14663297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.887552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.13, Y:26.24, Z:-0.01 [[ 8.47489198e-01 -5.30812641e-01 0.00000000e+00 9.71289561e+01] [ 5.30812641e-01 8.47489198e-01 0.00000000e+00 2.62421749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21221576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:26.26, Z:-0.01 [[ 8.41414073e-01 -5.40390930e-01 0.00000000e+00 9.71311649e+01] [ 5.40390930e-01 8.41414073e-01 0.00000000e+00 2.62600044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65033750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:26.27, Z:-0.01 [[ 8.41638347e-01 -5.40041566e-01 0.00000000e+00 9.71587249e+01] [ 5.40041566e-01 8.41638347e-01 0.00000000e+00 2.62724398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01360430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:26.28, Z:-0.01 [[ 8.44147301e-01 -5.36111308e-01 0.00000000e+00 9.71784428e+01] [ 5.36111308e-01 8.44147301e-01 0.00000000e+00 2.62826343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81063438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:26.29, Z:-0.01 [[ 8.44775881e-01 -5.35120277e-01 0.00000000e+00 9.72022030e+01] [ 5.35120277e-01 8.44775881e-01 0.00000000e+00 2.62948370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90900326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:26.31, Z:-0.01 [[ 8.46285759e-01 -5.32729213e-01 0.00000000e+00 9.72300210e+01] [ 5.32729213e-01 8.46285759e-01 0.00000000e+00 2.63077777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71316446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:26.32, Z:-0.01 [[ 8.44395365e-01 -5.35720513e-01 0.00000000e+00 9.72576605e+01] [ 5.35720513e-01 8.44395365e-01 0.00000000e+00 2.63222992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03496201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:26.33, Z:-0.01 [[ 8.48515882e-01 -5.29169914e-01 0.00000000e+00 9.72777075e+01] [ 5.29169914e-01 8.48515882e-01 0.00000000e+00 2.63311896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.38321046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:26.34, Z:-0.01 [[ 8.49716269e-01 -5.27240233e-01 0.00000000e+00 9.73028089e+01] [ 5.27240233e-01 8.49716269e-01 0.00000000e+00 2.63435237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00904269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:26.36, Z:-0.01 [[ 8.51722059e-01 -5.23993831e-01 0.00000000e+00 9.73298930e+01] [ 5.23993831e-01 8.51722059e-01 0.00000000e+00 2.63558813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.01040564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:26.37, Z:-0.01 [[ 8.53399857e-01 -5.21256832e-01 0.00000000e+00 9.73516773e+01] [ 5.21256832e-01 8.53399857e-01 0.00000000e+00 2.63670655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14399872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:26.38, Z:-0.01 [[ 8.55061983e-01 -5.18525800e-01 0.00000000e+00 9.73778388e+01] [ 5.18525800e-01 8.55061983e-01 0.00000000e+00 2.63802519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17283854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.247552018 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:97.43, Y:26.39, Z:-0.02 [[ 8.55088492e-01 -5.18482084e-01 0.00000000e+00 9.74315682e+01] [ 5.18482084e-01 8.55088492e-01 0.00000000e+00 2.63932456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76463305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:26.40, Z:-0.02 [[ 8.56832354e-01 -5.15595109e-01 0.00000000e+00 9.74248825e+01] [ 5.15595109e-01 8.56832354e-01 0.00000000e+00 2.64034912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60082957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:26.42, Z:-0.02 [[ 8.58263477e-01 -5.13209318e-01 0.00000000e+00 9.74511937e+01] [ 5.13209318e-01 8.58263477e-01 0.00000000e+00 2.64158206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55229927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:26.43, Z:-0.02 [[ 8.57905078e-01 -5.13808211e-01 0.00000000e+00 9.74781578e+01] [ 5.13808211e-01 8.57905078e-01 0.00000000e+00 2.64279698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61738967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:26.44, Z:-0.01 [[ 8.56277668e-01 -5.16515784e-01 0.00000000e+00 9.75008279e+01] [ 5.16515784e-01 8.56277668e-01 0.00000000e+00 2.64383076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43796445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.397552018 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:97.53, Y:26.45, Z:-0.01 [[ 8.55221126e-01 -5.18263278e-01 0.00000000e+00 9.75298066e+01] [ 5.18263278e-01 8.55221126e-01 0.00000000e+00 2.64510675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26185772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.427552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.56, Y:26.46, Z:-0.01 [[ 8.52351904e-01 -5.22968671e-01 0.00000000e+00 9.75611241e+01] [ 5.22968671e-01 8.52351904e-01 0.00000000e+00 2.64646020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38212054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.457552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:97.61, Y:26.48, Z:-0.01 [[ 8.48343886e-01 -5.29445608e-01 0.00000000e+00 9.76064841e+01] [ 5.29445608e-01 8.48343886e-01 0.00000000e+00 2.64772936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32872711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48755201799999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:97.60, Y:26.49, Z:-0.01 [[ 8.47700201e-01 -5.30475606e-01 0.00000000e+00 9.76029851e+01] [ 5.30475606e-01 8.47700201e-01 0.00000000e+00 2.64859710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03477628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:97.64, Y:26.50, Z:-0.01 [[ 8.42536958e-01 -5.38638537e-01 0.00000000e+00 9.76413326e+01] [ 5.38638537e-01 8.42536958e-01 0.00000000e+00 2.65048895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16183300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:26.52, Z:-0.01 [[ 8.38694509e-01 -5.44602167e-01 0.00000000e+00 9.76682146e+01] [ 5.44602167e-01 8.38694509e-01 0.00000000e+00 2.65183382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44575104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.69, Y:26.53, Z:-0.01 [[ 8.36984447e-01 -5.47226677e-01 0.00000000e+00 9.76922385e+01] [ 5.47226677e-01 8.36984447e-01 0.00000000e+00 2.65318568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49168656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:26.55, Z:-0.02 [[ 8.34999564e-01 -5.50250605e-01 0.00000000e+00 9.77179719e+01] [ 5.50250605e-01 8.34999564e-01 0.00000000e+00 2.65452021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52953328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.637552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:97.74, Y:26.56, Z:-0.01 [[ 8.31809774e-01 -5.55060808e-01 0.00000000e+00 9.77438242e+01] [ 5.55060808e-01 8.31809774e-01 0.00000000e+00 2.65586626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49242179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.667552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:97.78, Y:26.57, Z:-0.01 [[ 8.33158890e-01 -5.53033692e-01 0.00000000e+00 9.77807570e+01] [ 5.53033692e-01 8.33158890e-01 0.00000000e+00 2.65690593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29243606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.697552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.80, Y:26.58, Z:-0.01 [[ 8.31155130e-01 -5.56040601e-01 0.00000000e+00 9.77957890e+01] [ 5.56040601e-01 8.31155130e-01 0.00000000e+00 2.65832571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42749184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.727552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.83, Y:26.59, Z:-0.01 [[ 8.32140121e-01 -5.54565433e-01 0.00000000e+00 9.78315262e+01] [ 5.54565433e-01 8.32140121e-01 0.00000000e+00 2.65939840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24715132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:26.61, Z:-0.01 [[ 8.33257192e-01 -5.52885568e-01 0.00000000e+00 9.78564159e+01] [ 5.52885568e-01 8.33257192e-01 0.00000000e+00 2.66069112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09834669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:26.62, Z:-0.01 [[ 8.34328980e-01 -5.51266863e-01 0.00000000e+00 9.78815215e+01] [ 5.51266863e-01 8.34328980e-01 0.00000000e+00 2.66195982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04678542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:26.63, Z:-0.01 [[ 8.35255950e-01 -5.49861344e-01 0.00000000e+00 9.79064692e+01] [ 5.49861344e-01 8.35255950e-01 0.00000000e+00 2.66324302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.65303767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:26.65, Z:-0.01 [[ 8.38392338e-01 -5.45067233e-01 0.00000000e+00 9.79236896e+01] [ 5.45067233e-01 8.38392338e-01 0.00000000e+00 2.66460952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13870800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:26.66, Z:-0.01 [[ 8.43008315e-01 -5.37900531e-01 0.00000000e+00 9.79575460e+01] [ 5.37900531e-01 8.43008315e-01 0.00000000e+00 2.66566578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07405505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:26.67, Z:-0.01 [[ 8.46122652e-01 -5.32988235e-01 0.00000000e+00 9.79826364e+01] [ 5.32988235e-01 8.46122652e-01 0.00000000e+00 2.66695396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09962931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:26.68, Z:-0.01 [[ 8.49175125e-01 -5.28111358e-01 0.00000000e+00 9.80069723e+01] [ 5.28111358e-01 8.49175125e-01 0.00000000e+00 2.66816388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13679057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:26.69, Z:-0.01 [[ 8.54674374e-01 -5.19164438e-01 0.00000000e+00 9.80310708e+01] [ 5.19164438e-01 8.54674374e-01 0.00000000e+00 2.66936451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24413520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:26.71, Z:-0.01 [[ 8.57251254e-01 -5.14898327e-01 0.00000000e+00 9.80558262e+01] [ 5.14898327e-01 8.57251254e-01 0.00000000e+00 2.67059451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20467988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:26.72, Z:-0.01 [[ 8.59413496e-01 -5.11281177e-01 0.00000000e+00 9.80812258e+01] [ 5.11281177e-01 8.59413496e-01 0.00000000e+00 2.67189709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12971700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:26.73, Z:-0.01 [[ 8.61198577e-01 -5.08268640e-01 0.00000000e+00 9.81050287e+01] [ 5.08268640e-01 8.61198577e-01 0.00000000e+00 2.67311686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14719044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:26.74, Z:-0.01 [[ 8.64406566e-01 -5.02793484e-01 0.00000000e+00 9.81302241e+01] [ 5.02793484e-01 8.64406566e-01 0.00000000e+00 2.67433413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10859759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:26.76, Z:-0.01 [[ 8.65579608e-01 -5.00771347e-01 0.00000000e+00 9.81551814e+01] [ 5.00771347e-01 8.65579608e-01 0.00000000e+00 2.67559472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05494274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:26.77, Z:-0.01 [[ 8.66848411e-01 -4.98571793e-01 0.00000000e+00 9.81787251e+01] [ 4.98571793e-01 8.66848411e-01 0.00000000e+00 2.67688802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02937225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:26.78, Z:-0.01 [[ 8.68146685e-01 -4.96307700e-01 0.00000000e+00 9.81997086e+01] [ 4.96307700e-01 8.68146685e-01 0.00000000e+00 2.67819193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85836011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:26.79, Z:-0.01 [[ 8.69051800e-01 -4.94721103e-01 0.00000000e+00 9.82280606e+01] [ 4.94721103e-01 8.69051800e-01 0.00000000e+00 2.67943447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58355473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:26.81, Z:-0.01 [[ 8.68959328e-01 -4.94883507e-01 0.00000000e+00 9.82529003e+01] [ 4.94883507e-01 8.68959328e-01 0.00000000e+00 2.68072892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10552801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:26.82, Z:-0.01 [[ 8.68495397e-01 -4.95697232e-01 0.00000000e+00 9.82773870e+01] [ 4.95697232e-01 8.68495397e-01 0.00000000e+00 2.68209822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19445363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:26.83, Z:-0.01 [[ 8.67555506e-01 -4.97340371e-01 0.00000000e+00 9.83003714e+01] [ 4.97340371e-01 8.67555506e-01 0.00000000e+00 2.68345713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01128227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:26.85, Z:-0.01 [[ 8.66420776e-01 -4.99314569e-01 0.00000000e+00 9.83244992e+01] [ 4.99314569e-01 8.66420776e-01 0.00000000e+00 2.68484791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13219794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:26.86, Z:-0.01 [[ 8.65434466e-01 -5.01022141e-01 0.00000000e+00 9.83489342e+01] [ 5.01022141e-01 8.65434466e-01 0.00000000e+00 2.68625238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30152807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:26.88, Z:-0.01 [[ 8.64287968e-01 -5.02997324e-01 0.00000000e+00 9.83728551e+01] [ 5.02997324e-01 8.64287968e-01 0.00000000e+00 2.68759100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41342266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:26.89, Z:-0.02 [[ 8.60801374e-01 -5.08941052e-01 0.00000000e+00 9.83973583e+01] [ 5.08941052e-01 8.60801374e-01 0.00000000e+00 2.68898732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56769672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:26.90, Z:-0.01 [[ 8.58006582e-01 -5.13638691e-01 0.00000000e+00 9.84221581e+01] [ 5.13638691e-01 8.58006582e-01 0.00000000e+00 2.69024955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49028653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:26.92, Z:-0.01 [[ 8.51990853e-01 -5.23556670e-01 0.00000000e+00 9.84455889e+01] [ 5.23556670e-01 8.51990853e-01 0.00000000e+00 2.69159154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49050925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:26.93, Z:-0.02 [[ 8.48401853e-01 -5.29352713e-01 0.00000000e+00 9.84689826e+01] [ 5.29352713e-01 8.48401853e-01 0.00000000e+00 2.69295360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56006778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:26.94, Z:-0.02 [[ 8.48253600e-01 -5.29590247e-01 0.00000000e+00 9.84941730e+01] [ 5.29590247e-01 8.48253600e-01 0.00000000e+00 2.69430979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56006778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:26.96, Z:-0.02 [[ 8.44239579e-01 -5.35965981e-01 0.00000000e+00 9.85180207e+01] [ 5.35965981e-01 8.44239579e-01 0.00000000e+00 2.69572849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57633445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:98.54, Y:26.97, Z:-0.02 [[ 8.39835094e-01 -5.42841611e-01 0.00000000e+00 9.85420871e+01] [ 5.42841611e-01 8.39835094e-01 0.00000000e+00 2.69709526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58414546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.57, Y:26.98, Z:-0.01 [[ 8.31461152e-01 -5.55582894e-01 0.00000000e+00 9.85670885e+01] [ 5.55582894e-01 8.31461152e-01 0.00000000e+00 2.69837621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40210689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:27.00, Z:-0.01 [[ 8.26730329e-01 -5.62598403e-01 0.00000000e+00 9.85925761e+01] [ 5.62598403e-01 8.26730329e-01 0.00000000e+00 2.69962651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19701252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.62, Y:27.01, Z:-0.01 [[ 8.23383554e-01 -5.67485262e-01 0.00000000e+00 9.86165545e+01] [ 5.67485262e-01 8.23383554e-01 0.00000000e+00 2.70108620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35120263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:98.64, Y:27.02, Z:-0.01 [[ 8.19852353e-01 -5.72574991e-01 0.00000000e+00 9.86411760e+01] [ 5.72574991e-01 8.19852353e-01 0.00000000e+00 2.70247599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69348026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:27.04, Z:-0.01 [[ 8.14250510e-01 -5.80513658e-01 0.00000000e+00 9.86645707e+01] [ 5.80513658e-01 8.14250510e-01 0.00000000e+00 2.70385127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60132361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:27.05, Z:-0.01 [[ 8.12128676e-01 -5.83478375e-01 0.00000000e+00 9.86891903e+01] [ 5.83478375e-01 8.12128676e-01 0.00000000e+00 2.70522431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53684704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:27.07, Z:-0.01 [[ 8.10586073e-01 -5.85619517e-01 0.00000000e+00 9.87135796e+01] [ 5.85619517e-01 8.10586073e-01 0.00000000e+00 2.70654048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05192999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:27.08, Z:-0.01 [[ 8.10025613e-01 -5.86394498e-01 0.00000000e+00 9.87371788e+01] [ 5.86394498e-01 8.10025613e-01 0.00000000e+00 2.70784348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68303654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:27.09, Z:-0.01 [[ 8.10591962e-01 -5.85611366e-01 0.00000000e+00 9.87620299e+01] [ 5.85611366e-01 8.10591962e-01 0.00000000e+00 2.70926303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65147168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:27.11, Z:-0.01 [[ 8.11300767e-01 -5.84628998e-01 0.00000000e+00 9.87868024e+01] [ 5.84628998e-01 8.11300767e-01 0.00000000e+00 2.71063857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10769315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:27.12, Z:-0.01 [[ 8.12140972e-01 -5.83461260e-01 0.00000000e+00 9.88110755e+01] [ 5.83461260e-01 8.12140972e-01 0.00000000e+00 2.71196079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88600247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:27.13, Z:-0.01 [[ 8.15503063e-01 -5.78752757e-01 0.00000000e+00 9.88358212e+01] [ 5.78752757e-01 8.15503063e-01 0.00000000e+00 2.71338755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18341392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98755201799999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:98.86, Y:27.15, Z:-0.01 [[ 8.16856325e-01 -5.76841178e-01 0.00000000e+00 9.88598905e+01] [ 5.76841178e-01 8.16856325e-01 0.00000000e+00 2.71460063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23006719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.88, Y:27.16, Z:-0.01 [[ 8.17788534e-01 -5.75518821e-01 0.00000000e+00 9.88837567e+01] [ 5.75518821e-01 8.17788534e-01 0.00000000e+00 2.71582805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20937224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:27.17, Z:-0.01 [[ 8.19306435e-01 -5.73355881e-01 0.00000000e+00 9.89081423e+01] [ 5.73355881e-01 8.19306435e-01 0.00000000e+00 2.71713425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12575037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:27.18, Z:-0.01 [[ 8.22011388e-01 -5.69471051e-01 0.00000000e+00 9.89330688e+01] [ 5.69471051e-01 8.22011388e-01 0.00000000e+00 2.71820677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61370742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:98.96, Y:27.20, Z:-0.01 [[ 8.24190965e-01 -5.66311975e-01 0.00000000e+00 9.89582469e+01] [ 5.66311975e-01 8.24190965e-01 0.00000000e+00 2.71953503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18494381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.137552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.98, Y:27.21, Z:-0.01 [[ 8.26041664e-01 -5.63609058e-01 0.00000000e+00 9.89836358e+01] [ 5.63609058e-01 8.26041664e-01 0.00000000e+00 2.72076751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89032425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.167552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.01, Y:27.22, Z:-0.01 [[ 8.30107888e-01 -5.57602810e-01 0.00000000e+00 9.90074672e+01] [ 5.57602810e-01 8.30107888e-01 0.00000000e+00 2.72194583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54221245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.197552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.03, Y:27.23, Z:-0.01 [[ 8.31887035e-01 -5.54945007e-01 0.00000000e+00 9.90344062e+01] [ 5.54945007e-01 8.31887035e-01 0.00000000e+00 2.72322584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49018109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:27.25, Z:-0.01 [[ 8.33680898e-01 -5.52246467e-01 0.00000000e+00 9.90578791e+01] [ 5.52246467e-01 8.33680898e-01 0.00000000e+00 2.72456355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84888609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:27.26, Z:-0.01 [[ 8.37256469e-01 -5.46810392e-01 0.00000000e+00 9.90815782e+01] [ 5.46810392e-01 8.37256469e-01 0.00000000e+00 2.72594129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28891932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:27.27, Z:-0.01 [[ 8.39494210e-01 -5.43368633e-01 0.00000000e+00 9.91062653e+01] [ 5.43368633e-01 8.39494210e-01 0.00000000e+00 2.72735370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55978631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:27.29, Z:-0.01 [[ 8.41038306e-01 -5.40975570e-01 0.00000000e+00 9.91308310e+01] [ 5.40975570e-01 8.41038306e-01 0.00000000e+00 2.72853816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91885644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:27.30, Z:-0.01 [[ 8.43019846e-01 -5.37882459e-01 0.00000000e+00 9.91550199e+01] [ 5.37882459e-01 8.43019846e-01 0.00000000e+00 2.72987737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20395111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.18, Y:27.31, Z:-0.01 [[ 8.45413471e-01 -5.34112407e-01 0.00000000e+00 9.91788240e+01] [ 5.34112407e-01 8.45413471e-01 0.00000000e+00 2.73121220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16768073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:27.33, Z:-0.01 [[ 8.46253299e-01 -5.32780775e-01 0.00000000e+00 9.92027256e+01] [ 5.32780775e-01 8.46253299e-01 0.00000000e+00 2.73263875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35902001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:27.34, Z:-0.01 [[ 8.46325018e-01 -5.32666842e-01 0.00000000e+00 9.92272393e+01] [ 5.32666842e-01 8.46325018e-01 0.00000000e+00 2.73396727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44587185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:27.35, Z:-0.02 [[ 8.46563649e-01 -5.32287505e-01 0.00000000e+00 9.92518751e+01] [ 5.32287505e-01 8.46563649e-01 0.00000000e+00 2.73541528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55601660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:27.37, Z:-0.02 [[ 8.45776484e-01 -5.33537383e-01 0.00000000e+00 9.92750134e+01] [ 5.33537383e-01 8.45776484e-01 0.00000000e+00 2.73672640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53694289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:27.38, Z:-0.02 [[ 8.45113342e-01 -5.34587166e-01 0.00000000e+00 9.92991304e+01] [ 5.34587166e-01 8.45113342e-01 0.00000000e+00 2.73797378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51054039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:27.39, Z:-0.01 [[ 8.44413044e-01 -5.35692647e-01 0.00000000e+00 9.93237375e+01] [ 5.35692647e-01 8.44413044e-01 0.00000000e+00 2.73927313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46624663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:27.41, Z:-0.01 [[ 8.42606384e-01 -5.38529927e-01 0.00000000e+00 9.93468984e+01] [ 5.38529927e-01 8.42606384e-01 0.00000000e+00 2.74057603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34045984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:27.42, Z:-0.01 [[ 8.40993171e-01 -5.41045734e-01 0.00000000e+00 9.93717451e+01] [ 5.41045734e-01 8.40993171e-01 0.00000000e+00 2.74191405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32691319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:27.43, Z:-0.01 [[ 8.39792350e-01 -5.42907736e-01 0.00000000e+00 9.93959321e+01] [ 5.42907736e-01 8.39792350e-01 0.00000000e+00 2.74323085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21711098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:27.44, Z:-0.01 [[ 8.36646975e-01 -5.47742493e-01 0.00000000e+00 9.94206051e+01] [ 5.47742493e-01 8.36646975e-01 0.00000000e+00 2.74449456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04099997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:27.46, Z:-0.01 [[ 8.35384158e-01 -5.49666543e-01 0.00000000e+00 9.94450506e+01] [ 5.49666543e-01 8.35384158e-01 0.00000000e+00 2.74586252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55080305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:27.47, Z:-0.01 [[ 8.34578288e-01 -5.50889354e-01 0.00000000e+00 9.94698771e+01] [ 5.50889354e-01 8.34578288e-01 0.00000000e+00 2.74727098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28861660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76755201799999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:99.49, Y:27.49, Z:-0.01 [[ 8.33892112e-01 -5.51927483e-01 0.00000000e+00 9.94944595e+01] [ 5.51927483e-01 8.33892112e-01 0.00000000e+00 2.74861448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87624372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79755201799999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:99.52, Y:27.50, Z:-0.01 [[ 8.33384334e-01 -5.52693904e-01 0.00000000e+00 9.95186665e+01] [ 5.52693904e-01 8.33384334e-01 0.00000000e+00 2.74998147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26372027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:27.51, Z:-0.01 [[ 8.32958633e-01 -5.53335265e-01 0.00000000e+00 9.95421358e+01] [ 5.53335265e-01 8.32958633e-01 0.00000000e+00 2.75127291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05781780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:27.53, Z:-0.01 [[ 8.32555537e-01 -5.53941584e-01 0.00000000e+00 9.95663538e+01] [ 5.53941584e-01 8.32555537e-01 0.00000000e+00 2.75260478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14912010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.887552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.59, Y:27.54, Z:-0.01 [[ 8.33063221e-01 -5.53177792e-01 0.00000000e+00 9.95909795e+01] [ 5.53177792e-01 8.33063221e-01 0.00000000e+00 2.75394303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22127195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:27.55, Z:-0.01 [[ 8.33200809e-01 -5.52970534e-01 0.00000000e+00 9.96161539e+01] [ 5.52970534e-01 8.33200809e-01 0.00000000e+00 2.75530266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26089576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:27.57, Z:-0.01 [[ 8.33781985e-01 -5.52093833e-01 0.00000000e+00 9.96400987e+01] [ 5.52093833e-01 8.33781985e-01 0.00000000e+00 2.75658748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26850830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:27.58, Z:-0.01 [[ 8.34256228e-01 -5.51376954e-01 0.00000000e+00 9.96644461e+01] [ 5.51376954e-01 8.34256228e-01 0.00000000e+00 2.75790777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21124791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.007552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.69, Y:27.59, Z:-0.01 [[ 8.35557305e-01 -5.49403303e-01 0.00000000e+00 9.96897299e+01] [ 5.49403303e-01 8.35557305e-01 0.00000000e+00 2.75921927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12823422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:27.60, Z:-0.01 [[ 8.36192687e-01 -5.48435766e-01 0.00000000e+00 9.97138947e+01] [ 5.48435766e-01 8.36192687e-01 0.00000000e+00 2.76048303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11426096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:27.62, Z:-0.01 [[ 8.37003333e-01 -5.47197789e-01 0.00000000e+00 9.97391017e+01] [ 5.47197789e-01 8.37003333e-01 0.00000000e+00 2.76182107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05511594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:27.63, Z:-0.01 [[ 8.38124838e-01 -5.45478465e-01 0.00000000e+00 9.97636594e+01] [ 5.45478465e-01 8.38124838e-01 0.00000000e+00 2.76314337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72154439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:27.64, Z:-0.01 [[ 8.38759593e-01 -5.44501923e-01 0.00000000e+00 9.97886850e+01] [ 5.44501923e-01 8.38759593e-01 0.00000000e+00 2.76443787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55603992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:27.66, Z:-0.01 [[ 8.40208112e-01 -5.42264076e-01 0.00000000e+00 9.98120643e+01] [ 5.42264076e-01 8.40208112e-01 0.00000000e+00 2.76572560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24701445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:27.67, Z:-0.01 [[ 8.40336745e-01 -5.42064714e-01 0.00000000e+00 9.98363832e+01] [ 5.42064714e-01 8.40336745e-01 0.00000000e+00 2.76704862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43484777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:27.68, Z:-0.01 [[ 8.40584727e-01 -5.41680088e-01 0.00000000e+00 9.98609200e+01] [ 5.41680088e-01 8.40584727e-01 0.00000000e+00 2.76833540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36179881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:27.70, Z:-0.01 [[ 8.40709057e-01 -5.41487101e-01 0.00000000e+00 9.98845080e+01] [ 5.41487101e-01 8.40709057e-01 0.00000000e+00 2.76966668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.27187345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.277552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.91, Y:27.71, Z:-0.01 [[ 8.40521769e-01 -5.41777774e-01 0.00000000e+00 9.99086239e+01] [ 5.41777774e-01 8.40521769e-01 0.00000000e+00 2.77105308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88320238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.307552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.93, Y:27.72, Z:-0.01 [[ 8.40501926e-01 -5.41808557e-01 0.00000000e+00 9.99328946e+01] [ 5.41808557e-01 8.40501926e-01 0.00000000e+00 2.77243252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90531692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:27.74, Z:-0.01 [[ 8.40427291e-01 -5.41924319e-01 0.00000000e+00 9.99564964e+01] [ 5.41924319e-01 8.40427291e-01 0.00000000e+00 2.77378135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73595582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.367552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.98, Y:27.75, Z:-0.01 [[ 8.40118596e-01 -5.42402751e-01 0.00000000e+00 9.99808419e+01] [ 5.42402751e-01 8.40118596e-01 0.00000000e+00 2.77525630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01040764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:27.77, Z:-0.01 [[ 8.40041222e-01 -5.42522575e-01 0.00000000e+00 1.00004071e+02] [ 5.42522575e-01 8.40041222e-01 0.00000000e+00 2.77669273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04596711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:27.78, Z:-0.01 [[ 8.39589165e-01 -5.43221901e-01 0.00000000e+00 1.00028163e+02] [ 5.43221901e-01 8.39589165e-01 0.00000000e+00 2.77806728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09930889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:27.79, Z:-0.01 [[ 8.39422745e-01 -5.43479029e-01 0.00000000e+00 1.00053162e+02] [ 5.43479029e-01 8.39422745e-01 0.00000000e+00 2.77946112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09930889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:27.81, Z:-0.01 [[ 8.39320983e-01 -5.43636172e-01 0.00000000e+00 1.00076939e+02] [ 5.43636172e-01 8.39320983e-01 0.00000000e+00 2.78102031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17373103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:27.82, Z:-0.01 [[ 8.37545347e-01 -5.46367818e-01 0.00000000e+00 1.00099168e+02] [ 5.46367818e-01 8.37545347e-01 0.00000000e+00 2.78242476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25057215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:27.84, Z:-0.01 [[ 8.38150608e-01 -5.45438868e-01 0.00000000e+00 1.00126152e+02] [ 5.45438868e-01 8.38150608e-01 0.00000000e+00 2.78369214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24727163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:27.85, Z:-0.01 [[ 8.37332237e-01 -5.46694361e-01 0.00000000e+00 1.00151068e+02] [ 5.46694361e-01 8.37332237e-01 0.00000000e+00 2.78506522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25576090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:27.86, Z:-0.01 [[ 8.36882141e-01 -5.47383122e-01 0.00000000e+00 1.00175266e+02] [ 5.47383122e-01 8.36882141e-01 0.00000000e+00 2.78644570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13527043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:27.88, Z:-0.01 [[ 8.36872142e-01 -5.47398409e-01 0.00000000e+00 1.00199509e+02] [ 5.47398409e-01 8.36872142e-01 0.00000000e+00 2.78784446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08410837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:27.89, Z:-0.01 [[ 8.36881211e-01 -5.47384544e-01 0.00000000e+00 1.00223344e+02] [ 5.47384544e-01 8.36881211e-01 0.00000000e+00 2.78914354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08406074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:27.91, Z:-0.01 [[ 8.37445165e-01 -5.46521358e-01 0.00000000e+00 1.00248167e+02] [ 5.46521358e-01 8.37445165e-01 0.00000000e+00 2.79056475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04595683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:27.92, Z:-0.01 [[ 8.38289917e-01 -5.45224738e-01 0.00000000e+00 1.00272949e+02] [ 5.45224738e-01 8.38289917e-01 0.00000000e+00 2.79193209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.95757947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:27.93, Z:-0.01 [[ 8.38874251e-01 -5.44325262e-01 0.00000000e+00 1.00293584e+02] [ 5.44325262e-01 8.38874251e-01 0.00000000e+00 2.79339187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94507172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:27.95, Z:-0.01 [[ 8.42008606e-01 -5.39464093e-01 0.00000000e+00 1.00322498e+02] [ 5.39464093e-01 8.42008606e-01 0.00000000e+00 2.79458584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03037596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:27.96, Z:-0.01 [[ 8.43915148e-01 -5.36476676e-01 0.00000000e+00 1.00346770e+02] [ 5.36476676e-01 8.43915148e-01 0.00000000e+00 2.79598883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08482802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:27.97, Z:-0.01 [[ 8.47030602e-01 -5.31544127e-01 0.00000000e+00 1.00371421e+02] [ 5.31544127e-01 8.47030602e-01 0.00000000e+00 2.79720124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08318306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:27.99, Z:-0.01 [[ 8.48652454e-01 -5.28950859e-01 0.00000000e+00 1.00395884e+02] [ 5.28950859e-01 8.48652454e-01 0.00000000e+00 2.79856092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11305613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:28.00, Z:-0.01 [[ 8.50355793e-01 -5.26208158e-01 0.00000000e+00 1.00419407e+02] [ 5.26208158e-01 8.50355793e-01 0.00000000e+00 2.79991937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16932389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:28.01, Z:-0.01 [[ 8.51909642e-01 -5.23688803e-01 0.00000000e+00 1.00443831e+02] [ 5.23688803e-01 8.51909642e-01 0.00000000e+00 2.80128649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17349564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:28.03, Z:-0.01 [[ 8.54176694e-01 -5.19982860e-01 0.00000000e+00 1.00467568e+02] [ 5.19982860e-01 8.54176694e-01 0.00000000e+00 2.80256096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16716151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:28.04, Z:-0.01 [[ 8.55252078e-01 -5.18212199e-01 0.00000000e+00 1.00491874e+02] [ 5.18212199e-01 8.55252078e-01 0.00000000e+00 2.80387616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11813102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:28.05, Z:-0.01 [[ 8.56573085e-01 -5.16025725e-01 0.00000000e+00 1.00515521e+02] [ 5.16025725e-01 8.56573085e-01 0.00000000e+00 2.80524364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01713410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:28.07, Z:-0.01 [[ 8.57232643e-01 -5.14929311e-01 0.00000000e+00 1.00539141e+02] [ 5.14929311e-01 8.57232643e-01 0.00000000e+00 2.80651555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03111801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:28.08, Z:-0.01 [[ 8.59257137e-01 -5.11543911e-01 0.00000000e+00 1.00563843e+02] [ 5.11543911e-01 8.59257137e-01 0.00000000e+00 2.80795357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02351561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:28.09, Z:-0.01 [[ 8.59964567e-01 -5.10353743e-01 0.00000000e+00 1.00588075e+02] [ 5.10353743e-01 8.59964567e-01 0.00000000e+00 2.80940733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03378275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:28.11, Z:-0.01 [[ 8.59623331e-01 -5.10928300e-01 0.00000000e+00 1.00612689e+02] [ 5.10928300e-01 8.59623331e-01 0.00000000e+00 2.81073435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10494547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:28.12, Z:-0.01 [[ 8.59657277e-01 -5.10871184e-01 0.00000000e+00 1.00636023e+02] [ 5.10871184e-01 8.59657277e-01 0.00000000e+00 2.81207457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10755867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:28.13, Z:-0.01 [[ 8.58809074e-01 -5.12295789e-01 0.00000000e+00 1.00660013e+02] [ 5.12295789e-01 8.58809074e-01 0.00000000e+00 2.81345066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15611340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:28.15, Z:-0.01 [[ 8.58537051e-01 -5.12751530e-01 0.00000000e+00 1.00683337e+02] [ 5.12751530e-01 8.58537051e-01 0.00000000e+00 2.81484810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16053782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:28.16, Z:-0.01 [[ 8.56752339e-01 -5.15728059e-01 0.00000000e+00 1.00706624e+02] [ 5.15728059e-01 8.56752339e-01 0.00000000e+00 2.81634512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26311043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.73, Y:28.18, Z:-0.01 [[ 8.55908680e-01 -5.17126998e-01 0.00000000e+00 1.00730893e+02] [ 5.17126998e-01 8.55908680e-01 0.00000000e+00 2.81783457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28616761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:28.19, Z:-0.01 [[ 8.55124774e-01 -5.18422241e-01 0.00000000e+00 1.00753825e+02] [ 5.18422241e-01 8.55124774e-01 0.00000000e+00 2.81927946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27011051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:28.21, Z:-0.01 [[ 8.54294859e-01 -5.19788701e-01 0.00000000e+00 1.00778055e+02] [ 5.19788701e-01 8.54294859e-01 0.00000000e+00 2.82076947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26469047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.387552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:100.80, Y:28.22, Z:-0.01 [[ 8.53782485e-01 -5.20629876e-01 0.00000000e+00 1.00802013e+02] [ 5.20629876e-01 8.53782485e-01 0.00000000e+00 2.82220735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24375042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.417552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.83, Y:28.23, Z:-0.01 [[ 8.51521752e-01 -5.24319279e-01 0.00000000e+00 1.00826702e+02] [ 5.24319279e-01 8.51521752e-01 0.00000000e+00 2.82343834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25466605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:28.25, Z:-0.01 [[ 8.50557205e-01 -5.25882536e-01 0.00000000e+00 1.00850650e+02] [ 5.25882536e-01 8.50557205e-01 0.00000000e+00 2.82491064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33867446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.477552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.87, Y:28.26, Z:-0.01 [[ 8.49926464e-01 -5.26901324e-01 0.00000000e+00 1.00874553e+02] [ 5.26901324e-01 8.49926464e-01 0.00000000e+00 2.82636539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42414207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.507552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:100.90, Y:28.28, Z:-0.02 [[ 8.49615272e-01 -5.27402967e-01 0.00000000e+00 1.00897491e+02] [ 5.27402967e-01 8.49615272e-01 0.00000000e+00 2.82779433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56456010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.537552018 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:100.92, Y:28.29, Z:-0.02 [[ 8.49967615e-01 -5.26834940e-01 0.00000000e+00 1.00920798e+02] [ 5.26834940e-01 8.49967615e-01 0.00000000e+00 2.82928944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62722380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:28.31, Z:-0.02 [[ 8.45196954e-01 -5.34454964e-01 0.00000000e+00 1.00920429e+02] [ 5.34454964e-01 8.45196954e-01 0.00000000e+00 2.83113508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77246912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:28.32, Z:-0.02 [[ 8.47441716e-01 -5.30888442e-01 0.00000000e+00 1.00941436e+02] [ 5.30888442e-01 8.47441716e-01 0.00000000e+00 2.83231050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64560629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:28.33, Z:-0.01 [[ 8.56309508e-01 -5.16462996e-01 0.00000000e+00 1.00992063e+02] [ 5.16462996e-01 8.56309508e-01 0.00000000e+00 2.83302699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42814991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:28.35, Z:-0.02 [[ 8.60169362e-01 -5.10008499e-01 0.00000000e+00 1.01016519e+02] [ 5.10008499e-01 8.60169362e-01 0.00000000e+00 2.83450860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51068683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:28.37, Z:-0.02 [[ 8.58162187e-01 -5.13378672e-01 0.00000000e+00 1.01013789e+02] [ 5.13378672e-01 8.58162187e-01 0.00000000e+00 2.83670312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61545326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:28.38, Z:-0.02 [[ 8.61316720e-01 -5.08068408e-01 0.00000000e+00 1.01038297e+02] [ 5.08068408e-01 8.61316720e-01 0.00000000e+00 2.83812623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74036533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:28.39, Z:-0.02 [[ 8.65275447e-01 -5.01296719e-01 0.00000000e+00 1.01058887e+02] [ 5.01296719e-01 8.65275447e-01 0.00000000e+00 2.83916167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63517416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:28.40, Z:-0.02 [[ 8.67709463e-01 -4.97071713e-01 0.00000000e+00 1.01082287e+02] [ 4.97071713e-01 8.67709463e-01 0.00000000e+00 2.84039369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50589075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:28.42, Z:-0.02 [[ 8.69300507e-01 -4.94283956e-01 0.00000000e+00 1.01109335e+02] [ 4.94283956e-01 8.69300507e-01 0.00000000e+00 2.84166053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56133607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:28.43, Z:-0.01 [[ 8.70788851e-01 -4.91657174e-01 0.00000000e+00 1.01132629e+02] [ 4.91657174e-01 8.70788851e-01 0.00000000e+00 2.84299106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43122528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:28.44, Z:-0.01 [[ 8.77208586e-01 -4.80109463e-01 0.00000000e+00 1.01186183e+02] [ 4.80109463e-01 8.77208586e-01 0.00000000e+00 2.84369090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30985216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:28.45, Z:-0.01 [[ 8.74842847e-01 -4.84406846e-01 0.00000000e+00 1.01184976e+02] [ 4.84406846e-01 8.74842847e-01 0.00000000e+00 2.84538616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41820046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.927552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.24, Y:28.46, Z:-0.01 [[ 8.79356857e-01 -4.76163332e-01 0.00000000e+00 1.01238278e+02] [ 4.76163332e-01 8.79356857e-01 0.00000000e+00 2.84595299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29024539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:28.48, Z:-0.01 [[ 8.75156837e-01 -4.83839344e-01 0.00000000e+00 1.01237471e+02] [ 4.83839344e-01 8.75156837e-01 0.00000000e+00 2.84752163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44267832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:28.49, Z:-0.01 [[ 8.77522409e-01 -4.79535632e-01 0.00000000e+00 1.01257484e+02] [ 4.79535632e-01 8.77522409e-01 0.00000000e+00 2.84857047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42668160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:28.50, Z:-0.01 [[ 8.75535574e-01 -4.83153660e-01 0.00000000e+00 1.01290402e+02] [ 4.83153660e-01 8.75535574e-01 0.00000000e+00 2.85014626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49349578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:28.51, Z:-0.02 [[ 8.78892677e-01 -4.77019562e-01 0.00000000e+00 1.01311413e+02] [ 4.77019562e-01 8.78892677e-01 0.00000000e+00 2.85105010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65335565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:28.52, Z:-0.02 [[ 8.79014373e-01 -4.76795273e-01 0.00000000e+00 1.01335972e+02] [ 4.76795273e-01 8.79014373e-01 0.00000000e+00 2.85221630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69879766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:28.53, Z:-0.02 [[ 8.82071507e-01 -4.71115544e-01 0.00000000e+00 1.01370307e+02] [ 4.71115544e-01 8.82071507e-01 0.00000000e+00 2.85308324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56045023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.137552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:101.39, Y:28.54, Z:-0.02 [[ 8.79028228e-01 -4.76769729e-01 0.00000000e+00 1.01386311e+02] [ 4.76769729e-01 8.79028228e-01 0.00000000e+00 2.85445636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55960447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:28.56, Z:-0.01 [[ 8.78616089e-01 -4.77528814e-01 0.00000000e+00 1.01412428e+02] [ 4.77528814e-01 8.78616089e-01 0.00000000e+00 2.85591151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49265502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:28.57, Z:-0.01 [[ 8.78708314e-01 -4.77359088e-01 0.00000000e+00 1.01436225e+02] [ 4.77359088e-01 8.78708314e-01 0.00000000e+00 2.85709159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49434801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:28.59, Z:-0.02 [[ 8.77230266e-01 -4.80069850e-01 0.00000000e+00 1.01462342e+02] [ 4.80069850e-01 8.77230266e-01 0.00000000e+00 2.85852014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63451971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:28.59, Z:-0.02 [[ 8.78881226e-01 -4.77040659e-01 0.00000000e+00 1.01493168e+02] [ 4.77040659e-01 8.78881226e-01 0.00000000e+00 2.85913324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56131481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:28.61, Z:-0.02 [[ 8.74779746e-01 -4.84520790e-01 0.00000000e+00 1.01510043e+02] [ 4.84520790e-01 8.74779746e-01 0.00000000e+00 2.86066624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66688314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:28.62, Z:-0.02 [[ 8.73545242e-01 -4.86742960e-01 0.00000000e+00 1.01534077e+02] [ 4.86742960e-01 8.73545242e-01 0.00000000e+00 2.86181158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59461889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:28.63, Z:-0.02 [[ 8.74227103e-01 -4.85517221e-01 0.00000000e+00 1.01558963e+02] [ 4.85517221e-01 8.74227103e-01 0.00000000e+00 2.86303765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59461889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:28.64, Z:-0.01 [[ 8.72724769e-01 -4.88212534e-01 0.00000000e+00 1.01584550e+02] [ 4.88212534e-01 8.72724769e-01 0.00000000e+00 2.86419282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42493050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:28.65, Z:-0.01 [[ 8.68905285e-01 -4.94978390e-01 0.00000000e+00 1.01609224e+02] [ 4.94978390e-01 8.68905285e-01 0.00000000e+00 2.86543057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33905099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:28.67, Z:-0.02 [[ 8.65655476e-01 -5.00640187e-01 0.00000000e+00 1.01633011e+02] [ 5.00640187e-01 8.65655476e-01 0.00000000e+00 2.86672420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55167201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:28.68, Z:-0.01 [[ 8.63499754e-01 -5.04349258e-01 0.00000000e+00 1.01661121e+02] [ 5.04349258e-01 8.63499754e-01 0.00000000e+00 2.86797999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40865308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:28.69, Z:-0.01 [[ 8.58471373e-01 -5.12861483e-01 0.00000000e+00 1.01685722e+02] [ 5.12861483e-01 8.58471373e-01 0.00000000e+00 2.86923576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25186503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:28.70, Z:-0.01 [[ 8.55906180e-01 -5.17131135e-01 0.00000000e+00 1.01708518e+02] [ 5.17131135e-01 8.55906180e-01 0.00000000e+00 2.87026326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08751355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.557552018 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:101.73, Y:28.72, Z:-0.01 [[ 8.53811491e-01 -5.20582306e-01 0.00000000e+00 1.01732293e+02] [ 5.20582306e-01 8.53811491e-01 0.00000000e+00 2.87155991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14348557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.587552018 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:101.76, Y:28.73, Z:-0.01 [[ 8.52489047e-01 -5.22745086e-01 0.00000000e+00 1.01763842e+02] [ 5.22745086e-01 8.52489047e-01 0.00000000e+00 2.87270526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.62521178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:28.74, Z:-0.01 [[ 8.44623521e-01 -5.35360727e-01 0.00000000e+00 1.01786313e+02] [ 5.35360727e-01 8.44623521e-01 0.00000000e+00 2.87392560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09863925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:28.76, Z:-0.01 [[ 8.39882794e-01 -5.42767807e-01 0.00000000e+00 1.01818032e+02] [ 5.42767807e-01 8.39882794e-01 0.00000000e+00 2.87555397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61876458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:28.76, Z:-0.01 [[ 8.39644297e-01 -5.43136682e-01 0.00000000e+00 1.01837238e+02] [ 5.43136682e-01 8.39644297e-01 0.00000000e+00 2.87625907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.93571798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.707552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:101.89, Y:28.78, Z:-0.01 [[ 8.34971882e-01 -5.50292609e-01 0.00000000e+00 1.01892387e+02] [ 5.50292609e-01 8.34971882e-01 0.00000000e+00 2.87763222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28899647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:28.79, Z:-0.01 [[ 8.31504540e-01 -5.55517957e-01 0.00000000e+00 1.01902434e+02] [ 5.55517957e-01 8.31504540e-01 0.00000000e+00 2.87935418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30109774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.94, Y:28.80, Z:-0.01 [[ 8.33462743e-01 -5.52575656e-01 0.00000000e+00 1.01942658e+02] [ 5.52575656e-01 8.33462743e-01 0.00000000e+00 2.88021325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92249260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:28.82, Z:-0.01 [[ 8.31627192e-01 -5.55334325e-01 0.00000000e+00 1.01956439e+02] [ 5.55334325e-01 8.31627192e-01 0.00000000e+00 2.88176960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93287482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:101.99, Y:28.83, Z:-0.01 [[ 8.32492142e-01 -5.54036852e-01 0.00000000e+00 1.01992355e+02] [ 5.54036852e-01 8.32492142e-01 0.00000000e+00 2.88287751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65789350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:28.84, Z:-0.01 [[ 8.31757547e-01 -5.55139067e-01 0.00000000e+00 1.02017338e+02] [ 5.55139067e-01 8.31757547e-01 0.00000000e+00 2.88417394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58863203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.887552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.04, Y:28.85, Z:-0.01 [[ 8.31130027e-01 -5.56078122e-01 0.00000000e+00 1.02042631e+02] [ 5.56078122e-01 8.31130027e-01 0.00000000e+00 2.88547764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.56699024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.917552018 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:102.07, Y:28.87, Z:-0.01 [[ 8.30758201e-01 -5.56633462e-01 0.00000000e+00 1.02068151e+02] [ 5.56633462e-01 8.30758201e-01 0.00000000e+00 2.88674987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29233321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:28.88, Z:-0.01 [[ 8.31489680e-01 -5.55540198e-01 0.00000000e+00 1.02093089e+02] [ 5.55540198e-01 8.31489680e-01 0.00000000e+00 2.88810092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80883968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.977552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.12, Y:28.89, Z:-0.01 [[ 8.31867037e-01 -5.54974984e-01 0.00000000e+00 1.02118743e+02] [ 5.54974984e-01 8.31867037e-01 0.00000000e+00 2.88926125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06906988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.007552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.14, Y:28.91, Z:-0.01 [[ 8.33029564e-01 -5.53228475e-01 0.00000000e+00 1.02142695e+02] [ 5.53228475e-01 8.33029564e-01 0.00000000e+00 2.89053343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51859267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:28.92, Z:-0.01 [[ 8.35105048e-01 -5.50090501e-01 0.00000000e+00 1.02168020e+02] [ 5.50090501e-01 8.35105048e-01 0.00000000e+00 2.89172171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57987779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.067552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.19, Y:28.93, Z:-0.01 [[ 8.35270158e-01 -5.49839762e-01 0.00000000e+00 1.02194130e+02] [ 5.49839762e-01 8.35270158e-01 0.00000000e+00 2.89287759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41619162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.22, Y:28.94, Z:-0.01 [[ 8.36255691e-01 -5.48339693e-01 0.00000000e+00 1.02218591e+02] [ 5.48339693e-01 8.36255691e-01 0.00000000e+00 2.89421681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56187447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:28.95, Z:-0.01 [[ 8.36403195e-01 -5.48114673e-01 0.00000000e+00 1.02243353e+02] [ 5.48114673e-01 8.36403195e-01 0.00000000e+00 2.89549461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04532472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:28.97, Z:-0.01 [[ 8.36096023e-01 -5.48583121e-01 0.00000000e+00 1.02268738e+02] [ 5.48583121e-01 8.36096023e-01 0.00000000e+00 2.89658141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15213304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.29, Y:28.98, Z:-0.01 [[ 8.36076416e-01 -5.48613003e-01 0.00000000e+00 1.02294321e+02] [ 5.48613003e-01 8.36076416e-01 0.00000000e+00 2.89782283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26494892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:102.32, Y:28.99, Z:-0.00 [[ 8.36476149e-01 -5.48003332e-01 0.00000000e+00 1.02319842e+02] [ 5.48003332e-01 8.36476149e-01 0.00000000e+00 2.89910194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43350047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:29.00, Z:-0.00 [[ 8.37068817e-01 -5.47097611e-01 0.00000000e+00 1.02344358e+02] [ 5.47097611e-01 8.37068817e-01 0.00000000e+00 2.90039511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81316737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:29.02, Z:-0.00 [[ 8.37819502e-01 -5.45947325e-01 0.00000000e+00 1.02368161e+02] [ 5.45947325e-01 8.37819502e-01 0.00000000e+00 2.90157881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62372590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:29.03, Z:-0.00 [[ 8.38257163e-01 -5.45275094e-01 0.00000000e+00 1.02392834e+02] [ 5.45275094e-01 8.38257163e-01 0.00000000e+00 2.90287700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85086147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:29.04, Z:-0.01 [[ 8.39137773e-01 -5.43918925e-01 0.00000000e+00 1.02416557e+02] [ 5.43918925e-01 8.39137773e-01 0.00000000e+00 2.90426759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73238999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:29.06, Z:-0.01 [[ 8.39398315e-01 -5.43516760e-01 0.00000000e+00 1.02441201e+02] [ 5.43516760e-01 8.39398315e-01 0.00000000e+00 2.90560254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25583724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.397552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.47, Y:29.07, Z:-0.01 [[ 8.39054431e-01 -5.44047481e-01 0.00000000e+00 1.02466008e+02] [ 5.44047481e-01 8.39054431e-01 0.00000000e+00 2.90690810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71789100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.427552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.49, Y:29.08, Z:-0.01 [[ 8.37641854e-01 -5.46219850e-01 0.00000000e+00 1.02490155e+02] [ 5.46219850e-01 8.37641854e-01 0.00000000e+00 2.90814978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52205060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.457552018 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:102.52, Y:29.09, Z:-0.01 [[ 8.36849781e-01 -5.47432593e-01 0.00000000e+00 1.02515179e+02] [ 5.47432593e-01 8.36849781e-01 0.00000000e+00 2.90946266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92400624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:102.54, Y:29.11, Z:-0.01 [[ 8.35634393e-01 -5.49286047e-01 0.00000000e+00 1.02540381e+02] [ 5.49286047e-01 8.35634393e-01 0.00000000e+00 2.91077085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09346359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:29.12, Z:-0.01 [[ 8.34945932e-01 -5.50331982e-01 0.00000000e+00 1.02564380e+02] [ 5.50331982e-01 8.34945932e-01 0.00000000e+00 2.91208210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83124972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.59, Y:29.13, Z:-0.01 [[ 8.32410141e-01 -5.54160046e-01 0.00000000e+00 1.02589367e+02] [ 5.54160046e-01 8.32410141e-01 0.00000000e+00 2.91336617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49396586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:29.15, Z:-0.01 [[ 8.31178144e-01 -5.56006198e-01 0.00000000e+00 1.02613995e+02] [ 5.56006198e-01 8.31178144e-01 0.00000000e+00 2.91465482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23833502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.64, Y:29.16, Z:-0.00 [[ 8.30824830e-01 -5.56534008e-01 0.00000000e+00 1.02638846e+02] [ 5.56534008e-01 8.30824830e-01 0.00000000e+00 2.91597516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67754864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:29.17, Z:-0.00 [[ 8.29915021e-01 -5.57889826e-01 0.00000000e+00 1.02664004e+02] [ 5.57889826e-01 8.29915021e-01 0.00000000e+00 2.91713265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34500012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:29.18, Z:-0.00 [[ 8.29821199e-01 -5.58029370e-01 0.00000000e+00 1.02688277e+02] [ 5.58029370e-01 8.29821199e-01 0.00000000e+00 2.91837227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37463205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:29.20, Z:-0.00 [[ 8.29759857e-01 -5.58120578e-01 0.00000000e+00 1.02712809e+02] [ 5.58120578e-01 8.29759857e-01 0.00000000e+00 2.91975260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99026457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:29.21, Z:-0.00 [[ 8.29606743e-01 -5.58348146e-01 0.00000000e+00 1.02737518e+02] [ 5.58348146e-01 8.29606743e-01 0.00000000e+00 2.92093691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62644133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:29.22, Z:-0.00 [[ 8.29659841e-01 -5.58269243e-01 0.00000000e+00 1.02762691e+02] [ 5.58269243e-01 8.29659841e-01 0.00000000e+00 2.92224135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87440386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:29.23, Z:-0.00 [[ 8.29986579e-01 -5.57783362e-01 0.00000000e+00 1.02787774e+02] [ 5.57783362e-01 8.29986579e-01 0.00000000e+00 2.92349028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57955533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:29.25, Z:-0.00 [[ 8.31351776e-01 -5.55746546e-01 0.00000000e+00 1.02812233e+02] [ 5.55746546e-01 8.31351776e-01 0.00000000e+00 2.92455724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46213900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:29.26, Z:-0.00 [[ 8.32923694e-01 -5.53387856e-01 0.00000000e+00 1.02836154e+02] [ 5.53387856e-01 8.32923694e-01 0.00000000e+00 2.92574221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97229184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:29.27, Z:-0.00 [[ 8.34464201e-01 -5.51062154e-01 0.00000000e+00 1.02861447e+02] [ 5.51062154e-01 8.34464201e-01 0.00000000e+00 2.92707077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42562639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90755201799999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:102.89, Y:29.28, Z:-0.00 [[ 8.35959475e-01 -5.48791178e-01 0.00000000e+00 1.02886947e+02] [ 5.48791178e-01 8.35959475e-01 0.00000000e+00 2.92834517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21864334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:102.91, Y:29.30, Z:0.00 [[ 8.39497777e-01 -5.43363122e-01 0.00000000e+00 1.02910861e+02] [ 5.43363122e-01 8.39497777e-01 0.00000000e+00 2.92962750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50716852e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96755201799999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:102.94, Y:29.31, Z:0.00 [[ 8.40748458e-01 -5.41425923e-01 0.00000000e+00 1.02935059e+02] [ 5.41425923e-01 8.40748458e-01 0.00000000e+00 2.93088718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58162809e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.997552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:102.96, Y:29.32, Z:0.00 [[ 8.40760491e-01 -5.41407238e-01 0.00000000e+00 1.02960320e+02] [ 5.41407238e-01 8.40760491e-01 0.00000000e+00 2.93203463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82181008e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.027552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.98, Y:29.33, Z:0.00 [[ 8.41798458e-01 -5.39791957e-01 0.00000000e+00 1.02984735e+02] [ 5.39791957e-01 8.41798458e-01 0.00000000e+00 2.93349202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40858226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.057552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:103.01, Y:29.35, Z:0.00 [[ 8.41502327e-01 -5.40253490e-01 0.00000000e+00 1.03008932e+02] [ 5.40253490e-01 8.41502327e-01 0.00000000e+00 2.93474078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12353374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.087552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.03, Y:29.36, Z:0.00 [[ 8.40442614e-01 -5.41900557e-01 0.00000000e+00 1.03033013e+02] [ 5.41900557e-01 8.40442614e-01 0.00000000e+00 2.93597067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19313745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.117552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.06, Y:29.37, Z:0.00 [[ 8.39668343e-01 -5.43099507e-01 0.00000000e+00 1.03056926e+02] [ 5.43099507e-01 8.39668343e-01 0.00000000e+00 2.93738382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55287569e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:29.39, Z:0.00 [[ 8.39556803e-01 -5.43271915e-01 0.00000000e+00 1.03082572e+02] [ 5.43271915e-01 8.39556803e-01 0.00000000e+00 2.93863640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04499684e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:29.40, Z:-0.00 [[ 8.38836216e-01 -5.44383875e-01 0.00000000e+00 1.03107397e+02] [ 5.44383875e-01 8.38836216e-01 0.00000000e+00 2.93994274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17676080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.207552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.13, Y:29.41, Z:-0.00 [[ 8.37730278e-01 -5.46084225e-01 0.00000000e+00 1.03131202e+02] [ 5.46084225e-01 8.37730278e-01 0.00000000e+00 2.94127208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11231355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:29.43, Z:-0.00 [[ 8.36824140e-01 -5.47471788e-01 0.00000000e+00 1.03156365e+02] [ 5.47471788e-01 8.36824140e-01 0.00000000e+00 2.94259185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63291555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:29.44, Z:-0.00 [[ 8.36673272e-01 -5.47702324e-01 0.00000000e+00 1.03181658e+02] [ 5.47702324e-01 8.36673272e-01 0.00000000e+00 2.94392865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63291555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:29.45, Z:-0.00 [[ 8.35929520e-01 -5.48836804e-01 0.00000000e+00 1.03206447e+02] [ 5.48836804e-01 8.35929520e-01 0.00000000e+00 2.94525974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93936065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:29.47, Z:-0.00 [[ 8.34196499e-01 -5.51467316e-01 0.00000000e+00 1.03231906e+02] [ 5.51467316e-01 8.34196499e-01 0.00000000e+00 2.94653738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28606831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:29.48, Z:-0.00 [[ 8.33959523e-01 -5.51825619e-01 0.00000000e+00 1.03256864e+02] [ 5.51825619e-01 8.33959523e-01 0.00000000e+00 2.94792361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59922613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:29.49, Z:-0.00 [[ 8.34195633e-01 -5.51468626e-01 0.00000000e+00 1.03281473e+02] [ 5.51468626e-01 8.34195633e-01 0.00000000e+00 2.94927116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53944028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:29.51, Z:-0.00 [[ 8.34287604e-01 -5.51329478e-01 0.00000000e+00 1.03306352e+02] [ 5.51329478e-01 8.34287604e-01 0.00000000e+00 2.95052519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62205157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:29.52, Z:-0.00 [[ 8.35851234e-01 -5.48956023e-01 0.00000000e+00 1.03330476e+02] [ 5.48956023e-01 8.35851234e-01 0.00000000e+00 2.95178703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03066480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:29.53, Z:-0.00 [[ 8.36890496e-01 -5.47370347e-01 0.00000000e+00 1.03355426e+02] [ 5.47370347e-01 8.36890496e-01 0.00000000e+00 2.95304692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68445406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.507552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:103.38, Y:29.54, Z:-0.00 [[ 8.38184312e-01 -5.45387073e-01 0.00000000e+00 1.03380017e+02] [ 5.45387073e-01 8.38184312e-01 0.00000000e+00 2.95433453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95275836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.537552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:103.41, Y:29.56, Z:-0.00 [[ 8.39201953e-01 -5.43819898e-01 0.00000000e+00 1.03405493e+02] [ 5.43819898e-01 8.39201953e-01 0.00000000e+00 2.95556237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59965039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:29.57, Z:-0.00 [[ 8.42037023e-01 -5.39419737e-01 0.00000000e+00 1.03429685e+02] [ 5.39419737e-01 8.42037023e-01 0.00000000e+00 2.95681242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22378305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:29.58, Z:-0.00 [[ 8.42039928e-01 -5.39415202e-01 0.00000000e+00 1.03452922e+02] [ 5.39415202e-01 8.42039928e-01 0.00000000e+00 2.95822240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88779995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:29.59, Z:-0.00 [[ 8.44784927e-01 -5.35105996e-01 0.00000000e+00 1.03479682e+02] [ 5.35105996e-01 8.44784927e-01 0.00000000e+00 2.95938063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30623442e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:29.61, Z:0.00 [[ 8.45364997e-01 -5.34189125e-01 0.00000000e+00 1.03504668e+02] [ 5.34189125e-01 8.45364997e-01 0.00000000e+00 2.96060907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23388423e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:29.62, Z:0.00 [[ 8.46618750e-01 -5.32199862e-01 0.00000000e+00 1.03528633e+02] [ 5.32199862e-01 8.46618750e-01 0.00000000e+00 2.96179950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95776320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:29.63, Z:0.00 [[ 8.46489050e-01 -5.32406131e-01 0.00000000e+00 1.03553431e+02] [ 5.32406131e-01 8.46489050e-01 0.00000000e+00 2.96312910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35016251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:29.64, Z:0.00 [[ 8.46264112e-01 -5.32763599e-01 0.00000000e+00 1.03579171e+02] [ 5.32763599e-01 8.46264112e-01 0.00000000e+00 2.96448222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10882223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:29.66, Z:0.00 [[ 8.45870614e-01 -5.33388136e-01 0.00000000e+00 1.03603093e+02] [ 5.33388136e-01 8.45870614e-01 0.00000000e+00 2.96567990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92733200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:29.67, Z:0.00 [[ 8.45827657e-01 -5.33456254e-01 0.00000000e+00 1.03627566e+02] [ 5.33456254e-01 8.45827657e-01 0.00000000e+00 2.96707441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04388546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:29.68, Z:0.00 [[ 8.44099414e-01 -5.36186703e-01 0.00000000e+00 1.03650872e+02] [ 5.36186703e-01 8.44099414e-01 0.00000000e+00 2.96836981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91898394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.867552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:103.68, Y:29.70, Z:0.00 [[ 8.42895410e-01 -5.38077437e-01 0.00000000e+00 1.03675360e+02] [ 5.38077437e-01 8.42895410e-01 0.00000000e+00 2.96969431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99679070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:29.71, Z:0.00 [[ 8.41623993e-01 -5.40063936e-01 0.00000000e+00 1.03700276e+02] [ 5.40063936e-01 8.41623993e-01 0.00000000e+00 2.97105826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94914255e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:29.72, Z:0.00 [[ 8.38780197e-01 -5.44470184e-01 0.00000000e+00 1.03724580e+02] [ 5.44470184e-01 8.38780197e-01 0.00000000e+00 2.97246264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01543754e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:29.74, Z:0.00 [[ 8.37282200e-01 -5.46770991e-01 0.00000000e+00 1.03748823e+02] [ 5.46770991e-01 8.37282200e-01 0.00000000e+00 2.97373550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62640814e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:29.75, Z:0.00 [[ 8.36812606e-01 -5.47489418e-01 0.00000000e+00 1.03773209e+02] [ 5.47489418e-01 8.36812606e-01 0.00000000e+00 2.97507547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10832801e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:29.76, Z:0.00 [[ 8.36608466e-01 -5.47801310e-01 0.00000000e+00 1.03797345e+02] [ 5.47801310e-01 8.36608466e-01 0.00000000e+00 2.97639792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75852782e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.82, Y:29.78, Z:0.00 [[ 8.37254225e-01 -5.46813828e-01 0.00000000e+00 1.03822681e+02] [ 5.46813828e-01 8.37254225e-01 0.00000000e+00 2.97768830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31167759e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07755201799999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:103.85, Y:29.79, Z:0.00 [[ 8.38528094e-01 -5.44858363e-01 0.00000000e+00 1.03847378e+02] [ 5.44858363e-01 8.38528094e-01 0.00000000e+00 2.97907976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24455577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.87, Y:29.80, Z:0.00 [[ 8.39502458e-01 -5.43355890e-01 0.00000000e+00 1.03872164e+02] [ 5.43355890e-01 8.39502458e-01 0.00000000e+00 2.98042041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35632270e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.137552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:103.90, Y:29.82, Z:0.00 [[ 8.40486993e-01 -5.41831722e-01 0.00000000e+00 1.03895639e+02] [ 5.41831722e-01 8.40486993e-01 0.00000000e+00 2.98170682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92454402e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.167552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:103.92, Y:29.83, Z:-0.00 [[ 8.41452961e-01 -5.40330375e-01 0.00000000e+00 1.03920119e+02] [ 5.40330375e-01 8.41452961e-01 0.00000000e+00 2.98306258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39693350e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:29.84, Z:-0.00 [[ 8.44571765e-01 -5.35442372e-01 0.00000000e+00 1.03943473e+02] [ 5.35442372e-01 8.44571765e-01 0.00000000e+00 2.98438130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13894805e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.227552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.97, Y:29.86, Z:-0.00 [[ 8.45752695e-01 -5.33575092e-01 0.00000000e+00 1.03968971e+02] [ 5.33575092e-01 8.45752695e-01 0.00000000e+00 2.98563679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66652311e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:29.87, Z:0.00 [[ 8.47379405e-01 -5.30987894e-01 0.00000000e+00 1.03993702e+02] [ 5.30987894e-01 8.47379405e-01 0.00000000e+00 2.98683177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11149178e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.287552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:104.02, Y:29.88, Z:0.00 [[ 8.49296358e-01 -5.27916373e-01 0.00000000e+00 1.04018496e+02] [ 5.27916373e-01 8.49296358e-01 0.00000000e+00 2.98816585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29465297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:29.89, Z:0.00 [[ 8.50374116e-01 -5.26178547e-01 0.00000000e+00 1.04043885e+02] [ 5.26178547e-01 8.50374116e-01 0.00000000e+00 2.98938628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85246369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34755201799999 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:104.07, Y:29.91, Z:0.00 [[ 8.53146190e-01 -5.21671906e-01 0.00000000e+00 1.04068738e+02] [ 5.21671906e-01 8.53146190e-01 0.00000000e+00 2.99065906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29394953e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:29.92, Z:0.00 [[ 8.54553912e-01 -5.19362698e-01 0.00000000e+00 1.04093809e+02] [ 5.19362698e-01 8.54553912e-01 0.00000000e+00 2.99194858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89361783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:29.93, Z:0.00 [[ 8.55503877e-01 -5.17796405e-01 0.00000000e+00 1.04118788e+02] [ 5.17796405e-01 8.55503877e-01 0.00000000e+00 2.99329556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29036901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:29.95, Z:0.00 [[ 8.56797861e-01 -5.15652427e-01 0.00000000e+00 1.04142820e+02] [ 5.15652427e-01 8.56797861e-01 0.00000000e+00 2.99463240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94332302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:29.96, Z:0.00 [[ 8.56933501e-01 -5.15426983e-01 0.00000000e+00 1.04166595e+02] [ 5.15426983e-01 8.56933501e-01 0.00000000e+00 2.99584002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55401742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:29.97, Z:0.00 [[ 8.56606234e-01 -5.15970697e-01 0.00000000e+00 1.04191314e+02] [ 5.15970697e-01 8.56606234e-01 0.00000000e+00 2.99709658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22117393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:29.99, Z:0.00 [[ 8.56797160e-01 -5.15653592e-01 0.00000000e+00 1.04215539e+02] [ 5.15653592e-01 8.56797160e-01 0.00000000e+00 2.99853957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15252635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:30.00, Z:0.00 [[ 8.56537475e-01 -5.16084832e-01 0.00000000e+00 1.04239292e+02] [ 5.16084832e-01 8.56537475e-01 0.00000000e+00 2.99986409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18726267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:30.01, Z:0.00 [[ 8.56780763e-01 -5.15680836e-01 0.00000000e+00 1.04264258e+02] [ 5.15680836e-01 8.56780763e-01 0.00000000e+00 3.00120594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42009583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:30.03, Z:0.00 [[ 8.56708742e-01 -5.15800476e-01 0.00000000e+00 1.04288556e+02] [ 5.15800476e-01 8.56708742e-01 0.00000000e+00 3.00252024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12070282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:30.04, Z:0.00 [[ 8.57065753e-01 -5.15207041e-01 0.00000000e+00 1.04313043e+02] [ 5.15207041e-01 8.57065753e-01 0.00000000e+00 3.00385437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32853950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:30.05, Z:0.00 [[ 8.57095501e-01 -5.15157551e-01 0.00000000e+00 1.04337465e+02] [ 5.15157551e-01 8.57095501e-01 0.00000000e+00 3.00519656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54687496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:30.07, Z:0.00 [[ 8.57181226e-01 -5.15014899e-01 0.00000000e+00 1.04362072e+02] [ 5.15014899e-01 8.57181226e-01 0.00000000e+00 3.00662031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07174286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:30.08, Z:0.00 [[ 8.56669232e-01 -5.15866093e-01 0.00000000e+00 1.04387109e+02] [ 5.15866093e-01 8.56669232e-01 0.00000000e+00 3.00796346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28701071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:30.09, Z:0.00 [[ 8.56539182e-01 -5.16081999e-01 0.00000000e+00 1.04412106e+02] [ 5.16081999e-01 8.56539182e-01 0.00000000e+00 3.00933681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37728969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:30.11, Z:0.00 [[ 8.56273063e-01 -5.16523419e-01 0.00000000e+00 1.04435861e+02] [ 5.16523419e-01 8.56273063e-01 0.00000000e+00 3.01058547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98616223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:30.12, Z:0.00 [[ 8.55918065e-01 -5.17111463e-01 0.00000000e+00 1.04460977e+02] [ 5.17111463e-01 8.55918065e-01 0.00000000e+00 3.01179428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32264489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:30.13, Z:0.00 [[ 8.55778727e-01 -5.17342025e-01 0.00000000e+00 1.04484399e+02] [ 5.17342025e-01 8.55778727e-01 0.00000000e+00 3.01310641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47920420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:30.14, Z:0.00 [[ 8.55740645e-01 -5.17405014e-01 0.00000000e+00 1.04508529e+02] [ 5.17405014e-01 8.55740645e-01 0.00000000e+00 3.01448955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29970192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:30.16, Z:0.00 [[ 8.56077839e-01 -5.16846916e-01 0.00000000e+00 1.04533083e+02] [ 5.16846916e-01 8.56077839e-01 0.00000000e+00 3.01592487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99872504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:30.17, Z:0.00 [[ 8.56314810e-01 -5.16454206e-01 0.00000000e+00 1.04557364e+02] [ 5.16454206e-01 8.56314810e-01 0.00000000e+00 3.01727366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25680883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:30.19, Z:0.00 [[ 8.56692564e-01 -5.15827346e-01 0.00000000e+00 1.04580929e+02] [ 5.15827346e-01 8.56692564e-01 0.00000000e+00 3.01855849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50846057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:30.20, Z:0.00 [[ 8.56506050e-01 -5.16136984e-01 0.00000000e+00 1.04605599e+02] [ 5.16136984e-01 8.56506050e-01 0.00000000e+00 3.01983078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73140780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:30.21, Z:0.00 [[ 8.55612879e-01 -5.17616268e-01 0.00000000e+00 1.04632455e+02] [ 5.17616268e-01 8.55612879e-01 0.00000000e+00 3.02121364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01798706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:30.23, Z:0.00 [[ 8.55854674e-01 -5.17216373e-01 0.00000000e+00 1.04655813e+02] [ 5.17216373e-01 8.55854674e-01 0.00000000e+00 3.02251790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64701447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:30.24, Z:0.01 [[ 8.55212838e-01 -5.18276955e-01 0.00000000e+00 1.04679425e+02] [ 5.18276955e-01 8.55212838e-01 0.00000000e+00 3.02385052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02779268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:30.25, Z:0.00 [[ 8.54705523e-01 -5.19113157e-01 0.00000000e+00 1.04703439e+02] [ 5.19113157e-01 8.54705523e-01 0.00000000e+00 3.02526199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86670086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:30.27, Z:0.00 [[ 8.54547453e-01 -5.19373325e-01 0.00000000e+00 1.04728535e+02] [ 5.19373325e-01 8.54547453e-01 0.00000000e+00 3.02663835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86670086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:30.28, Z:0.00 [[ 8.53612567e-01 -5.20908423e-01 0.00000000e+00 1.04752407e+02] [ 5.20908423e-01 8.53612567e-01 0.00000000e+00 3.02806487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32377938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:30.29, Z:0.00 [[ 8.53118793e-01 -5.21716710e-01 0.00000000e+00 1.04776461e+02] [ 5.21716710e-01 8.53118793e-01 0.00000000e+00 3.02938343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34941336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:30.31, Z:0.00 [[ 8.52562931e-01 -5.22624578e-01 0.00000000e+00 1.04800959e+02] [ 5.22624578e-01 8.52562931e-01 0.00000000e+00 3.03080113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44271579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:30.32, Z:0.00 [[ 8.52416352e-01 -5.22863618e-01 0.00000000e+00 1.04825093e+02] [ 5.22863618e-01 8.52416352e-01 0.00000000e+00 3.03219532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50693660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:30.34, Z:0.00 [[ 8.52396017e-01 -5.22896768e-01 0.00000000e+00 1.04849173e+02] [ 5.22896768e-01 8.52396017e-01 0.00000000e+00 3.03360668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59399672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:30.35, Z:0.00 [[ 8.53439321e-01 -5.21192215e-01 0.00000000e+00 1.04873275e+02] [ 5.21192215e-01 8.53439321e-01 0.00000000e+00 3.03509542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77210025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:30.37, Z:0.00 [[ 8.53930375e-01 -5.20387273e-01 0.00000000e+00 1.04897940e+02] [ 5.20387273e-01 8.53930375e-01 0.00000000e+00 3.03657413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75408706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:30.38, Z:-0.00 [[ 8.54352883e-01 -5.19693325e-01 0.00000000e+00 1.04922133e+02] [ 5.19693325e-01 8.54352883e-01 0.00000000e+00 3.03802083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37940408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:30.40, Z:-0.00 [[ 8.55387491e-01 -5.17988649e-01 0.00000000e+00 1.04946198e+02] [ 5.17988649e-01 8.55387491e-01 0.00000000e+00 3.03954357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27038345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:30.41, Z:-0.00 [[ 8.56903626e-01 -5.15476649e-01 0.00000000e+00 1.04968992e+02] [ 5.15476649e-01 8.56903626e-01 0.00000000e+00 3.04102805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40562638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:30.42, Z:-0.00 [[ 8.57790427e-01 -5.13999594e-01 0.00000000e+00 1.04993105e+02] [ 5.13999594e-01 8.57790427e-01 0.00000000e+00 3.04248380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16791897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:30.44, Z:-0.00 [[ 8.58848690e-01 -5.12229370e-01 0.00000000e+00 1.05016356e+02] [ 5.12229370e-01 8.58848690e-01 0.00000000e+00 3.04386467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75385919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:30.45, Z:-0.01 [[ 8.60001091e-01 -5.10292194e-01 0.00000000e+00 1.05040532e+02] [ 5.10292194e-01 8.60001091e-01 0.00000000e+00 3.04530199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67769770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:30.47, Z:-0.01 [[ 8.60039722e-01 -5.10227083e-01 0.00000000e+00 1.05064662e+02] [ 5.10227083e-01 8.60039722e-01 0.00000000e+00 3.04667103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60324134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:30.48, Z:-0.01 [[ 8.59784359e-01 -5.10657279e-01 0.00000000e+00 1.05089092e+02] [ 5.10657279e-01 8.59784359e-01 0.00000000e+00 3.04808810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41653767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:30.49, Z:-0.01 [[ 8.59358561e-01 -5.11373506e-01 0.00000000e+00 1.05112968e+02] [ 5.11373506e-01 8.59358561e-01 0.00000000e+00 3.04942634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39717369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:30.51, Z:-0.01 [[ 8.59786935e-01 -5.10652941e-01 0.00000000e+00 1.05137358e+02] [ 5.10652941e-01 8.59786935e-01 0.00000000e+00 3.05086988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80712173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:30.52, Z:-0.01 [[ 8.59560464e-01 -5.11034059e-01 0.00000000e+00 1.05160539e+02] [ 5.11034059e-01 8.59560464e-01 0.00000000e+00 3.05221184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42062308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:30.54, Z:-0.01 [[ 8.60256427e-01 -5.09861627e-01 0.00000000e+00 1.05183034e+02] [ 5.09861627e-01 8.60256427e-01 0.00000000e+00 3.05366528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16851646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:30.55, Z:-0.00 [[ 8.60417952e-01 -5.09588999e-01 0.00000000e+00 1.05206575e+02] [ 5.09588999e-01 8.60417952e-01 0.00000000e+00 3.05515246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95924721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:30.57, Z:-0.01 [[ 8.59805984e-01 -5.10620868e-01 0.00000000e+00 1.05230064e+02] [ 5.10620868e-01 8.59805984e-01 0.00000000e+00 3.05652425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29776777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:30.58, Z:-0.01 [[ 8.58703948e-01 -5.12471979e-01 0.00000000e+00 1.05254699e+02] [ 5.12471979e-01 8.58703948e-01 0.00000000e+00 3.05784780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60782516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:30.59, Z:-0.01 [[ 8.56399072e-01 -5.16314467e-01 0.00000000e+00 1.05278039e+02] [ 5.16314467e-01 8.56399072e-01 0.00000000e+00 3.05931299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04479067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:30.61, Z:-0.01 [[ 8.54920647e-01 -5.18758795e-01 0.00000000e+00 1.05301925e+02] [ 5.18758795e-01 8.54920647e-01 0.00000000e+00 3.06078475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09074944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:30.62, Z:-0.01 [[ 8.53810087e-01 -5.20584609e-01 0.00000000e+00 1.05325597e+02] [ 5.20584609e-01 8.53810087e-01 0.00000000e+00 3.06228890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17920357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:30.64, Z:-0.01 [[ 8.52459746e-01 -5.22792866e-01 0.00000000e+00 1.05348617e+02] [ 5.22792866e-01 8.52459746e-01 0.00000000e+00 3.06390909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34806396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:30.65, Z:-0.01 [[ 8.51390890e-01 -5.24531746e-01 0.00000000e+00 1.05372602e+02] [ 5.24531746e-01 8.51390890e-01 0.00000000e+00 3.06530597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41330500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:30.67, Z:-0.01 [[ 8.50624848e-01 -5.25773115e-01 0.00000000e+00 1.05396224e+02] [ 5.25773115e-01 8.50624848e-01 0.00000000e+00 3.06671209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38326377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:30.68, Z:-0.01 [[ 8.49459537e-01 -5.27653764e-01 0.00000000e+00 1.05419968e+02] [ 5.27653764e-01 8.49459537e-01 0.00000000e+00 3.06818447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33933777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:30.69, Z:-0.02 [[ 8.42747993e-01 -5.38308294e-01 0.00000000e+00 1.05444707e+02] [ 5.38308294e-01 8.42747993e-01 0.00000000e+00 3.06947695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61512909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:30.71, Z:-0.02 [[ 8.38467895e-01 -5.44950998e-01 0.00000000e+00 1.05469448e+02] [ 5.44950998e-01 8.38467895e-01 0.00000000e+00 3.07087650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68220855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:30.72, Z:-0.02 [[ 8.33944239e-01 -5.51848718e-01 0.00000000e+00 1.05493338e+02] [ 5.51848718e-01 8.33944239e-01 0.00000000e+00 3.07228402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73348778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:30.74, Z:-0.02 [[ 8.29779230e-01 -5.58091774e-01 0.00000000e+00 1.05518398e+02] [ 5.58091774e-01 8.29779230e-01 0.00000000e+00 3.07372711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62363565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.177552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:105.54, Y:30.75, Z:-0.01 [[ 8.22412862e-01 -5.68891101e-01 0.00000000e+00 1.05544502e+02] [ 5.68891101e-01 8.22412862e-01 0.00000000e+00 3.07495932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26669736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:30.76, Z:-0.01 [[ 8.19749219e-01 -5.72722636e-01 0.00000000e+00 1.05569114e+02] [ 5.72722636e-01 8.19749219e-01 0.00000000e+00 3.07632019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11044670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23755201799999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:105.59, Y:30.78, Z:-0.01 [[ 8.18359070e-01 -5.74707259e-01 0.00000000e+00 1.05593141e+02] [ 5.74707259e-01 8.18359070e-01 0.00000000e+00 3.07783404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05456942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26755201799999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:105.62, Y:30.79, Z:-0.01 [[ 8.17206231e-01 -5.76345362e-01 0.00000000e+00 1.05617029e+02] [ 5.76345362e-01 8.17206231e-01 0.00000000e+00 3.07932704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21764636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29755201799999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:105.64, Y:30.81, Z:-0.01 [[ 8.17135022e-01 -5.76446317e-01 0.00000000e+00 1.05641337e+02] [ 5.76446317e-01 8.17135022e-01 0.00000000e+00 3.08073463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16874638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:105.67, Y:30.82, Z:-0.01 [[ 8.16375005e-01 -5.77522165e-01 0.00000000e+00 1.05665670e+02] [ 5.77522165e-01 8.16375005e-01 0.00000000e+00 3.08210117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31062476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:105.69, Y:30.84, Z:-0.02 [[ 8.15403568e-01 -5.78892928e-01 0.00000000e+00 1.05688898e+02] [ 5.78892928e-01 8.15403568e-01 0.00000000e+00 3.08366480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52795361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.387552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:105.71, Y:30.85, Z:-0.02 [[ 8.17061254e-01 -5.76550872e-01 0.00000000e+00 1.05711575e+02] [ 5.76550872e-01 8.17061254e-01 0.00000000e+00 3.08544720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50905965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:30.87, Z:-0.02 [[ 8.18370649e-01 -5.74690769e-01 0.00000000e+00 1.05735804e+02] [ 5.74690769e-01 8.18370649e-01 0.00000000e+00 3.08697036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54689945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.447552018 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:105.76, Y:30.88, Z:-0.02 [[ 8.18054571e-01 -5.75140607e-01 0.00000000e+00 1.05761091e+02] [ 5.75140607e-01 8.18054571e-01 0.00000000e+00 3.08824674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75589440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.477552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:105.79, Y:30.90, Z:-0.02 [[ 8.18499799e-01 -5.74506814e-01 0.00000000e+00 1.05786296e+02] [ 5.74506814e-01 8.18499799e-01 0.00000000e+00 3.08951186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50551065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:30.91, Z:-0.01 [[ 8.17648160e-01 -5.75718236e-01 0.00000000e+00 1.05811368e+02] [ 5.75718236e-01 8.17648160e-01 0.00000000e+00 3.09078682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35877415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:30.92, Z:-0.01 [[ 8.16914582e-01 -5.76758673e-01 0.00000000e+00 1.05836585e+02] [ 5.76758673e-01 8.16914582e-01 0.00000000e+00 3.09206770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05061739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:30.94, Z:-0.01 [[ 8.16150371e-01 -5.77839573e-01 0.00000000e+00 1.05860366e+02] [ 5.77839573e-01 8.16150371e-01 0.00000000e+00 3.09353518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10427101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:30.95, Z:-0.01 [[ 8.15394623e-01 -5.78905527e-01 0.00000000e+00 1.05883461e+02] [ 5.78905527e-01 8.15394623e-01 0.00000000e+00 3.09502805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25313620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62755201799999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:105.91, Y:30.96, Z:-0.01 [[ 8.14604981e-01 -5.80016142e-01 0.00000000e+00 1.05907297e+02] [ 5.80016142e-01 8.14604981e-01 0.00000000e+00 3.09646221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30390568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:30.98, Z:-0.01 [[ 8.15096725e-01 -5.79324890e-01 0.00000000e+00 1.05930353e+02] [ 5.79324890e-01 8.15096725e-01 0.00000000e+00 3.09791728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16835264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:30.99, Z:-0.01 [[ 8.14970397e-01 -5.79502590e-01 0.00000000e+00 1.05955189e+02] [ 5.79502590e-01 8.14970397e-01 0.00000000e+00 3.09933731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17476813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:105.98, Y:31.01, Z:-0.01 [[ 8.14242123e-01 -5.80525422e-01 0.00000000e+00 1.05978567e+02] [ 5.80525422e-01 8.14242123e-01 0.00000000e+00 3.10073740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12014392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.747552018 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:106.00, Y:31.02, Z:-0.01 [[ 8.12944208e-01 -5.82341579e-01 0.00000000e+00 1.06003322e+02] [ 5.82341579e-01 8.12944208e-01 0.00000000e+00 3.10212554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14822174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:31.03, Z:-0.01 [[ 8.10780237e-01 -5.85350671e-01 0.00000000e+00 1.06028619e+02] [ 5.85350671e-01 8.10780237e-01 0.00000000e+00 3.10340993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16610473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.807552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:106.05, Y:31.05, Z:-0.01 [[ 8.05493687e-01 -5.92604354e-01 0.00000000e+00 1.06053623e+02] [ 5.92604354e-01 8.05493687e-01 0.00000000e+00 3.10454279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32391118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.837552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:106.08, Y:31.06, Z:-0.01 [[ 8.02678554e-01 -5.96411887e-01 0.00000000e+00 1.06078785e+02] [ 5.96411887e-01 8.02678554e-01 0.00000000e+00 3.10585515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35107319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:31.07, Z:-0.01 [[ 8.01656473e-01 -5.97784994e-01 0.00000000e+00 1.06102255e+02] [ 5.97784994e-01 8.01656473e-01 0.00000000e+00 3.10717691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30818883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.897552018 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:106.13, Y:31.09, Z:-0.01 [[ 8.01908675e-01 -5.97446631e-01 0.00000000e+00 1.06126527e+02] [ 5.97446631e-01 8.01908675e-01 0.00000000e+00 3.10856278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35544756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.927552018 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:106.14, Y:31.10, Z:-0.01 [[ 7.96642430e-01 -6.04450857e-01 0.00000000e+00 1.06138380e+02] [ 6.04450857e-01 7.96642430e-01 0.00000000e+00 3.11006712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13680540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.957552018 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:106.17, Y:31.12, Z:-0.01 [[ 7.99403897e-01 -6.00793983e-01 0.00000000e+00 1.06171278e+02] [ 6.00793983e-01 7.99403897e-01 0.00000000e+00 3.11180948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40487561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98755201799999 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:106.19, Y:31.13, Z:-0.01 [[ 7.98779729e-01 -6.01623590e-01 0.00000000e+00 1.06185146e+02] [ 6.01623590e-01 7.98779729e-01 0.00000000e+00 3.11287768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68392567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01755201799999 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:106.22, Y:31.14, Z:-0.01 [[ 8.05703350e-01 -5.92319265e-01 0.00000000e+00 1.06223016e+02] [ 5.92319265e-01 8.05703350e-01 0.00000000e+00 3.11409933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46323648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04755201799999 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:106.22, Y:31.16, Z:-0.01 [[ 7.98091178e-01 -6.02536698e-01 0.00000000e+00 1.06223533e+02] [ 6.02536698e-01 7.98091178e-01 0.00000000e+00 3.11625505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47107928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07755201799999 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:106.25, Y:31.18, Z:-0.01 [[ 7.98461398e-01 -6.02046008e-01 0.00000000e+00 1.06248476e+02] [ 6.02046008e-01 7.98461398e-01 0.00000000e+00 3.11760099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47107928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10755201799999 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:106.30, Y:31.17, Z:-0.03 [[ 8.13846917e-01 -5.81079337e-01 0.00000000e+00 1.06299347e+02] [ 5.81079337e-01 8.13846917e-01 0.00000000e+00 3.11741706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61839644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.137552018 meters Centerline goodness : 0.990928 Centerline is valid? [True, True] Translation: X:106.29, Y:31.20, Z:-0.01 [[ 7.95550155e-01 -6.05887738e-01 0.00000000e+00 1.06287206e+02] [ 6.05887738e-01 7.95550155e-01 0.00000000e+00 3.12036485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29454050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.167552018 meters Centerline goodness : 0.989744 Centerline is valid? [True, True] Translation: X:106.31, Y:31.22, Z:-0.01 [[ 7.95614377e-01 -6.05803402e-01 0.00000000e+00 1.06311376e+02] [ 6.05803402e-01 7.95614377e-01 0.00000000e+00 3.12175028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35465104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.197552018 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:106.36, Y:31.23, Z:-0.01 [[ 8.00295493e-01 -5.99605807e-01 0.00000000e+00 1.06358207e+02] [ 5.99605807e-01 8.00295493e-01 0.00000000e+00 3.12329384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16005361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.227552018 meters Centerline goodness : 0.987425 Centerline is valid? [True, True] Translation: X:106.39, Y:31.25, Z:-0.01 [[ 8.01754118e-01 -5.97654026e-01 0.00000000e+00 1.06388272e+02] [ 5.97654026e-01 8.01754118e-01 0.00000000e+00 3.12475068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19154495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.257552018 meters Centerline goodness : 0.985482 Centerline is valid? [True, True] Translation: X:106.41, Y:31.26, Z:-0.01 [[ 8.01191443e-01 -5.98408115e-01 0.00000000e+00 1.06413418e+02] [ 5.98408115e-01 8.01191443e-01 0.00000000e+00 3.12611537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28121144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.287552018 meters Centerline goodness : 0.981623 Centerline is valid? [True, True] Translation: X:106.44, Y:31.27, Z:-0.01 [[ 8.02864869e-01 -5.96161053e-01 0.00000000e+00 1.06438193e+02] [ 5.96161053e-01 8.02864869e-01 0.00000000e+00 3.12738308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34210660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.317552018 meters Centerline goodness : 0.980551 Centerline is valid? [True, True] Translation: X:106.43, Y:31.30, Z:-0.02 [[ 7.93408736e-01 -6.08689229e-01 0.00000000e+00 1.06433605e+02] [ 6.08689229e-01 7.93408736e-01 0.00000000e+00 3.12952240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73706949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34755201799999 meters Centerline goodness : 0.972778 Centerline is valid? [True, True] Translation: X:106.48, Y:31.31, Z:-0.02 [[ 7.97030529e-01 -6.03939017e-01 0.00000000e+00 1.06477494e+02] [ 6.03939017e-01 7.97030529e-01 0.00000000e+00 3.13080891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43438991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37755201799999 meters Centerline goodness : 0.266189 Centerline is valid? [True, False] Translation: X:106.45, Y:31.28, Z:-0.02 [[ 7.96900154e-01 -6.04062515e-01 -7.65649866e-03 1.06448073e+02] [ 6.04103995e-01 7.96765669e-01 1.49275761e-02 3.12832458e+01] [-2.91675389e-03 -1.65211091e-02 9.99859263e-01 -1.82182974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40755201799999 meters Centerline goodness : 0.412314 Centerline is valid? [False, False] Translation: X:106.42, Y:31.26, Z:-0.01 [[ 7.96313257e-01 -6.04727183e-01 -1.37924071e-02 1.06417728e+02] [ 6.04846815e-01 7.95802340e-01 2.93081247e-02 3.12584529e+01] [-6.74738982e-03 -3.16807418e-02 9.99475264e-01 -1.23808000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43755201799999 meters Centerline goodness : 0.918259 Centerline is valid? [False, False] Translation: X:106.39, Y:31.23, Z:-0.01 [[ 7.95405570e-01 -6.05774639e-01 -1.91589627e-02 1.06388152e+02] [ 6.05975421e-01 7.94293854e-01 4.34863440e-02 3.12346241e+01] [-1.11250780e-02 -4.61991407e-02 9.98870298e-01 -7.13359139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2527.66 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%| | 0/3782 [00:00